SINAMICS S110

List Manual · 06/2012

SINAMICS
s
s

Preface

1
SINAMICS Parameter

2
Function diagrams
SINAMICS S110 3
Faults and alarms

A
Appendix

List Manual B
List of abbreviations

Index
C

Valid for
Drive Firmware version
SINAMICS 4.4

6SL3097-4AP10-0BP3

06/2012
Safety Notices
This Manual contains information which you must observe to ensure your own personal safety as well as
to avoid material damage. The notices referring to your personal safety are highlighted in the manual by
a warning triangle; notices that relate to material damage only have no warning triangle. The notices
shown below are graded according to the level of danger (from most to least hazardous):

Danger
Indicates that death or serious injury will result if proper precautions are not taken.

Warning
Indicates that death or serious injury may result if proper precautions are not taken.

Caution
With a warning triangle, indicates that minor injury may result if proper precautions are not taken.

Caution
Without a warning triangle, indicates that material damage may result if proper precautions are not taken.

Notice
Indicates that an undesirable result or state may occur if the corresponding instructions are not observed.

If more than one level of hazard exists, the warning for the highest hazard level is always used. A warning
on a warning triangle indicating possible personal injury may also include a warning relating to material
damage.

Qualified Personnel
The associated device/system may only be installed and operated in conjunction with this documentation.
The equipment/system may only be commissioned and operated by qualified personnel. For the pur-
pose of the safety information in this documentation, a "qualified person" is someone who is authorized to
energize, ground, and tag equipment, systems, and circuits in accordance with established safety proce-
dures.

Proper Use of Siemens Products

Please observe the following:

Warning
Siemens products are only permitted to be used for the applications envisaged in the catalog and in the
associated technical documentation. If third-party products and components are to be used, they must be
recommended or approved by Siemens. To ensure proper and safe operation of these products, they must
be correctly transported, stored, set up, mounted, installed, commissioned, operated, and maintained. The
permissible ambient conditions must be met. Information in the associated documentation must be
observed.

Trademarks
All names identified with ® are registered trademarks of Siemens AG. Any other names used in this pub-
lication may be trademarks whose use by third parties for their own purposes could violate the rights of
the owner.

Copyright Siemens AG 2012 All Rights Reserved Liability Disclaimer

The reproduction, transmission, or use of this document or its con- We have checked that the contents of this document correspond to
tents is not permitted without express written permission. Failure to the hardware and software described. Nevertheless, we cannot as-
obseve this rule will lead to damage claims. All rights reserved, espe- sume responsibility for any deviations that may arise. The data in this
cially those relating to granting patents or GM registration. document is regularly checked and any necessary corrections includ-
ed in subsequent editions.
Siemens AG
Industry Sector
Postfach 4848 © Siemens AG 2012
90327 NÜRNBERG Subject to change without prior notice
GERMANY

Siemens Aktiengesellschaft SINAMICS S110 List Manual (LH7)

Preface

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

More information
Information on the following topics is available under the link:
• Ordering documentation/overview of documentation
• Additional links to download documents
• Using documentation online (find and search in manuals/information).
http://www.siemens.com/motioncontrol/docu
Please send any questions about the technical documentation (e.g. suggestions
for improvement, corrections) to the following e-mail address:
[email protected]

My Documentation Manager
Information on how to produce individual contents for your own machine docu-
mentation based on Siemens contents is available under the link:
http://www.siemens.com/mdm

Training
Information about SITRAIN (Siemens Training on products, systems and solu-
tions for automation) is available under the following link:
http://www.siemens.com/sitrain

FAQs
You can find Frequently Asked Questions in the Service&Support pages under
Product Support:
http://support.automation.siemens.com

© Siemens AG 2012 All Rights Reserved Preface-5

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
Preface

SINAMICS
You can find information on SINAMICS at:
http://www.siemens.com/sinamics

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

Table Preface-1Usage phases and the available tools/documents

Usage phase Tools/documents

Orientation SINAMICS S Sales Documentation

Planning/configuration SIZER configuration tool
Configuration Manuals, Motors
Decision making/order- SINAMICS S Catalogs
ing
Installation/assembly • SINAMICS S120 Equipment Manual for Control Units and
Additional System Components
• SINAMICS S120 Equipment Manual for Booksize Power
Units
• SINAMICS S120 Equipment Manual for Chassis Power
Units
• SINAMICS S150 Operating Instructions
Commissioning • STARTER commissioning tool
• SINAMICS S120 Getting Started
• SINAMICS S120 Commissioning Manual
• SINAMICS S120 CANopen Commissioning Manual
• SINAMICS S120 Function Manual
• SINAMICS S120/S150 List Manual
• SINAMICS S150 Operating Instructions
Usage/operation • SINAMICS S120 Commissioning Manual
• SINAMICS S120/S150 List Manual
• SINAMICS S150 Operating Instructions
Maintenance/servicing • SINAMICS S120 Commissioning Manual
• SINAMICS S120/S150 List Manual
• SINAMICS S150 Operating Instructions

Target group
This documentation is aimed at machine manufacturers, commissioning engi-
neers, and service personnel who use SINAMICS.

Preface-6 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Preface

Benefits
This documentation contains the comprehensive information about parameters,
function diagrams and faults and alarms required to commission and service the
system.
This manual should be used in addition to the other manuals and tools provided
for the product.

Standard scope
The scope of the functionality described in this document can differ from the
scope of the functionality of the drive system that is actually supplied.
• Other functions not described in this documentation might be able to be exe-
cuted in the drive system. This does not, however, represent an obligation to
supply such functions with a new control or when servicing.
• The documentation can also contain descriptions of functions that are not
available in a particular product version of the drive system. The functionalities
of the supplied drive system should only be taken from the ordering documen-
tation.
• Extensions or changes made by the machine manufacturer must be docu-
mented by the machine manufacturer.
For reasons of clarity, this documentation does not contain all of the detailed infor-
mation on all of the product types. This documentation cannot take into consider-
ation every conceivable type of installation, operation and service/maintenance.

Search tools
The following guides are provided to help you locate information in this manual:
1. Table of contents
− General table of contents for the complete manual (after the preface).
− Table of contents for function diagrams (Chapter 2.1).
2. List of abbreviations
3. Index (Index)

Technical Support
Country-specific telephone numbers for technical support are provided on the
Internet at:
http://www.siemens.com/automation/service&support

EC Declaration of Conformity
The EC Declaration of Conformity for the EMC Directive can be found on the
Internet at:
http://support.automation.siemens.com
There, as the search term, enter the number 15257461 or contact your local Sie-
mens office.

© Siemens AG 2012 All Rights Reserved Preface-7

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Preface

Preface-8 © Siemens AG 2012 All Rights Reserved

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Table of contents

1 Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11
1.1 Overview of parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12
1.1.1 Explanation of list of parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12
1.1.2 Number ranges of parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-26
1.2 List of parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-29
1.3 Parameters for data sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-733
1.3.1 Parameters for command data sets (CDS) . . . . . . . . . . . . . . . . . . . . . . 1-733
1.3.2 Parameters for drive data sets (DDS) . . . . . . . . . . . . . . . . . . . . . . . . . . 1-735
1.3.3 Parameters for encoder data sets (EDS) . . . . . . . . . . . . . . . . . . . . . . . 1-739
1.3.4 Parameters for motor data sets (MDS) . . . . . . . . . . . . . . . . . . . . . . . . . 1-741
1.3.5 Parameters for power unit data sets (PDS). . . . . . . . . . . . . . . . . . . . . . 1-743

2 Function diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-745

2.1 Table of contents. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-746
2.2 Explanations on the function diagrams . . . . . . . . . . . . . . . . . . . . . . . . . 2-753
2.3 Overviews . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-758
2.4 CU305 input/output terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-768
2.5 PROFIdrive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-776
2.6 Internal control/status words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-813
2.7 Sequence control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-826
2.8 Brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-829
2.9 Safety Integrated . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-834
2.10 Setpoint channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-853
2.11 Setpoint channel not activated . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-862
2.12 Basic positioner (EPOS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-864
2.13 Position control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-880
2.14 Encoder evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-885
2.15 Servo control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-892
2.16 Technology functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-912
2.17 Free function blocks (FBLOCKS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-915
2.18 Technology controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-933
2.19 Signals and monitoring functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-938
2.20 Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-944
2.21 Data sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-950

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Table of contents

2.22 CANopen interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-955

2.23 Basic Operator Panel 20 (BOP20) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-962

3 Faults and alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-965

3.1 Overview of faults and alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-966
3.1.1 General information on faults and alarms . . . . . . . . . . . . . . . . . . . . . . . 3-966
3.1.2 Explanation of the list of faults and alarms . . . . . . . . . . . . . . . . . . . . . . 3-970
3.1.3 Number ranges of faults and alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-973
3.2 List of faults and alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-975

A Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1237
A.1 ASCII table (excerpt) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1238
A.2 List for motor code/encoder code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1239
A.2.1 Motor code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1239
A.2.2 Encoder code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1260

B List of abbreviations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1263

C Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-1273

Contents-10 © Siemens AG 2012 All Rights Reserved

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Parameter 1
Contents

1.1 Overview of parameters 1-12

1.2 List of parameters 1-29

1.3 Parameters for data sets 1-733

© Siemens AG 2012 All Rights Reserved 1-11

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 Parameter
Overview of parameters

1.1 Overview of parameters

1.1.1 Explanation of list of parameters

Basic structure of parameter descriptions

The data in the following example has been chosen at random. The table below
contains all the information that can be included in a parameter description. Some
of the information is optional.
The parameter list (See Chapter 1.2) is structured as follows:

- - - - - - - - - - - - - - - - - - - - Start of example- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

pxxxx[0...n] BICO: Full parameter name/Abbreviated name

Drive object (func- Can be changed: C1(x), C2(x), U, T Calculated: CALC_MOD_REG Access level: 2
tion module) Data type: Unsigned32/Integer16 Dynamic index: CDS, p0170 Function diagram: 2080
P group: Control Unit group: 7_1 Unit selection: p0505
Not for motor type: FEM Scaling: p2000 Expert list: 1
Min Max Factory setting
0.00 [Nm] 10.00 [Nm] 0.00 [Arms]
Description: Text
Values: 0: Name and meaning of value 0
1: Name and meaning of value 1
2: Name and meaning of value 2
etc.
Recommenda- Text
tion:
Index: [0] = Name and meaning of index 0
[1] = Name and meaning of index 1
[2] = Name and meaning of index 2
etc.
Bit array: Bit Signal name 1 signal 0 signal FP
00 Name and meaning of bit 0 Yes No 8010
01 Name and meaning of bit 1 Yes No -
02 Name and meaning of bit 2 Yes No 8012
etc.
Dependency: Text
See also: pxxxx, rxxxx
See also: Fxxxxx, Axxxxx
Danger: WARNING: Caution: Safety notices with a warning triangle

Caution: Notice: Safety notices without a warning triangle

Note: Information which might be useful

- - - - - - - - - - - - - - - - - - - - End of example- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

1-12 © Siemens AG 2012 All Rights Reserved

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 Parameter
Overview of parameters

pxxxx[0...n] Parameter number

The parameter number is made up of a "p" or "r", followed by the parameter num-
ber and the index (optional).
Examples of number representation in the parameter list:
• p... Adjustable parameter (read and write parameter)
• r... Display parameters (read-only)
• p0918 Adjustable parameter 918
• p0099[0...3] Adjustable parameter 99, indices 0 to 3
• p1001[0...n] Adjustable parameter 1001, indices 0 to n (n = configurable)
• r0944 Display parameter 944

Other examples of the notation used in the documentation:

• p1070[1] Adjustable parameter 1070, index 1
• p2098[1].3 Adjustable parameter 2098, index 1 bit 3
• r0945[2](3) Display parameter 945, index 2 of drive object 3
• p0795.4 Adjustable parameter 795, bit 4
• r2129.0...15 Display parameter 2129 with bit array (maximum 16 bits)

The following applies to adjustable parameters:

The parameter value "when shipped" is specified under "Factory setting" with the
relevant unit in square parentheses. The value can be adjusted within the range
defined by "Min" and "Max".
The term "linked parameterization" is used in cases where changes to adjustable
parameters affect the settings of other parameters.
Linked parameterization can occur, for example, as a result of the following
actions or parameters:
• Execution of macros
p0015, p0700, p1000, p1500
• Setting PROFIBUS telegram (BICO interconnection)
p0922
• Setting component lists
p0230, p0300, p0301, p0400
• Automatic calculation and pre-assignment
p0340, p0578, p3900
• Restoring factory settings
p0970
The following applies to display parameters:
The fields "Min", "Max" and "Factory setting" are specified with a dash "-" and the
relevant unit in square parentheses.

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Parameter
Overview of parameters

Note:
The parameter list can contain parameters that are not visible in the expert lists
of the particular commissioning software (e.g. parameters for trace functions).

BICO: Full parameter name/Abbreviated name

The following abbreviations can appear in front of the parameter name:
• BI: Binector Input
This parameter is used for selecting the source of a digital signal.
• BO: Binector Output
This parameter is available as a digital signal for interconnection
with other parameters.
• CI: Connector Input
This parameter is used for selecting the source of an “analog” sig-
nal.
• CO: Connector Output
This parameter is available as an “analog” signal for interconnec-
tion with other parameters.
• CO/BO: Connector/Binector Output
This parameter is available as an "analog" and digital signal for
interconnection with other parameters.

Note:
A connector input (CI) cannot be just interconnected with any connector output
(CO, signal source).
When interconnecting a connector input using the commissioning software, only
the corresponding possible signal sources are listed.

Drive object (function module)

A drive object (DO) is an independent, "self-contained" functional unit that has its
own parameters and, in some cases, faults and alarms.
When carrying out commissioning using the commissioning software, you can
select/deselect additional functions and their parameters by activating/deactivat-
ing function modules accordingly.

Note:
References: /FH3/ SINAMICS S110 Function Manual

The parameter list specifies the associated drive object and function module for
each individual parameter.

1-14 © Siemens AG 2012 All Rights Reserved

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 Parameter
Overview of parameters

Example:
• p1070 CI: Main setpoint
SERVO_S110 (ext setp)
This parameter is available only for the SERVO_S110 drive object in conjunc-
tion with the "Extended setpoint channel" function module.
A parameter can belong to a single, multiple, or all drive objects.
The following information relating to "Drive object" and "Function module" can be
displayed under the parameter number:

Table 1-1 Data in the “Drive object (function module)” field

Drive object (function module) Type Meaning

All objects - All drive objects have this parameter.

CU - Control Unit, all versions.
CU_S110-CAN 1 Control Unit S110 with CAN interface.
CU_S110-DP 1 Control Unit S110 with PROFIBUS DP interface.
SERVO_S110-CAN 11 S110 servo drive.
SERVO_S110-DP
SERVO_S110-CAN (pos ctrl) - S110 servo drive with "Position control" function module
SERVO_S110-DP (pos ctrl) (r0108.3).
SERVO_S110-CAN (EPOS) - S110 servo drive with "Basic positioner" function mod-
SERVO_S110-DP (EPOS) ule (r0108.4).
SERVO_S110-CAN (extend. setp) - S110 servo drive with "Extended setpoint channel"
SERVO_S110-DP (extend. setp) function module (r0108.8).
SERVO_S110-CAN (Safety rot) - S110 servo drive with "Safety rotary axis" function mod-
SERVO_S110-DP (Safety rot) ule (r0108.13).
SERVO_S110-CAN (ext brake) - S110 servo drive with "Extended brake control" function
SERVO_S110-DP (ext brake) module (r0108.14).
SERVO_S110-CAN (techn_ctrl) - S110 servo drive with "Technology controller" function
SERVO_S110-DP (techn_ctrl) module (r0108.16).
SERVO_S110-CAN (ext msg) - S110 servo drive with "Extended messages/monitoring
SERVO_S110-DP (ext msg) functions" function module (r0108.17).
SERVO_S110-CAN (FBLOCKS) - S110 servo drive with "Free function blocks" function
SERVO_S110-DP (FBLOCKS) module (r0108.18).

Note:
The drive object type is used to identify the drive objects in the drive system (e.g.
r0107, r0975[1]).

© Siemens AG 2012 All Rights Reserved 1-15

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Parameter
Overview of parameters

Can be changed
The "-" sign indicates that the parameter can be changed in any object state and
that the change will be effective immediately.
The information "C1(x), C2(x), T, U" ((x): optional) mean that the parameter can
be changed only in the specified drive object state and that the change will not
take effect until the object switches to another state. This can be a single or mul-
tiple states.
The following states may be specified:
• C1(x) Device commissioning C1: Commissioning 1
Device commissioning is in progress (p0009 > 0).
Pulses cannot be enabled.
The parameter can only be changed when the device commissioning
settings (p0009 > 0) are as follows:
• C1: Can be changed for all settings p0009 > 0
• C1(x): Can only be changed when the settings are p0009 = x
A modified parameter value does not take effect until converter com-
missioning mode is exited with p0009 = 0.
• C2(x) Drive object commissioning C2: Commissioning 2
Drive commissioning is in progress (p0009 = 0 and p0010 > 0).
Pulses cannot be enabled.
The parameter can only be changed when the drive commissioning
settings (p0010 > 0) are as follows:
• C2: Can be changed for all settings p0010 > 0
• C2(x): Can only be changed when p0010 = x
A modified parameter value does not take effect until drive commis-
sioning mode is exited with p0010 = 0.
• U Operation U: Run
Pulses are enabled.
• T Ready for operation T: Ready to run
The pulses are not enabled and the status “C1(x)” oder “C2(x)” is not
active.

Note:
Parameter p0009 is CU-specific (present on Control Unit).
Parameter p0010 is drive-specific (present for each drive object).
The operating state of individual drive objects is displayed in r0002.

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 Parameter
Overview of parameters

Calculated
Specifies whether the parameter is influenced by automatic calculations.
The calculation attribute defines which activities influence the parameter.
The following attributes apply:
• CALC_MOD_ALL
− p0340 = 1
− Project download with commissioning software and send from p0340 = 3
• CALC_MOD_CON
− p0340 = 1, 3, 4
• CALC_MOD_EQU
− p0340 = 1, 2
• CALC_MOD_LIM_REF
− p0340 = 1, 3, 5
− p0578 = 1
• CALC_MOD_REG
− p0340 = 1, 3

Note:
For p3900 > 0, p0340 = 1 is also called automatically.
After p1910 = 1, p0340 = 3 is also called automatically.

Access level
Specifies the access level required to be able to display and change the relevant
parameter. The required access level can be set via p0003.
The system uses the following access levels:
1. Standard
2. Extended
3. Expert
4. Service
Parameters with this access level are password protected.

Note:
Parameter p0003 is CU-specific (present on Control Unit).

© Siemens AG 2012 All Rights Reserved 1-17

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Parameter
Overview of parameters

Data type
The information on the data type can consist of the following two items (separated
by a slash):
• First item
Data type of the parameter
• Second item (for binector or connector input only)
Data type of the signal source to be interconnected (binector/connector out-
put)
Parameters can have the following data types:
• I8 Integer8 8-bit integer
• I16 Integer16 16-bit integer
• I32 Integer32 32-bit integer
• U8 Unsigned8 8 bits without sign
• U16 Unsigned16 16 bits without sign
• U32 Unsigned32 32 bits without sign
• Float FloatingPoint32 32-bit floating point number

Depending on the data type of the BICO input parameter (signal sink) and BICO
output parameter (signal source), the following combinations are possible when
BICO interconnections are established:

Table 1-2 Possible combinations of BICO interconnections

BICO input parameter

CI parameter BI parameter

BICO output parameter Unsigned32/ Unsigned32/ Unsigned32/ Unsigned32/

Integer16 Integer32 FloatingPoint32 Binary

CO: Unsigned8 x x – –
CO: Unsigned16 x x – –
CO: Integer16 x x – –
CO: Unsigned32 x x – –
CO: Integer32 x x – –
CO: FloatingPoint32 x x x1 –
BO: Unsigned8 – – – x
BO: Unsigned16 – – – x
Legend: x: BICO interconnection permitted
–: BICO interconnection not permitted
1 Exception:
BICO input parameters with data type "Unsigned32/FloatingPoint32" can also be interconnected with the following
BICO output parameters, despite the fact that these are not of the "FloatingPoint32" data type:
CO: r2050, CO: r2060

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 Parameter
Overview of parameters

Table 1-2 Possible combinations of BICO interconnections, continued

BICO input parameter

CI parameter BI parameter

BICO output parameter Unsigned32/ Unsigned32/ Unsigned32/ Unsigned32/

Integer16 Integer32 FloatingPoint32 Binary

BO: Integer16 – – – x
BO: Unsigned32 – – – x
BO: Integer32 – – – x
BO: FloatingPoint32 – – – –
Legend: x: BICO interconnection permitted
–: BICO interconnection not permitted
1 Exception:
BICO input parameters with data type "Unsigned32/FloatingPoint32" can also be interconnected with the following
BICO output parameters, despite the fact that these are not of the "FloatingPoint32" data type:
CO: r2050, CO: r2060

Dynamic index
For parameters with a dynamic index [0...n], the following information is specified
here:
• Data set (if available).
• Parameter for the number of indices (n = number - 1).
This field can contain the following information:
• "CDS, p0170" (Command Data Set, CDS count)
Example:
p1070[0]  main setpoint [command data set 0]
p1070[1]  main setpoint [command data set 1], etc.
• "DDS, p0180" (Drive Data Set, DDS count)
• "EDS, p0140" (Encoder Data Set, EDS count)
• "MDS, p0130" (Motor Data Set, MDS count)
• "PDS, p0120" (Power unit Data Set, PDS count)
• "p2615" (traversing blocks count)

Note:
Information on the data sets can be taken from the following references:
References: /FH3/ SINAMICS S110 Function Manual
Chapter "Data Sets"

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Parameter
Overview of parameters

Function diagram
The parameter is included in this function diagram. The structure of the parameter
function and its relationship with other parameters is shown in the specified func-
tion diagram.
Example:
Function diagram: 3060.3 3060: Function diagram number
3: Signal path (optional)

P group (refers only to access via BOP (Basic Operator Panel))

Specifies the functional group to which the parameter belongs. The required
parameter group can be set via p0004.

Note:
Parameter p0004 is CU-specific (present on Control Unit).

"Unit", "Unit group", and "Unit selection"

The standard unit of a parameter is specified in square parentheses after the val-
ues for "Min", "Max", and "Factory setting".
For parameters where the unit can be changed, the specifications for "Unit group"
and "Unit selection" determine the group to which this parameter belongs and with
which parameter the unit can be changed over.
Example:
Unit group: 7_1, unit selection: p0505
The parameter belongs to unit group 7_1 and the unit can be changed over using
p0505.

Note:
Detailed information on changing over units can be found in the following refer-
ences:
References: /FH3/ SINAMICS S110 Function Manual Drive Functions

All the potential unit groups and possible unit selections are listed below.

Table 1-3 Unit groups (p0100)

Unit group Unit selection for p0100 = Reference variable

for %
0 1

7_4 Nm lbf ft -
8_4 N lbf -
14_2 W HP -

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 Parameter
Overview of parameters

Table 1-3 Unit groups (p0100), continued

Unit group Unit selection for p0100 = Reference variable

for %
0 1

14_6 kW HP -
2 2
25_1 kgm lb ft -
27_1 kg lb -
28_1 Nm/A lbf ft/A -
29_1 N/Arms lbf/Arms -
30_1 m ft -

Table 1-4 Unit groups (p0349)

Unit group Unit selection for p0349 = Reference variable

for %
1 2

15_1 mH % 1000 ⋅ p0304

----------------------------------------------------------------
-
2 ⋅ π ⋅ 3 ⋅ p0305 ⋅ p0310

16_1 Ohm % p0304 -

---------------------------
3 ⋅ p0305

Table 1-5 Unit groups (p0505)

Unit group Unit selection for p0505 = Reference variable

for %
1 2 3 4

2_1 Hz % Hz % p2000
2_2 kHz % kHz % p2000
3_1 rpm % rpm % p2000
4_1 m/min % ft/min % p2000
4_2 m/min m/min ft/min ft/min -
5_1 Vrms % Vrms % p2001
5_2 V % V % p2001
5_3 V % V % p2001
6_1 mArms % mArms % p2002
6_2 Arms % Arms % p2002
6_3 mA % mA % p2002
6_4 A % A % p2002
6_5 A % A % p2002
7_1 Nm % lbf ft % p2003
7_2 Nm Nm lbf ft lbf ft -

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Parameter
Overview of parameters

Table 1-5 Unit groups (p0505), continued

Unit group Unit selection for p0505 = Reference variable

for %
1 2 3 4

7_3 Nm % lbf ft % 1.0

8_1 N % lbf % p2003
8_2 N N lbf lbf -
8_3 N % lbf % 1.0
14_1 W % HP % r2004 (drive)
14_3 W % HP % r2004 (infeed)
14_4 W % HP % r2004 (drive)
14_5 kW % HP % r2004 (drive)
14_7 kW % HP % r2004 (infeed)
14_8 kW % HP % r2004 (drive)
14_9 W W HP HP -
14_10 kW kW HP HP -
14_11 var % var % r2004
14_12 kvar % kvar % r2004
17_1 Nms/rad % lbf ft % p2000/p2003
s/rad
18_1 V/A % V/A % p2002/p2001
19_1 A/V % A/V % p2001/p2002
21_1 °C °C °F °F -
21_2 K K °F °F -
22_1 m/s2 m/s2 ft/s2 ft/s2 -
22_2 m/s2 % ft/s2 % p2007
23_1 Vrms Vrms Vrms s/ft Vrms s/ft -
s/m s/m
24_1 Ns/m Ns/m lbf s/ft lbf s/ft -
24_2 Ns/m % lbf s/ft % p2000/p2003
26_1 m/s3 m/s3 ft/s3 ft/s3 -
39_1 1/s2 % 1/s2 % p2007

Table 1-6 Unit group (p0595)

Unit group Unit selection for p0595 = Reference variable

for %
Value Unit

9_1 The values that can be set and the technological units are shown in
p0595 (See Chapter 1.2).

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 Parameter
Overview of parameters

Parameter values
Min Minimum value of the parameter [unit]
Max Maximum value of the parameter [unit]
Factory setting Value when shipped [unit]
A different value may be displayed for certain parameters
(e.g.p1800) at the initial commissioning stage.
Reason:
The setting of these parameters is determined by the
operating environment of the Control Unit (e.g.depending
on converter type, macro, power unit).

Not for motor type

Specifies for which motor type this parameter has no significance
ASM: Induction motor
FEM: Separately excited synchronous motor
PEM: Permanent-magnet synchronous motor
REL: Reluctance motor/SIEMOSYN motor

Scaling
Specification of the reference variable with which a signal value is automatically
converted for a BICO interconnection.
The following reference variables are available:
• p2000 ... p2007: Reference speed, reference voltage, etc.
• PERCENT: 1.0 = 100 %
• 4000H: 4000 hex = 100 %

Expert list
Specifies whether this parameter is available in the expert list of the specified
drive objects in the commissioning software.
1: Parameter does exist in the expert list.
0: Parameter does not exist in the expert list.

Notice:
Users are responsible for using parameters that are marked “Expert list: 0”
(parameter not included in the expert list).
These parameters and their functionalities have not been tested and no further
user documentation is available for them (e.g. description of functions). Moreover,
no support is provided for these parameters by "Technical Support" (hotline).

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Parameter
Overview of parameters

Description
Explanation of the function of a parameter.

Values
Lists the possible values of a parameter.

Recommendation
Information about recommended settings.

Index
The name and meaning of each individual index is specified for indexed parame-
ters.
The following applies to the values (Min, Max, Factory setting) of indexed adjust-
able parameters:
• Min, Max:
The adjustment range and unit apply to all indices.
• Factory setting:
When all indices have the same factory setting, index 0 is specified with the
unit to represent all indices.
When the indices have different factory settings, they are all listed individually
with the unit.

Bit array
For parameters with bit arrays, the following information is provided about each
bit:
• Bit number and signal name
• Meaning with signal states 0 and 1
• Function diagram (optional)
The signal is shown on this function diagram.

Dependency
Conditions that must be fulfilled in connection with this parameter. Also includes
special effects that can occur between this parameter and others.
See also: List of other relevant parameters to be considered.

Safety notices
Important information that must be observed to avoid the risk of physical injury or
material damage.
Information that must be observed to avoid any problems.

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 Parameter
Overview of parameters

Information that the user or operator may find useful.

Danger The description of this safety notice can be found at the
beginning of this manual (see Safety Notices).

Warning The description of this safety notice can be found at the

beginning of this manual (see Safety Notices).

Caution The description of this safety notice can be found at the

beginning of this manual (see Safety Notices).

Caution The description of this safety notice can be found at the

beginning of this manual (see Safety Notices).

Notice The description of this safety notice can be found at the

beginning of this manual (see Safety Notices).

Note Information that the user or operator may find useful.

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Parameter
Overview of parameters

1.1.2 Number ranges of parameters

Note:
The following number ranges represent an overview for all of the parameters
available for the SINAMICS drive family.
The parameters for the product described in this List Manual are described in
detail in Chapter 1.2.

Parameters are grouped into the following number ranges:

Table 1-7 Number ranges for SINAMICS

Range Description

From To

0000 0099 Display and operation

0100 0199 Commissioning
0200 0299 Power unit
0300 0399 Motor
0400 0499 Encoder
0500 0599 Technology and units, motor-specific data, probes
0600 0699 Thermal monitoring, maximum current, operating hours, motor
data, central probe
0700 0799 Control Unit terminals, measuring sockets
0800 0839 CDS, DDS data sets, motor changeover
0840 0879 Sequence control (e.g. signal source for ON/OFF1)
0880 0899 ESR, parking, control and status words
0900 0999 PROFIBUS/PROFIdrive
1000 1199 Setpoint channel (e.g. ramp-function generator)
1200 1299 Functions (e.g. motor holding brake)
1300 1399 U/f control
1400 1799 Control
1800 1899 Gating unit
1900 1999 Power unit and motor identification
2000 2009 Reference values
2010 2099 Communication (fieldbus)
2100 2139 Faults and alarms
2140 2199 Signals and monitoring
2200 2359 Technology controller
2360 2399 Staging, hibernation

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 Parameter
Overview of parameters

Table 1-7 Number ranges for SINAMICS, continued

Range Description

From To

2500 2699 Position control (LR) and basic positioning (EPOS)

2700 2719 Reference values, display
2720 2729 Load gear
2800 2819 Logic operations
2900 2930 Fixed values (e.g. percentage, torque)
3000 3099 Motor identification results
3100 3109 Real time clock (RTC)
3110 3199 Faults and alarms
3200 3299 Signals and monitoring
3400 3659 Infeed closed-loop control
3660 3699 Voltage Sensing Module (VSM), Braking Module internal
3700 3779 Advanced Positioning Control (APC)
3780 3819 Synchronization
3820 3849 Friction characteristic
3850 3899 Functions (e.g. long stator)
3900 3999 Management
4000 4599 Terminal Board, Terminal Module (e.g. TB30, TM31)
4600 4699 Sensor Module
4700 4799 Trace
4800 4849 Function generator
4950 4999 OA application
5000 5169 Motor spindle
5400 5499 System droop control (e.g. shaft generator)
5500 5599 Dynamic grid support (solar)
5900 6999 SINAMICS GM/SM/GL/SL
7000 7499 Parallel connection of power units
7500 7599 SINAMICS SM120
7700 7729 External signals
7770 7789 NVRAM, system parameters
7800 7839 EEPROM read/write parameters
7840 8399 Internal system parameters
8400 8449 Real time clock (RTC)
8500 8599 Data and macro management
8600 8799 CAN bus

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Parameter
Overview of parameters

Table 1-7 Number ranges for SINAMICS, continued

Range Description

From To

8800 8899 Communication Board Ethernet (CBE), PROFIdrive

8900 8999 Industrial Ethernet, PROFINET, CBE20
9000 9299 Topology
9300 9399 Safety Integrated
9400 9499 Parameter consistency and storage
9500 9899 Safety Integrated
9900 9949 Topology
9950 9999 Diagnostics (internal)
10000 10199 Safety Integrated
11000 11299 Free technology controller 0, 1, 2
20000 20999 Free function blocks (FBLOCKS)
21000 25999 Drive Control Chart (DCC)
50000 53999 SINAMICS DC MASTER (closed-loop DC current control)
61000 61001 PROFINET

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 Parameter
List of parameters

1.2 List of parameters

Product: S110, Version: 4402100, Language: eng
Objects: CU_S110-CAN, CU_S110-DP, CU_S110-PN, SERVO_S110-CAN, SERVO_S110-DP, SERVO_S110-PN

r0002 Control Unit operating display / CU op_display

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 99 -
Description: Operating display for the Control Unit (CU).
Value: 0: Operation
10: Ready
20: Wait for run-up
25: Wait for automatic FW update of DRIVE-CLiQ components
31: Commissioning software download active
33: Remove/acknowledge topology error
34: Exit commissioning mode
35: Carry out first commissioning
70: Initialization
80: Reset active
99: Internal software error
Notice: For several missing enable signals, the corresponding value with the highest number is displayed.

r0002 Drive operating display / Drv op_display

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 1
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 250 -
Description: Operating display for the drive.
Value: 0: Operation - everything enabled
10: Operation - set "enable setpoint" = "1" (p1142, p1152)
11: Operation - set "enable speed controller" = "1" (p0856)
12: Operation - RFG frozen, set "RFG start" = "1" (p1141)
13: Operation - set "enable RFG" = "1" (p1140)
14: Oper. - MotID, excit. running and/or brake opens, SS2, SOS
15: Operation - open brake (p1215)
16: Operation - withdraw braking with OFF1 using "ON/OFF1" = "1"
17: Operation - braking with OFF3 can only be interrupted with OFF2
18: Operation - brake on fault, remove fault, acknowledge
19: Operation - armature short-circ./DC brake act. (p1230, p1231)
21: Ready for operation - set "Operation enable" = "1" (p0852)
22: Ready for operation - de-magnetizing running (p0347)
23: Ready for operation - set "Infeed operation" = "1" (p0864)
31: Ready for switching on - set "ON/OFF1" = "0/1" (p0840)
35: Switching on inhibited - carry out first commissioning (p0010)
41: Switching on inhibited - set "ON/OFF1" = "0" (p0840)
42: Switching on inhibited - set "OC/OFF2" = "1" (p0844, p0845)
43: Switching on inhibited - set "OC/OFF3" = "1" (p0848, p0849)
44: Switching on inhibited - connect 24 V to terminal EP (hardware)
45: Switching on inhibited - rectify fault, acknowledge fault, STO
46: Switching on inhibited - exit comm mode (p0009, p0010)
60: Drive object de-activated/not operational
70: Initialization

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200: Wait for booting/partial booting

250: Device signals a topology error
Dependency: Refer to: r0046
Notice: For several missing enable signals, the corresponding value with the highest number is displayed.
Note: OC: Operating condition
EP: Enable Pulses (pulse enable)
RFG: Ramp-function generator
COMM: Commissioning
MotID: Motor data identification
SS2: Safe Stop 2
SOS: Safe Operating Stop
STO: Safe Torque Off

p0003 BOP access level / BOP acc_level

CU_S110-CAN, Can be changed: C1, U, T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
1 4 1
Description: Sets the access level for reading and writing parameters via the Basic Operator Panel (BOP).
Value: 1: Standard
2: Extended
3: Expert
4: Service
Note: Access level 0 (user-defined):
Parameters from the user-defined list (p0013). Not used as of firmware version 2.6 (p0016).
Access level 1 (standard):
Parameters for the simplest operator control possibility (e.g. p1120 = ramp-function generator, ramp-up time).
Access level 2 (extended):
Parameters to operate the basic functions of the drive unit.
Access level 3 (experts):
Expert know-how is required for these parameters (e.g. BICO parameterization).
Access level 4 (service):
For these parameters, it is necessary that authorized service personnel enter the appropriate password (p3950).

p0005[0...1] BOP operating display selection / BOP op_disp sel

All objects Can be changed: U, T Calculated: - Access level: 2
Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 65535 [0] 2
[1] 0
Description: Sets the parameter number and parameter index for display for p0006 = 2, 4 for the Basic Operator Panel (BOP).
Examples for the SERVO drive object:
p0005[0] = 21, p0005[1] = 0: Actual speed smoothed (r0021)
p0005[0] = 25, p0005[1] = 0: Output voltage smoothed (r0025)
Index: [0] = Parameter number
[1] = Parameter index
Dependency: Refer to: p0006

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 Parameter
List of parameters

Note: Procedure:
1.
The parameter number to be displayed should be set in index 0. Only the monitoring parameters (read-only param-
eters) can be set that actually exist for the actual drive object.
If the set parameter number is not indexed, or if there is an index in index 1 that lies outside the valid range of the
set parameter, then index 1 is automatically set to 0.
2.
The index that belongs to the parameter set in index 0 should be set in index 1. The permissible changes in index 1
always depend on the parameter number set in index 0.

p0006 BOP operating display mode / BOP op_ disp mode

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
4 4 4
Description: Sets the mode of the operating display for the Basic Operator Panel (BOP) in the operating states "ready for opera-
tion" and "operation".
Value: 4: p0005
Dependency: Refer to: p0005
Note: Mode 0 ... 3 can only be selected if also r0020, r0021 are available on the drive object.
Mode 4 is available for all drive objects.

p0006 BOP operating display mode / BOP op_ disp mode

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 4 4
Description: Sets the mode of the operating display for the Basic Operator Panel (BOP) in the operating states "ready for opera-
tion" and "operation".
Value: 0: Operation --> r0021, otherwise r0020 <--> r0021
1: Operation --> r0021, otherwise r0020
2: Operation --> p0005, otherwise p0005 <--> r0020
3: Operation --> r0002, otherwise r0002 <--> r0020
4: p0005
Dependency: Refer to: p0005
Note: Mode 0 ... 3 can only be selected if also r0020, r0021 are available on the drive object.
Mode 4 is available for all drive objects.

p0007 BOP background lighting / BOP lighting

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 [s] 2000 [s] 0 [s]
Description: Sets the delay time until the background lighting of the Basic Operator Panel (BOP) is switched off.
If no keys are actuated, then the background lighting automatically switches itself off after this time has expired.
Note: p0007 = 0: Background lighting is always switched on (factory setting).

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List of parameters

p0008 BOP drive object after booting / BOP DO after boot

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
1 65535 2
Description: Sets the required drive object that is active at the Basic Operator Panel (BOP) after booting.
Note: The value from p0008 initializes the display on the Basic Operator Panel (BOP) at the top left after booting.
The drive object Control Unit is selected using the value 1.

p0009 Device commissioning parameter filter / Dev comm par_filt

CU_S110-CAN, Can be changed: C1, T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 149 1
Description: Sets the device and basic drive commissioning.
By appropriately setting this parameter, those parameters are filtered that can be written into in the various commis-
sioning steps.
Value: 0: Ready
1: Device configuration
2: Defining the drive type/function module
3: Drive base configuration
4: Data set base configuration
29: Device download
30: Parameter reset
115: Parameter download
129: Only Siemens internal
149: Only Siemens internal
Notice: For p0009 = 10000 the following applies:
After the value has been modified, no further parameter modifications can be made and the status is shown in
r3996. Modifications can be made again when r3996 = 0.
Note: The drives can only be powered up outside the device commissioning (the inverter enabled). In this case, p0009
must be 0 (Ready) and the individual drive objects must have already gone into operation (p0010).
p0009 = 1: Device configuration
At the first commissioning of the device, after booting, the device is in the "device configuration" state. To start the
internal automatic first commissioning of the drive unit, p0009 should be set to 0 (Ready) after the ID for the actual
topology (r0098) was transferred into the ID for the target topology (p0099). To do this, it is sufficient to set a single
index value of p0099[x] the same as r0098[x]. Before the device has been completely commissioned, no other
parameter can be changed. After the first commissioning was carried out, in this state, when required, other basic
device configuration parameters can be adapted (e.g. the basic sampling time in p0110).
p0009 = 2: Defines the drive type / function module
In this state, the drive object types and/or the function modules can be changed or selected for the individual drive
objects. To do this, the drive object type can be set using p0107[0...15] and the function can be set using
p0108[0...15] (refer to p0101[0...15]).
p0009 = 3: Drive basis configuration
In this state, after the device has been commissioned for the first time, basic changes can be made for the individ-
ual drive objects (e.g. sampling times in p0111, p0112, p0115 and the number of data sets in p0120, p0130, p0140,
p0170, p0180).
p0009 = 4: Data set basis configuration
In this state, after the device has been commissioned for the first time, for the individual drive objects changes can
be made regarding the assignment of the components (p0121, p0131, p0141, p0151, p0161) to the individual data
sets and the assignment of the power unit, motor and encoder to the drive data sets (p0185, ...).

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 Parameter
List of parameters

p0009 = 29: Device download

If a download is made using the commissioning software, the device is automatically brought into this state. After
the download has been completed, p0009 is automatically set to 0 (ready). It is not possible to manually set p0009
to this value.
p0009 = 30: Parameter reset
In order to bring the complete unit into the "first commissioning" state or to load the parameters saved using p0977,
to start, p0009 must be set to this value. p0976 can then be changed to the required value.
p0009 = 115: Parameter download
This state allows the complete device and drive commissioning using the parameter services.

p0010 Drive commissioning parameter filter / Drv comm. par_filt

SERVO_S110-CAN, Can be changed: C2(1), T Calculated: - Access level: 1
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 2800, 2846
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 10000 1
Description: Sets the parameter filter to commission a drive.
Setting this parameter filters out the parameters that can be written into in the various commissioning steps.
Value: 0: Ready
1: Quick commissioning
2: Power unit commissioning
3: Motor commissioning
4: Encoder commissioning
5: Technological application/units
15: Data sets
17: Basic positioner commissioning
25: Position control commissioning
29: Only Siemens internal
30: Parameter reset
95: Safety Integrated commissioning
10000: Ready with immediate feedback signal
Notice: For p0010 = 10000 the following applies:
After the value has been modified, no further parameter modifications can be made and the status is shown in
r3996. Modifications can be made again when r3996 = 0.
Note: The drive can only be powered up outside the drive commissioning (inverter enable). To realize this, this parameter
must be set to 0.
By setting p3900 to a value other than 0, the quick commissioning is completed, and this parameter is automatically
reset to 0.
Procedure for "Reset parameter": Set p0010 to 30 and p0970 to 1.
p0010 = 10000 corresponds to p0010 = 0. Unlike with p0010 = 0, the parameter modification is applied immediately
and the calculations are made in the background. Further parameter modifications cannot be made while the calcu-
lations are being performed.

p0015 Macro drive unit / Macro drv unit

CU_S110-CAN, Can be changed: C1 Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 999999 1
Description: Runs the corresponding macro files.
The selected macro file must be available on the memory card/device memory.
Example:
p0015 = 6 --> the macro file PM000006.ACX is run.
Caution: When executing a specific macro, the corresponding programmed settings are made and become active.

© Siemens AG 2012 All Rights Reserved 1-33

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 Parameter
List of parameters

Notice: After the value has been modified, no further parameter modifications can be made and the status is shown in
r3996. Modifications can be made again when r3996 = 0.
Note: The macros in the specified directory are displayed in r8570. r8570 is not in the expert list of the commissioning
software.
Macros available as standard are described in the technical documentation of the particular product.
The parameter is not influenced by setting the factory setting.

p0015 Macro drive object / Macro DO

SERVO_S110-CAN, Can be changed: C2(1) Calculated: - Access level: 1
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 999999 0
Description: Runs the corresponding macro files.
The selected macro file must be available on the memory card/device memory.
Example:
p0015 = 6 --> the macro file PM000006.ACX is run.
Caution: When executing a specific macro, the corresponding programmed settings are made and become active.
Notice: After the value has been modified, no further parameter modifications can be made and the status is shown in
r3996. Modifications can be made again when r3996 = 0.
No errors were issued during quick commissioning (p3900 = 1) when writing to parameters of the QUICK_IBN
group!
Note: The macros in the specified directory are displayed in r8570. r8570 is not in the expert list of the commissioning
software.
Macros available as standard are described in the technical documentation of the particular product.
The parameter is not influenced by setting the factory setting.

r0018 Control Unit Firmware-Version / CU FW version

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 4294967295 -
Description: Displays the firmware version of the Control Unit.
Dependency: Refer to: r0128, r0148, r0197, r0198
Note: Example:
The value 1010100 should be interpreted as V01.01.01.00.

r0019.0...14 CO/BO: Control word BOP / STW BOP

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 9912
CU_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the control word for the Basic Operator Panel (BOP).
Bit field: Bit Signal name 1 signal 0 signal FP
00 ON / OFF (OFF1) ON OFF (OFF1) -
01 No coast-down / coast-down (OFF2) No coast down Coast down (OFF2) -
02 No Quick Stop / Quick Stop (OFF3) No Quick Stop Quick Stop (OFF3) -
07 Acknowledge fault (0 -> 1) Yes No -

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 Parameter
List of parameters

13 Motorized potentiometer raise Yes No -

14 Motorized potentiometer lower Yes No -

r0020 Speed setpoint smoothed / n_set smth

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5020, 6799
SERVO_S110-PN
P-Group: Displays, signals Units group: 3_1 Unit selection: p0505
Not for motor type: - Scaling: p2000 Expert list: 1
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Displays the currently smoothed speed setpoint at the input of the speed controller or U/f characteristic (after the
interpolator).
Dependency: Refer to: r0060
Note: Smoothing time constant = 100 ms
The signal is not suitable as a process quantity and may only be used as a display quantity.
The speed setpoint is available smoothed (r0020) and unsmoothed (r0060).

r0021 CO: Actual speed smoothed / n_act smooth

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 1580, 1680,
SERVO_S110-PN 4710, 6799
P-Group: Displays, signals Units group: 3_1 Unit selection: p0505
Not for motor type: - Scaling: p2000 Expert list: 1
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Displays the smoothed actual value of the motor speed.
Dependency: Refer to: r0022, r0063
Note: Smoothing time constant = 100 ms
The signal is not suitable as a process quantity and may only be used as a display quantity.
The speed actual value is available smoothed (r0021, r0022) and unsmoothed (r0063).

r0022 Speed actual value rpm smoothed / n_act rpm smooth

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 1580, 1680,
SERVO_S110-PN 4710, 6799
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: p2000 Expert list: 1
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Displays the smoothed actual value of the motor speed.
r0022 is identical to r0021, however, it always has units of rpm and contrary to r0021 cannot be changed over.
Dependency: Refer to: r0021, r0063
Note: Smoothing time constant = 100 ms
The signal is not suitable as a process quantity and may only be used as a display quantity.
The speed actual value is available smoothed (r0021, r0022) and unsmoothed (r0063).

© Siemens AG 2012 All Rights Reserved 1-35

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 Parameter
List of parameters

r0024 Output frequency smoothed / f_outp smooth

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 1690, 5300,
SERVO_S110-PN 5730, 6799
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: p2000 Expert list: 1
Min Max Factory setting
- [Hz] - [Hz] - [Hz]
Description: Displays the smoothed converter frequency.
Dependency: Refer to: r0066
Note: Smoothing time constant = 100 ms
The signal is not suitable as a process quantity and may only be used as a display quantity.
The output frequency is available smoothed (r0024) and unsmoothed (r0066).

r0025 CO: Output voltage smoothed / U_outp smooth

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 1690, 5730,
SERVO_S110-PN 6799
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: p2001 Expert list: 1
Min Max Factory setting
- [Vrms] - [Vrms] - [Vrms]
Description: Displays the smoothed output voltage of the power unit.
Dependency: Refer to: r0072
Note: Smoothing time constant = 100 ms
The signal is not suitable as a process quantity and may only be used as a display quantity.
The output voltage is available smoothed (r0025) and unsmoothed (r0072).

r0026 CO: DC link voltage smoothed / Vdc smooth

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5730, 8750,
SERVO_S110-PN 8850, 8950
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: p2001 Expert list: 1
Min Max Factory setting
- [V] - [V] - [V]
Description: Displays the smoothed actual value of the DC link voltage.
Dependency: Refer to: r0070
Notice: When measuring a DC link voltage < 200 V, for the Power Module (e.g. PM340) a valid measured value is not sup-
plied. In this case, when an external 24 V power supply is connected, a value of approx. 24 V is displayed in the dis-
play parameter.
Note: Smoothing time constant = 100 ms
The signal is not suitable as a process quantity and may only be used as a display quantity.
The DC link voltage is available smoothed (r0026) and unsmoothed (r0070).

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 Parameter
List of parameters

r0027 CO: Absolute actual current smoothed / I_act abs val smth
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5730, 6799,
SERVO_S110-PN 8850, 8950
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: p2002 Expert list: 1
Min Max Factory setting
- [Arms] - [Arms] - [Arms]
Description: Displays the smoothed absolute actual current value.
Dependency: Refer to: r0068
Notice: This smoothed signal is not suitable for diagnostics or evaluation of dynamic operations. In this case, the
unsmoothed value should be used.
Note: Smoothing time constant = 100 ms
The signal is not suitable as a process quantity and may only be used as a display quantity.
The absolute current actual value is available smoothed (r0027) and unsmoothed (r0068).

r0028 Modulation depth smoothed / Mod_depth smth

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5730, 6799,
SERVO_S110-PN 8950
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: p2002 Expert list: 1
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the smoothed actual value of the modulation depth.
Dependency: Refer to: r0074
Note: Smoothing time constant = 100 ms
The signal is not suitable as a process quantity and may only be used as a display quantity.
The modulation depth is available smoothed (r0028) and unsmoothed (r0074).

r0029 Current actual value field-generating smoothed / Id_act smooth

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5730
SERVO_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: p2002 Expert list: 1
Min Max Factory setting
- [Arms] - [Arms] - [Arms]
Description: Displays the smoothed field-generating actual current.
Dependency: Refer to: r0076
Note: Smoothing time constant = 100 ms
The signal is not suitable as a process quantity and may only be used as a display quantity.
The field-generating current actual value is available smoothed (r0029) and unsmoothed (r0076).

r0030 Current actual value torque-generating smoothed / Iq_act smooth

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5730
SERVO_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: p2002 Expert list: 1
Min Max Factory setting
- [Arms] - [Arms] - [Arms]
Description: Displays the smoothed torque-generating actual current.
Dependency: Refer to: r0078

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 Parameter
List of parameters

Note: Smoothing time constant = 100 ms

The signal is not suitable as a process quantity and may only be used as a display quantity.
The torque-generating current actual value is available smoothed (r0030 with 100 ms, r0078[1] with p0045) and
unsmoothed (r0078[0]).

r0031 Actual torque smoothed / M_act smooth

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5730, 6799
SERVO_S110-PN
P-Group: Displays, signals Units group: 7_1 Unit selection: p0505
Not for motor type: - Scaling: p2003 Expert list: 1
Min Max Factory setting
- [Nm] - [Nm] - [Nm]
Description: Displays the smoothed torque actual value.
Dependency: Refer to: r0080
Note: Smoothing time constant = 100 ms
The signal is not suitable as a process quantity and may only be used as a display quantity.
The active current actual value is available smoothed (r0031) and unsmoothed (r0080).

r0032 CO: Active power actual value smoothed / P_actv_act smth

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5730
SERVO_S110-PN
P-Group: Displays, signals Units group: 14_10 Unit selection: p0505
Not for motor type: - Scaling: r2004 Expert list: 1
Min Max Factory setting
- [kW] - [kW] - [kW]
Description: Displays the smoothed actual value of the active power.
Dependency: Refer to: r0082
Notice: This smoothed signal is not suitable for diagnostics or evaluation of dynamic operations. In this case, the
unsmoothed value should be used.
Note: Significance for the drive: Power output at the motor shaft
The active power is available smoothed (r0032 with 100 ms, r0082[1] with p0045) and unsmoothed (r0082[0]).

r0033 Torque utilization smoothed / M_util smooth

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 8012
SERVO_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: PERCENT Expert list: 1
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the smoothed torque utilization as a percentage.
The torque utilization is obtained from the required smoothed torque in reference to the torque limit, scaled using
p2196.
Note: Smoothing time constant = 100 ms
The signal is not suitable as a process quantity and may only be used as a display quantity.
The torque utilization is available smoothed (r0033) and unsmoothed (r0081).
For M_set total (r0079) > M_max offset (p1532), the following applies:
- demanded torque = M_set total - M_max offset
- actual torque limit = M_max upper effective (r1538) - M_max offset
For M_set total (r0079) <= M_max offset (p1532), the following applies:
- demanded torque = M_max offset - M_set total
- actual torque limit = M_max offset - M_max lower effective (r1539)
For the actual torque limit = 0, the following applies: r0033 = 100 %
For the actual torque limit < 0, the following applies: r0033 = 0 %

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r0034 CO: Motor utilization / Motor utilization

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 8017
SERVO_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: ASM, REL, FEM Scaling: PERCENT Expert list: 1
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the motor utilization from the thermal I2t motor model.
Dependency: The motor utilization is only determined for permanent-magnet synchronous motors and if the I2t motor model is
activated.
The motor utilization is formed from the ratio between the I2t motor model temperature (minus 40 Kelvin) and the
reference value p0605 (motor overtemperature, fault threshold) - 40 Kelvin. If p0605 is reduced, r0034 increases
and the motor temperature remains the same.
Refer to: p0611, p0612, p0615
Note: Smoothing time constant = 100 ms
The signal is not suitable as a process quantity and may only be used as a display quantity.
A value of r0034 = -200.0 % indicates an invalid display, for example, because the thermal I2t motor model was not
activated or was incorrectly parameterized.

r0035 CO: Motor temperature / Mot temp

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7008, 8016,
SERVO_S110-PN 8017
P-Group: Displays, signals Units group: 21_1 Unit selection: p0505
Not for motor type: - Scaling: p2006 Expert list: 1
Min Max Factory setting
- [°C] - [°C] - [°C]
Description: Displays the actual temperature in the motor.
Note: For r0035 not equal to -200.0 °C, the following applies:
- this temperature display is valid.
- a KTY sensor is connected.
- the thermal model for the induction motor is activated (p0612 bit 1 = 1 and temperature sensor de-activated:
p0600 = 0 or p0601 = 0).
For r0035 equal to -200.0 °C, the following applies:
- this temperature display is not valid (temperature sensor error).
- A PTC sensor or bimetallic NC contact is connected.
- the temperature sensor of the synchronous motor is de-activated (p0600 = 0 or p0601 = 0).

r0036 CO: Power unit overload I2t / PU overload I2t

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 8014
SERVO_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: PERCENT Expert list: 1
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the power unit overload determined using the I2t calculation.
A current reference value is defined for the I2t monitoring of the power unit. It represents the current that can be
conducted by the power unit without any influence of the switching losses (e.g. the continuously permissible current
of the capacitors, inductances, busbars, etc.).
If the I2t reference current of the power unit is not exceeded, then an overload (0 %) is not displayed.
In the other case, the degree of thermal overload is calculated, whereby 100% results in a trip.
Dependency: Refer to: p0290, p0294
Refer to: F30005

© Siemens AG 2012 All Rights Reserved 1-39

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 Parameter
List of parameters

r0037[0...1] Control Unit temperature / CU temperature

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: p2006 Expert list: 1
Min Max Factory setting
- [°C] - [°C] - [°C]
Description: Displays the Control Unit temperature.
An appropriate message is output when 87 °C is exceeded.
Index: [0] = Temperature actual
[1] = Temperature maximum
Dependency: Refer to: A01009
Note: The value of -200 indicates that there is no measuring signal.

r0037[0...19] CO: Power unit temperatures / PU temperatures

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 8014
SERVO_S110-PN
P-Group: Displays, signals Units group: 21_1 Unit selection: p0505
Not for motor type: - Scaling: p2006 Expert list: 1
Min Max Factory setting
- [°C] - [°C] - [°C]
Description: Displays the temperatures in the power unit.
Index: [0] = Inverter, maximum value
[1] = Depletion layer maximum value
[2] = Rectifier maximum value
[3] = Air intake
[4] = Interior of power unit
[5] = Inverter 1
[6] = Inverter 2
[7] = Inverter 3
[8] = Inverter 4
[9] = Inverter 5
[10] = Inverter 6
[11] = Rectifier 1
[12] = Rectifier 2
[13] = Depletion layer 1
[14] = Depletion layer 2
[15] = Depletion layer 3
[16] = Depletion layer 4
[17] = Depletion layer 5
[18] = Depletion layer 6
[19] = Cooling system liquid intake
Note: The value of -200 indicates that there is no measuring signal.
r0037[0]: Maximum value of the inverter temperatures (r0037[5...10]).
r0037[1]: Maximum value of the depletion layer temperatures (r0037[13...18]).
r0037[2]: Maximum value of the rectifier temperatures (r0037[11...12]).
The maximum value is the temperature of the hottest inverter, depletion layer, or rectifier.

1-40 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p0045 Smoothing time constant, display values / T_smth display

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 4715, 5610,
SERVO_S110-PN 5730, 6714, 8012
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [ms] 1000.00 [ms] 1.00 [ms]
Description: Sets the smoothing time constant for the following display values:
SERVO: r0078[1], r0079[1], r0081 (calculated from the quantities smoothed with p0045), r0082[1].
VECTOR: r0063[1], r0068[1], r0080[1], r0082[1].

r0046.0...31 CO/BO: Missing enable sig / Missing enable sig

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 1
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 2634
SERVO_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays missing enable signals that are preventing the closed-loop drive control from being commissioned.
Bit field: Bit Signal name 1 signal 0 signal FP
00 OFF1 enable missing Yes No -
01 OFF2 enable missing Yes No -
02 OFF3 enable missing Yes No -
03 Operation enable missing Yes No -
04 Armature short-circuit / DC braking, enable Yes No 7014,
missing 7016
05 STOP2 enable missing Yes No -
06 STOP1 enable missing Yes No -
08 EP terminals enable missing Yes No -
09 Infeed enable missing Yes No -
10 Ramp-function generator enable missing Yes No -
11 Ramp-function generator start missing Yes No -
12 Setpoint enable missing Yes No -
16 OFF1 enable internal missing Yes No -
17 OFF2 enable internal missing Yes No -
18 OFF3 enable internal missing Yes No -
19 Pulse enable internal missing Yes No -
20 Armature short-circuit/DC braking internal Yes No 7014,
enable missing 7016
21 STOP2 enable internal missing Yes No -
22 STOP1 enable internal missing Yes No -
25 Function bypass active Yes No -
26 Drive inactive or not operational Yes No -
27 De-magnetizing not completed Yes No -
28 Brake open missing Yes No -
29 Cooling system ready signal missing Yes No -
30 Speed controller inhibited Yes No -
31 Jog setpoint active Yes No -
Dependency: Refer to: r0002
Note: The value r0046 = 0 indicates that all enable signals for this drive are present.
Bit 00 = 1 (enable signal missing), if:
- the signal source in p0840 is a 0 signal.
- there is a "switching on inhibited".
Bit 01 = 1 (enable signal missing), if:
- the signal source in p0844 or p0845 is a 0 signal.

© Siemens AG 2012 All Rights Reserved 1-41

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Parameter
List of parameters

Bit 02 = 1 (enable signal missing), if:

- the signal source in p0848 or p0849 is a 0 signal.
Bit 03 = 1 (enable signal missing), if:
- the signal source in p0852 is a 0 signal.
Bit 04 =1 (armature short-circuit active), if:
- the signal source in p1230 has a 1 signal
Bit 05, Bit 06: Being prepared
Bit 08 = 1 (enable signal missing), if:
- the pulse enable via terminal EP is missing (booksize: X21, chassis: X41).
Bit 09 = 1 (enable signal missing), if:
- the signal source in p0864 is a 0 signal.
Bit 10 = 1 (enable signal missing), if:
- the signal source in p1140 is a 0 signal.
Bit 11 = 1 (enable signal missing) if the speed setpoint is frozen, because:
- the signal source in p1141 is a 0 signal.
- the speed setpoint is entered from jogging and the two signal sources for jogging, bit 0 (p1055) and bit 1 (p1056)
have a 1 signal.
Bit 12 = 1 (enable signal missing), if:
- the signal source in p1142 is a 0 signal.
- When activating the function module "basic positioner" (r0108.4 = 1), the signal source in p1142 is set to a 0 sig-
nal.
Bit 16 = 1 (enable signal missing), if:
- there is an OFF1 fault response. The system is only enabled if the fault is removed and was acknowledged and
the "switching on inhibited" withdrawn with OFF1 = 0.
Bit 17 = 1 (enable signal missing), if:
- commissioning mode is selected (p0009 > 0 or p0010 > 0).
- there is an OFF2 fault response.
- the drive is inactive (p0105 = 0) or is not operational (r7850[DO-Index]=0).
Bit 18 = 1 (enable signal missing), if:
- OFF3 has still not been completed or an OFF3 fault response is present.
Bit 19 = 1 (internal pulse enable missing), if:
- synchronization is running between the basic clock cycle, DRIVE-CLiQ clock cycle and application clock cycle.
Bit 20 =1 (internal armature short-circuit active), if:
- the drive is not in the state "S4: Operation" or "S5x" (refer to function diagram 2610).
- the internal pulse enable is missing (r0046.19 = 0).
Bit 21 = 1 (enable signal missing), if:
The pulses have been enabled and the speed setpoint has still not been enabled, because:
- the holding brake opening time (p1216) has still not expired.
- the motor has still not been magnetized (induction motor).
- the encoder has not been calibrated (U/f vector and synchronous motor)
Bit 22: Being prepared
Bit 26 = 1 (enable signal missing), if:
- the drive is inactive (p0105 = 0) or is not operational (r7850[DO-Index]=0).
Bit 27 = 1 (enable signal missing), if:
- de-magnetizing has still not been completed (only for vector).
Bit 28 = 1 (enable signal missing), if:
- the holding brake is closed or has still not been opened.
Bit 29 = 1 (enable signal missing), if:
- the cooling system ready signal via BI: p0266[1] missing.
Bit 30 = 1 (speed controller inhibited), if one of the following reasons is present:
- A 0 signal is available via BI: p0856.
- the function generator with current input is active.
- the measuring function "current controller reference frequency characteristic" is active.
- the pole position identification is active.

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 Parameter
List of parameters

- motor data identification is active (only certain steps).

Bit 31 = 1 (enable signal missing), if:
- the speed setpoint from jog 1 or 2 is entered.

r0047 Status, identification / Status ident

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 1
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 104 -
Description: Displays the currently executed steps or the first step after the enable for the motor identification and pole position
identification routines.
Value: 0: No measurement
1: PolID: Wait for brake closing time
2: PolID: Measurement, step 1
3: PolID: Measurement, step 2
4: PolID: Measurement, step 3
5: PolID: Measurement, step 4
6: PolID: Measurement, stage 2
7: PolID: Measurement evaluation
8: PolID: Measurement end
11: MotID: Inductance measurement, step 1
12: MotID: Inductance measurement, step 2
13: MotID: Inductance measurement evaluation
14: MotID: Resistance measurement evaluation
15: MotID: Fine synchronization, step 1
16: MotID: Fine synchronization, step 2
17: MotID: Fine synchronization, step 3
18: MotID: Fine synchronization, end
20: MotID: Rotating inductance measurement, step 1
21: MotID: Rotating inductance measurement, step 2
22: MotID: Rotating inductance measurement, step 3
23: MotID: Rotating inductance measurement, step 4
24: MotID: Rotating Inductance measurement evaluation
25: MotID: Rotating Inductance measurement end
30: MotID: Induction motor measurement, step 1
31: MotID: Induction motor measurement, step 2
32: MotID: Induction motor measurement, step 3
33: MotID: Induction motor measurement, step 4
34: MotID: Induction motor measurement, step 5
35: MotID: Induction motor measurement, step 6
36: MotID: Induction motor measurement, step 7
37: MotID: Induction motor measurement, step 8
38: MotID: Induction motor measurement, step 9
40: MotID: Commutating angle, step 1
41: MotID: Commutating angle, step 2
42: MotID: Commutating angle, step 3
43: MotID: Commutating angle, step 4
45: MotID: Commutating angle rotating, step 1
46: MotID: Commutating angle rotating, step 2
47: MotID: Commutating angle rotating, step 3
48: MotID: Commutating angle rotating complete
50: MotID: kT determination, step 1
51: MotID: kT determination, step 2
52: MotID: kT determination, step 3
53: MotID: kT determination evaluation
54: MotID: kT determination end
60: MotID: Reluctance constant measurement, step 1
61: MotID: Reluctance constant measurement, step 2
62: MotID: Reluctance constant measurement, step 3

© Siemens AG 2012 All Rights Reserved 1-43

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 Parameter
List of parameters

63: MotID: Reluctance constant measurement end

70: MotID: Moment of inertia measurement, step 1
71: MotID: Moment of inertia measurement, step 2
72: MotID: Moment of inertia measurement, step 3
73: MotID: Moment of inertia measurement end
80: MotID: Magnetizing inductance measurement, step 1
81: MotID: Magnetizing inductance measurement, step 2
82: MotID: Magnetizing inductance measurement, step 3
83: MotID: Magnetizing inductance measurement evaluation
84: MotID: Magnetizing inductance measurement end
90: MotID: Saturation characteristic. step 1
91: MotID: Saturation characteristic. step 2
92: MotID: Saturation characteristic. step 3
93: MotID: Saturation characteristic evaluation 1
94: MotID: Saturation characteristic evaluation 2
95: MotID: Saturation characteristic end
96: MotID: Converter model, step 1
97: MotID: Converter model, step 2
98: MotID: Converter model, step 3
99: MotID: Converter model, step 4
100: PolID: Motion-based, step 1
101: PolID: Motion-based, step 2
102: PolID: Motion-based, step 3
103: PolID: Motion-based, step 4
104: PolID: Motion-based, step 5

r0049[0...3] Motor data set/encoder data set effective / MDS/EDS effective

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned8 Dynamic index: - Func. diagram: 8565
SERVO_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the effective Motor Data Set (MDS) and the effective Encoder Data Sets (EDS).
Index: [0] = Motor Data Set MDS effective
[1] = Encoder 1 Encoder Data Set EDS effective
[2] = Encoder 2 Encoder Data Set EDS effective
[3] = Reserved
Dependency: Refer to: p0186, p0187, p0188, r0838
Note: Value 99 means the following: No encoder assigned (not configured).

r0050.0...1 CO/BO: Command Data Set CDS effective / CDS effective

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned8 Dynamic index: - Func. diagram: 8560
SERVO_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the effective Command Data Set (CDS).
Bit field: Bit Signal name 1 signal 0 signal FP
00 CDS eff., bit 0 ON OFF -
01 CDS eff., bit 1 ON OFF -
Dependency: Refer to: p0810, r0836
Note: The Command Data Set selected using a binector input (e.g. p0810) is displayed using r0836.

1-44 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r0051.0...1 CO/BO: Drive Data Set DDS effective / DDS effective

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned8 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the effective Drive Data Set (DDS).
Bit field: Bit Signal name 1 signal 0 signal FP
00 DDS eff., bit 0 ON OFF -
01 DDS eff., bit 1 ON OFF -
Dependency: Refer to: p0820, r0837
Note: The drive data set changeover is suppressed when selecting the motor identification, during the rotating measure-
ment, the encoder calibration and the friction characteristic record.

r0056.1...15 CO/BO: Status word, closed-loop control / ZSW cl-loop ctrl

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 1530, 2526
SERVO_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the status word of the closed-loop control.
Bit field: Bit Signal name 1 signal 0 signal FP
01 De-magnetizing completed Yes No -
04 Magnetizing completed Yes No 2701
08 Field weakening active Yes No -
14 Vdc_max controller active Yes No -
15 Vdc_min controller active Yes No -
Note: Re bit 04:
The bit is immediately set after power-on
Exception:
For an induction motor with brake (except for p1215 = 2), the bit is only set when 60% of the reference flux is
reached.

r0060 CO: Speed setpoint before the setpoint filter / n_set before filt.
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2701, 2704,
SERVO_S110-PN 5020, 6030, 6799
P-Group: Displays, signals Units group: 3_1 Unit selection: p0505
Not for motor type: - Scaling: p2000 Expert list: 1
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Displays the actual speed setpoint at the input of the speed controller or U/f characteristic (after the interpolator).
Dependency: Refer to: r0020
Note: The speed setpoint is available smoothed (r0020) and unsmoothed (r0060).

© Siemens AG 2012 All Rights Reserved 1-45

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 Parameter
List of parameters

r0061[0...1] CO: Actual speed unsmoothed / n_act unsmoothed

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 1580, 4710,
SERVO_S110-PN 4715
P-Group: Displays, signals Units group: 3_1 Unit selection: p0505
Not for motor type: - Scaling: p2000 Expert list: 1
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Displays the unsmoothed actual speed values sensed by the encoders.
Index: [0] = Encoder 1
[1] = Encoder 2

r0062 CO: Speed setpoint after the filter / n_set after filter
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 1590, 1750,
SERVO_S110-PN 5020, 5030, 5210, 6030
P-Group: Displays, signals Units group: 3_1 Unit selection: p0505
Not for motor type: - Scaling: p2000 Expert list: 1
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Displays the actual speed setpoint after the setpoint filters.

r0063 CO: Actual speed smoothed / n_act smooth

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 1580, 1590,
SERVO_S110-PN 4710, 5300
P-Group: Displays, signals Units group: 3_1 Unit selection: p0505
Not for motor type: - Scaling: p2000 Expert list: 1
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Displays the current smoothed actual speed for speed control.
Dependency: Refer to: r0021, r0022, r0061, p1441
Note: The speed actual value is calculated in encoderless operation.
For operation with encoder, r0063 is smoothed with p1441.
The speed actual value is available smoothed (r0021, r0022) and unsmoothed (r0063).

r0064 CO: Speed controller system deviation / n_ctrl system dev

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5040, 6040
SERVO_S110-PN
P-Group: Displays, signals Units group: 3_1 Unit selection: p0505
Not for motor type: - Scaling: p2000 Expert list: 1
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Displays the actual system deviation of the speed controller.
Note: In servo control mode with active reference model, the system deviation to the P component of the speed controller
is displayed.

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r0065 Slip frequency / f_Slip

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 1710, 6310,
SERVO_S110-PN 6727, 6730, 6732
P-Group: Displays, signals Units group: 2_1 Unit selection: p0505
Not for motor type: - Scaling: p2000 Expert list: 1
Min Max Factory setting
- [Hz] - [Hz] - [Hz]
Description: Displays the slip frequency for induction motors (ASM).

r0066 CO: Output frequency / f_outp

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 1690, 5300,
SERVO_S110-PN 5730, 6310, 6730, 6731, 6799
P-Group: Displays, signals Units group: 2_1 Unit selection: p0505
Not for motor type: - Scaling: p2000 Expert list: 1
Min Max Factory setting
- [Hz] - [Hz] - [Hz]
Description: Displays the Motor Module output frequency.
Dependency: Refer to: r0024
Note: The output frequency is available smoothed (r0024) and unsmoothed (r0066).

r0067 CO: Output current, maximum / I_outp max

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5722, 6300,
SERVO_S110-PN 6640, 6724
P-Group: Displays, signals Units group: 6_2 Unit selection: p0505
Not for motor type: - Scaling: p2002 Expert list: 1
Min Max Factory setting
- [Arms] - [Arms] - [Arms]
Description: Displays the maximum output current of the Motor Module.
Dependency: The maximum output current is determined by the parameterized current limit and the motor and converter thermal
protection.
Refer to: p0290, p0640

r0068 CO: Absolute current actual value / I_act abs val

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5730, 7017,
SERVO_S110-PN 8014, 8017, 8850, 8950
P-Group: Displays, signals Units group: 6_2 Unit selection: p0505
Not for motor type: - Scaling: p2002 Expert list: 1
Min Max Factory setting
- [Arms] - [Arms] - [Arms]
Description: Displays actual absolute current.
Dependency: Refer to: r0027
Notice: For A_INF, S_INF the following applies:
The value is updated with the current controller sampling time.
The following applies for SERVO:
The value is updated with a sampling time of 1 ms.
Note: Absolute current value = sqrt(Iq^2 + Id^2)
The absolute current actual value is available smoothed (r0027) and unsmoothed (r0068).

© Siemens AG 2012 All Rights Reserved 1-47

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r0069[0...6] Phase current actual value / I_phase act value

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 1630, 5730,
SERVO_S110-PN 6714, 6730, 6731, 8850, 8950
P-Group: Displays, signals Units group: 6_5 Unit selection: p0505
Not for motor type: - Scaling: p2002 Expert list: 1
Min Max Factory setting
- [A] - [A] - [A]
Description: Displays the measured actual phase currents as peak value.
Index: [0] = Phase U
[1] = Phase V
[2] = Phase W
[3] = Phase U offset
[4] = Phase V offset
[5] = Phase W offset
[6] = Total U, V, W
Note: In indices 3 ... 5, the offset currents of the 3 phases, which are added to correct the phase currents, are displayed.
The sum of the 3 corrected phase currents is displayed in index 6.

r0070 CO: Actual DC link voltage / Vdc act val

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5730
SERVO_S110-PN
P-Group: Displays, signals Units group: 5_2 Unit selection: p0505
Not for motor type: - Scaling: p2001 Expert list: 1
Min Max Factory setting
- [V] - [V] - [V]
Description: Displays the measured actual value of the DC link voltage.
Dependency: Refer to: r0026
Notice: For SINAMICS S120 AC Drive (AC/AC) the following applies:
When measuring a DC link voltage < 200 V, for the Power Module (e.g. PM340) a valid measured value is not sup-
plied. In this case, when an external 24V power supply is connected, a value of approx. 24 V is displayed.
Note: The DC link voltage is available smoothed (r0026) and unsmoothed (r0070).

r0072 CO: Output voltage / U_output

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 1630, 5730,
SERVO_S110-PN 6730, 6731, 6799
P-Group: Displays, signals Units group: 5_1 Unit selection: p0505
Not for motor type: - Scaling: p2001 Expert list: 1
Min Max Factory setting
- [Vrms] - [Vrms] - [Vrms]
Description: Displays the actual power unit output voltage (Motor Module).
Dependency: Refer to: r0025
Note: The output voltage is available smoothed (r0025) and unsmoothed (r0072).

1-48 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r0074 CO: Modulat_depth / Modulat_depth

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5730, 6730,
SERVO_S110-PN 6731, 6799, 8940, 8950
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: PERCENT Expert list: 1
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the actual modulation depth.
Dependency: Refer to: r0028
Note: For space vector modulation, 100% corresponds to the maximum output voltage without overcontrol.
Values above 100 % indicate an overcontrol condition - values below 100% have no overcontrol.
The phase voltage (phase-to-phase, rms) is calculated as follows:(r0074 x r0070) / (sqrt(2) x 100 %).
The modulation depth is available smoothed (r0028) and unsmoothed (r0074).

r0075 CO: Current setpoint field-generating / Id_set

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 1630, 5714,
SERVO_S110-PN 5722, 6714
P-Group: Displays, signals Units group: 6_2 Unit selection: p0505
Not for motor type: - Scaling: p2002 Expert list: 1
Min Max Factory setting
- [Arms] - [Arms] - [Arms]
Description: Displays the field-generating current setpoint (Id_set).
Note: This value is irrelevant for the U/f control mode.

r0076 CO: Current actual value field-generating / Id_act

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 1630, 1710,
SERVO_S110-PN 5714, 5730, 6714, 6799
P-Group: Displays, signals Units group: 6_2 Unit selection: p0505
Not for motor type: - Scaling: p2002 Expert list: 1
Min Max Factory setting
- [Arms] - [Arms] - [Arms]
Description: Displays the field-generating current actual value (Id_act).
Dependency: Refer to: r0029
Note: This value is irrelevant for the U/f control mode.
The field-generating current actual value is available smoothed (r0029) and unsmoothed (r0076).

r0077 CO: Current setpoint torque-generating / Iq_set

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 1630, 1774,
SERVO_S110-PN 5714, 6710, 6714, 6719
P-Group: Displays, signals Units group: 6_2 Unit selection: p0505
Not for motor type: - Scaling: p2002 Expert list: 1
Min Max Factory setting
- [Arms] - [Arms] - [Arms]
Description: Displays the torque/force generating current setpoint.
Note: This value is irrelevant for the U/f control mode.

© Siemens AG 2012 All Rights Reserved 1-49

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r0078[0...1] CO: Current actual value torque-generating / Iq_act

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 1630, 5714,
SERVO_S110-PN 5730
P-Group: Displays, signals Units group: 6_2 Unit selection: p0505
Not for motor type: - Scaling: p2002 Expert list: 1
Min Max Factory setting
- [Arms] - [Arms] - [Arms]
Description: Displays the torque-generating current actual value (Iq_act).
Index: [0] = Unsmoothed
[1] = Smoothed with p0045
Dependency: Refer to: r0030, p0045
Note: These values are irrelevant for the U/f control mode.
The torque-generating current actual value is available smoothed (r0030 with 100 ms, r0078[1] with p0045) and
unsmoothed (r0078[0]).

r0079[0...1] CO: Torque setpoint total / M_set total

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5610, 8012
SERVO_S110-PN
P-Group: Displays, signals Units group: 7_1 Unit selection: p0505
Not for motor type: - Scaling: p2003 Expert list: 1
Min Max Factory setting
- [Nm] - [Nm] - [Nm]
Description: Displays the torque setpoint at the output of the speed controller (before clock cycle interpolation).
Index: [0] = Unsmoothed
[1] = Smoothed with p0045

r0080 CO: Torque actual value / M_act

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5730
SERVO_S110-PN
P-Group: Displays, signals Units group: 7_1 Unit selection: p0505
Not for motor type: - Scaling: p2003 Expert list: 1
Min Max Factory setting
- [Nm] - [Nm] - [Nm]
Description: Displays the actual torque value.
Dependency: Refer to: r0031
Note: The torque actual value is available smoothed (r0031) and unsmoothed (r0080).

r0081 CO: Torque utilization / M_Utilization

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 8012
SERVO_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: PERCENT Expert list: 1
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the torque utilization as a percentage.
The torque utilization is obtained from the required smoothed torque referred to the torque limit.
Dependency: Refer to: r0033

1-50 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Note: The torque utilization is available smoothed (r0033) and unsmoothed (r0081).
The torque utilization is obtained from the required torque referred to the torque limit as follows:
- Positive torque: r0081 = ((r0079 + p1532) / (r1538 - p1532)) * 100 %
- Negative torque: r0081 = ((-r0079 + p1532) / (-r1539 + p1532)) * 100 %
The calculation of the torque utilization depends on the selected smoothing time constant (p0045).

r0082[0...2] CO: Active power actual value / P_act

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5730
SERVO_S110-PN
P-Group: Displays, signals Units group: 14_5 Unit selection: p0505
Not for motor type: - Scaling: r2004 Expert list: 1
Min Max Factory setting
- [kW] - [kW] - [kW]
Description: Displays the instantaneous active power.
Index: [0] = Unsmoothed
[1] = Smoothed with p0045
[2] = Electric power
Dependency: Refer to: r0032
Note: The mechanical active power is available smoothed (r0032 with 100 ms, r0082[1] with p0045) and unsmoothed
(r0082[0]).

r0083 CO: Flux setpoint / Flex setp

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5722
SERVO_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: PERCENT Expert list: 1
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the flux setpoint.

r0084 CO: Flux actual value / Flux act val

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5722
SERVO_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: PERCENT Expert list: 1
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the flux actual value.

r0088 CO: DC link voltage setpoint / Vdc setpoint

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 3
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 8940, 8964
SERVO_S110-DP
P-Group: Displays, signals Units group: 5_2 Unit selection: p0505
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: p2001 Expert list: 1
(Tech_ctrl)
Min Max Factory setting
- [V] - [V] - [V]
Description: Displays the setpoint for the DC link voltage.

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 Parameter
List of parameters

p0092 Clock synchronous operation pre-assignment/check / Clock sync op

CU_S110-CAN, Can be changed: C1(1) Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Setting to pre-assign/check the sampling times for the internal controller clock cycles for clock-synchronous PRO-
FIdrive operation.
p0092 = 1:
The controller clock cycles are set so that clock synchronous PROFIdrive operation is possible. If it is not possible
to change the controller clock cycles of the clock-cycle synchronous PROFIdrive operation, then an appropriate
message is output.
The pre-setting of the controller clock cycles can result in a derating of the Motor Module (e.g. p0115[0] = 400 µs --
> 375 µs).
When the drive unit utilization (r9976) is calculated, its maximum computing time load has already been calculated
during ramp-up for clock-cycle synchronous operation and taken into account in r9976 (V4.3 and higher), if fixed
DCC run-time groups "Receive AFTER IF1 PROFIdrive PZD" and "Send BEFORE IF1 PROFIdrive PZD" are used.
p0092 = 0:
The controller clock cycles are set without any restrictions by the clock-cycle PROFIdrive operation (as for up to
version V2.3).
When the drive unit utilization (r9976) is calculated, its maximum computing time load has already been calculated
during ramp-up for non-clock-cycle-synchronous operation and taken into account in r9976 (V4.3 and higher), if
fixed DCC run-time groups "Receive AFTER IF1 PROFIdrive PZD" and "Send BEFORE IF1 PROFIdrive PZD" are
used.
Value: 0: No isochronous PROFIBUS
1: Isochronous PROFIBUS
Dependency: Refer to: A01224
Caution: Only current controller clock cycles (p0115[0]) which are integers of 125 µs are permitted for isochronous mode.
In addition, current controller clock cycles 31.25 µs and 62.5 µs are possible.

Notice: p0092 only affects the automatic default for the clock cycles (p0115) in the drive. If the clock cycles are modified
subsequently in expert mode (p0112 = 0), p0092 = 0 should be set so that the new values are not overwritten again
by the automatic default when the parameters are downloaded.
The conditions for current controller clock cycle for isosynchronous operation must still be carefully ensured (refer
under Caution!).

r0093 CO: Pole position angle electrically scaled / Pole pos el scale
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 4710
SERVO_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: p2005 Expert list: 1
Min Max Factory setting
- [°] - [°] - [°]
Description: Displays the scaled electrical pole position angle.
Dependency: Refer to: r0094, p0431, r1778
Notice: When the pole position angle (r0093) is output via test socket Tx (x = 0, 1, 2) to adjust the encoder (to determine the
angular commutation offset) the test socket being used must be parameterized as follows:
p0771[x] = r0093
p0777[x] = 0 %
p0778[x] = 0 V
p0779[x] = 400 %
p0780[x] = 4 V

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 Parameter
List of parameters

p0783[x] = 0 V
p0784[x] = 0
For p1821 = 1 (counter-clockwise direction of rotation) the following applies:
In order to adjust the encoder using the EMF method, the value, determined using the oscilloscope, must be
inverted and then entered in p0431.
Note: For operation with encoder and pulse suppression, the following applies:
- the value is generated from r0094 + 180 °.
- this angle can be used to adjust the encoders of synchronous motors.
For pulse enable, the following applies:
- the value indicates the transformation angle used by the control + 180 °.
- this value is, contrary to r0094, also applicable (provides information) for encoderless operation and after a pole
position identification routine.

r0094 CO: Transformation angle / Transformat_angle

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 1580, 1680,
SERVO_S110-PN 1690, 4710, 6714, 6730, 6731,
6732
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: p2005 Expert list: 1
Min Max Factory setting
- [°] - [°] - [°]
Description: Displays the transformation angle.
Dependency: Refer to: r0093, p0431, r1778
Note: The transformation angle corresponds to the electrical commutation angle.
If no pole position identification is carried out (p1982), and the encoder is adjusted, the following applies:
The encoder supplies the value and indicates the electrical angle of the flux position (d axis).

p0097 Select drive object type / Select DO type

CU_S110-CAN, Can be changed: C1(1) Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Topology Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 16 0
Description: Executes an automatic device configuration.
In so doing, p0099, p0107 and p0108 are appropriately set.
Value: 0: No selection
1: Drive object type SERVO
16: Drive object type SERVO HMI
Dependency: Refer to: A01330
Note: For p0097 = 0, p0099 is automatically set to the factor setting.
The possible settings are dependent upon the device type.

p0100 IEC/NEMA mot stds / IEC/NEMA mot stds

SERVO_S110-CAN, Can be changed: C2(1) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Converter Units group: - Unit selection: -
Not for motor type: FEM Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Defines whether the motor and drive converter power settings (e.g. rated motor power - p0307) are expressed in
[kW] or [hp].
Depending on the selection, the rated motor frequency (p0310) is either set to 50 Hz or 60 Hz.

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 Parameter
List of parameters

For p0100 = 0, the following applies: The power factor (p0308) should be parameterized.
For p0100 = 1, the following applies: The efficiency (p0309) should be parameterized.
Value: 0: IEC-Motor (50 Hz, SI units)
1: NEMA motor (60 Hz, US units)
Dependency: If p0100 is changed, all of the rated motor parameters are reset. Only then are possible unit changeovers made.
The units of all motor parameters are changed that are involved in the selection of IEC or NEMA (e.g. r0206, p0307,
p0316, r0333, r0334, p0341, p0344, r1493, r1969).
Refer to: r0206, p0210, p0300, p0304, p0305, p0307, p0308, p0310, p0311, p0312, p0314, p0320, p0322, p0323,
p0335, r0336, r0337, p0338, p1800
Note: The parameter can only be changed for vector control (p0107).
The parameter value is not reset when the factory setting is restored (p0010 = 30, p0970).

p0101[0...23] Drive object numbers / DO numbers

CU_S110-CAN, Can be changed: C1(1) Calculated: - Access level: 2
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Topology Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 62 0
Description: The parameter contains the object number via which every drive object can be addressed.
The number of an existing drive object is entered into each index.
Value = 0: No drive object is defined.
Index: [0] = Drive object number Control Unit
[1] = Drive object number object 1
[2] = Drive object number object 2
[3] = Drive object number object 3
[4] = Drive object number object 4
[5] = Drive object number object 5
[6] = Drive object number object 6
[7] = Drive object number object 7
[8] = Drive object number object 8
[9] = Drive object number object 9
[10] = Drive object number object 10
[11] = Drive object number object 11
[12] = Drive object number object 12
[13] = Drive object number object 13
[14] = Drive object number object 14
[15] = Drive object number object 15
[16] = Drive object number object 16
[17] = Drive object number object 17
[18] = Drive object number object 18
[19] = Drive object number object 19
[20] = Drive object number object 20
[21] = Drive object number object 21
[22] = Drive object number object 22
[23] = Drive object number object 23
Note: The numbers are automatically assigned once and can no longer be changed as long as the object has not been
deleted.
In the commissioning software, this object number cannot be entered using the expert list, but is automatically
assigned when inserting an object.

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 Parameter
List of parameters

r0102[0...1] Number of drive objects / DO count

CU_S110-CAN, Can be changed: - Calculated: - Access level: 2
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Topology Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the number of existing or existing and prepared drive objects.
Index: [0] = Existing drive objects
[1] = Existing and prepared drive objects
Dependency: Refer to: p0101
Note: The numbers of the drive objects are in p0101.
Index 0:
Displays the number of drive objects that have already been set up.
Index 1:
Displays the number of drive objects that have already been set up and, in addition, the drive objects that still have
to be set up.

p0108[0...23] Drive object, function module / DO function module

CU_S110-CAN, Can be changed: C1(2) Calculated: - Access level: 2
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 0000 0000 0000 0000
0000 0000 0000 bin
Description: The function module of an existing drive object is entered into each index (see p0101, p0107).
The following bits are available for the Control Unit (Index 0):
Bit 18: Free function blocks
Bit 29: CAN
Bit 30: COMM BOARD
Bit 31: PROFINET
For all other drive objects (Index > 0), the significance of the bits should be taken from the display parameters r0108
of the drive object.
Index: [0] = Function module Control Unit
[1] = Function module object 1
[2] = Function module object 2
[3] = Function module object 3
[4] = Function module object 4
[5] = Function module object 5
[6] = Function module object 6
[7] = Function module object 7
[8] = Function module object 8
[9] = Function module object 9
[10] = Function module object 10
[11] = Function module object 11
[12] = Function module object 12
[13] = Function module object 13
[14] = Function module object 14
[15] = Function module object 15
[16] = Function module object 16
[17] = Function module object 17
[18] = Function module object 18
[19] = Function module object 19
[20] = Function module object 20
[21] = Function module object 21

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 Parameter
List of parameters

[22] = Function module object 22

[23] = Function module object 23
Bit field: Bit Signal name 1 signal 0 signal FP
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
16 Bit 16 ON OFF -
17 Bit 17 ON OFF -
18 Bit 18 ON OFF -
19 Bit 19 ON OFF -
20 Bit 20 ON OFF -
21 Bit 21 ON OFF -
22 Bit 22 ON OFF -
23 Bit 23 ON OFF -
24 Bit 24 ON OFF -
25 Bit 25 ON OFF -
26 Bit 26 ON OFF -
27 Bit 27 ON OFF -
28 Bit 28 ON OFF -
29 Bit 29 ON OFF -
30 Bit 30 ON OFF -
31 Bit 31 ON OFF -
Note: A "function module" is a functional expansion of a drive object that can be activated when commissioning.

r0108 Drive object, function module / DO function module

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 2
Data type: Unsigned32 Dynamic index: - Func. diagram: -
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the activated function module for the particular drive object.
Bit field: Bit Signal name 1 signal 0 signal FP
02 Closed-loop speed/torque control Activated Not activated -
03 Closed-loop position control Activated Not activated -
04 Basic positioner Activated Not activated -
08 Extended setpoint channel Activated Not activated -
10 Moment of inertia estimator Activated Not activated -
13 Safety rotary axis Activated Not activated -
14 Extended brake control Activated Not activated -
16 Techn controller Activated Not activated -
17 Extended messages/monitoring Activated Not activated -
18 Free function blocks Activated Not activated -
29 CAN Activated Not activated -
Note: A "function module" is a functional expansion of a drive object that can be activated when commissioning.

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 Parameter
List of parameters

r0108 Drive object, function module / DO function module

SERVO_S110-DP Can be changed: - Calculated: - Access level: 2
Data type: Unsigned32 Dynamic index: - Func. diagram: -
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the activated function module for the particular drive object.
Bit field: Bit Signal name 1 signal 0 signal FP
02 Closed-loop speed/torque control Activated Not activated -
03 Closed-loop position control Activated Not activated -
04 Basic positioner Activated Not activated -
08 Extended setpoint channel Activated Not activated -
10 Moment of inertia estimator Activated Not activated -
13 Safety rotary axis Activated Not activated -
14 Extended brake control Activated Not activated -
16 Techn controller Activated Not activated -
17 Extended messages/monitoring Activated Not activated -
18 Free function blocks Activated Not activated -
Note: A "function module" is a functional expansion of a drive object that can be activated when commissioning.

r0108 Drive object, function module / DO function module

SERVO_S110-PN Can be changed: - Calculated: - Access level: 2
Data type: Unsigned32 Dynamic index: - Func. diagram: -
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the activated function module for the particular drive object.
Bit field: Bit Signal name 1 signal 0 signal FP
02 Closed-loop speed/torque control Activated Not activated -
03 Closed-loop position control Activated Not activated -
04 Basic positioner Activated Not activated -
08 Extended setpoint channel Activated Not activated -
10 Moment of inertia estimator Activated Not activated -
13 Safety rotary axis Activated Not activated -
14 Extended brake control Activated Not activated -
16 Techn controller Activated Not activated -
17 Extended messages/monitoring Activated Not activated -
18 Free function blocks Activated Not activated -
31 PROFINET Activated Not activated -
Note: A "function module" is a functional expansion of a drive object that can be activated when commissioning.

p0121[0...n] Power unit component number / PU comp_no

SERVO_S110-CAN, Can be changed: C1(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned8 Dynamic index: PDS Func. diagram: -
SERVO_S110-PN
P-Group: Data sets Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 199 0
Description: The power unit data set is assigned to a power unit using this parameter.
This unique component number is assigned when parameterizing the topology.
Only component numbers can be entered into this parameter that correspond to a power unit.
Note: For parallel circuit configurations, the parameter index is assigned to a power unit.

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 Parameter
List of parameters

p0124[0...23] Main component detection using LED / M_comp detect LED

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
CU_S110-DP, Data type: Unsigned8 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Converter Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Detection of the main components of the drive object selected via the index.

r0127[0...n] Power unit version EPROM data / PU EPROM version

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: PDS Func. diagram: -
SERVO_S110-PN
P-Group: Converter Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the version of the EPROM data of the power unit.
Dependency: Refer to: r0147
Note: For parallel circuit configurations, the parameter index is assigned to a power unit.

r0128[0...n] Power unit, firmware version / PU FW version

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: PDS Func. diagram: -
SERVO_S110-PN
P-Group: Converter Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the firmware version of the power unit.
Dependency: Refer to: r0018, r0148, r0197, r0198
Note: Example:
The value 1010100 should be interpreted as V01.01.01.00.
For parallel circuit configurations, the parameter index is assigned to a power unit.

p0130 Number of Motor Data Sets (MDS) / MDS count

SERVO_S110-CAN, Can be changed: C1(3) Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned8 Dynamic index: - Func. diagram: 8575
SERVO_S110-PN
P-Group: Data sets Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
1 2 1
Description: Sets the number of Motor Data Sets (MDS).

p0131[0...n] Motor component number / Mot comp_no

SERVO_S110-CAN, Can be changed: C1(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned8 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Data sets Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 199 0
Description: The motor data set is assigned to a motor using this parameter.
This unique component number is assigned when parameterizing the topology.

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 Parameter
List of parameters

Only component numbers can be entered into this parameter that correspond to a motor.

p0139[0...2] Copy Motor Data Set MDS / Copy MDS

SERVO_S110-CAN, Can be changed: C2(15) Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned8 Dynamic index: - Func. diagram: 8575
SERVO_S110-PN
P-Group: Data sets Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 31 0
Description: Copying a Motor Data Set (MDS) into another.
Index: [0] = Source motor data set
[1] = Target motor data set
[2] = Start copying procedure
Note: Procedure:
1. In Index 0, enter which motor data set should be copied.
2. In Index 1, enter the motor data set data that is to be copied into.
3. Start copying: Set index 2 from 0 to 1.
p0139[2] is automatically set to 0 when copying is completed.
When copying, p0131 is not taken into account.

p0140 Number of Encoder Data Sets (EDS) / EDS count

SERVO_S110-CAN, Can be changed: C1(3) Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned8 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Data sets Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
1 2 1
Description: Sets the number of Encoder Data Sets (EDS).
Note: When parameterizing the drive with "no encoder" there must be at least one encoder data set (p0140 >= 1).

p0141[0...n] Encoder interface (Sensor Module) component number / Enc_interf comp_no

SERVO_S110-CAN, Can be changed: C1(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned8 Dynamic index: EDS, p0140 Func. diagram: 4704, 8570
SERVO_S110-PN
P-Group: Data sets Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 199 0
Description: This parameter is used to assign the encoder data set to an encoder evaluation (e.g. SMC).
This unique component number is assigned when parameterizing the topology.
Only component numbers can be entered into this parameter that correspond to an encoder evaluation.
Note: If the encoder evaluation and encoder are integrated (motor with DRIVE-CLiQ), then their component numbers are
identical.
For an SMC, different component numbers are assigned for the SMC (p0141) and the (actual) encoder (p0142).

p0142[0...n] Encoder component number / Encoder comp_no

SERVO_S110-CAN, Can be changed: C1(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned8 Dynamic index: EDS, p0140 Func. diagram: 4704
SERVO_S110-PN
P-Group: Data sets Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 199 0
Description: This parameter is used to assign the encoder data set to an encoder.

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 Parameter
List of parameters

This assignment is made using the unique component number that was assigned when parameterizing the topol-
ogy.
Only component numbers can be entered into this parameter that correspond to an encoder.
Note: If the encoder evaluation and encoder are integrated (motor with DRIVE-CLiQ), then their component numbers are
identical.
For an SMC, different component numbers are assigned for the SMC (p0141) and the (actual) encoder (p0142).

p0144[0...n] Sensor Module detection via LED / SM detection LED

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned8 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Detects the Sensor Module assigned to this drive and data set.
Note: While p0144 = 1, the READY LED flashes green/orange or red/orange with 2 Hz at the appropriate Sensor Module.

p0145[0...n] Activate/de-activate encoder interface / Enc_intf act/deact

SERVO_S110-CAN, Can be changed: C1(4), U, T Calculated: - Access level: 2
SERVO_S110-DP, Data type: Integer16 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Data sets Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 2 1
Description: Setting to activate/de-activate an encoder interface (Sensor Module).
Value: 0: De-activate component
1: Activate component
2: Component, de-activate and not present
Recommend.: After inserting a component, before activating, first wait for Alarm A01317.
Dependency: Refer to: r0146
Refer to: A01314, A01317
Note: The de-activation of an encoder interface corresponds to the"parking encoder" function and has the same effect.
The activation of a component can be rejected if the component was inserted for the first time.
In this case, it is only possible to activate the component when the pulses for all of the drive objects are inhibited.
With the encoder interface for encoder 1 (motor encoder), the relevant drive object for writing the parameter must
be in the "Ready for operation" state.
With the encoder interface for encoders 2 and 3, the parameter can also be written during operation.
Re value = 0, 2:
When a component is deactivated it no longer outputs any errors.
If value = 0:
The component was completely commissioned and is deactivated using this value. It can be removed from the
DRIVE-CLiQ without any error.
If value = 1:
The component must be available for error-free operation.
If value = 2:
A component in a project generated offline and set to this value must never be inserted in the actual topology from
the very start.
For components that comprise several individual components (e.g. Double Motor Modules), it is not permissible to
set just one subset to this value.

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 Parameter
List of parameters

r0146[0...n] Encoder interface active/inactive / Enc_intf act/inact

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: Integer16 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Data sets Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 -
Description: Displays the "active" or "inactive" state of an encoder interface (Sensor Module).
Value: 0: Component inactive
1: Component active
Dependency: Refer to: p0145, p0480, p0897

r0147[0...n] Sensor Module EEPROM data version / SM EEPROM version

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the version of the EEPROM data of the Sensor Module.
Dependency: Refer to: r0127
Note: Example:
The value 1010100 should be interpreted as V01.01.01.00.

r0148[0...n] Sensor Module firmware version / SM FW version

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the firmware version of the Sensor Module.
Dependency: Refer to: r0018, r0128, r0197, r0198
Note: Example:
The value 1010100 should be interpreted as V01.01.01.00.

p0162 Reactor module component number / Reactor comp_no

SERVO_S110-CAN, Can be changed: C1(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned8 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Terminals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 199 0
Description: Sets the component number for the reactor module.
This unique component number is assigned when parameterizing the topology.
Only component numbers can be entered into this parameter that correspond to a filter module.

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 Parameter
List of parameters

p0170 Number of Command Data Sets (CDS) / CDS count

SERVO_S110-CAN, Can be changed: C1(3) Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned8 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
1 2 1
Description: Sets the number of Command Data Sets (CDS).
Note: It is possible to toggle between command parameters (BICO parameters) using this data set changeover.

p0180 Number of Drive Data Sets (DDS) / DDS count

SERVO_S110-CAN, Can be changed: C1(3) Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned8 Dynamic index: - Func. diagram: 8565
SERVO_S110-PN
P-Group: Data sets Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
1 2 1
Description: Sets the number of Drive Data Sets (DDS).

p0184 Encoder interface with pulse encoder / Enc_IF with PE

SERVO_S110-CAN, Can be changed: C1(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned8 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Data sets Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 2 0
Description: Sets the encoder interface used as the pulse encoder.
0: No pulse encoder used
1: Encoder interface 1 used for pulse encoder
2: Encoder interface 2 used for pulse encoder
Dependency: Refer to: p0400

p0186[0...n] Motor Data Sets (MDS) number / MDS number

SERVO_S110-CAN, Can be changed: C1(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned8 Dynamic index: DDS, p0180 Func. diagram: 8575
SERVO_S110-PN
P-Group: Data sets Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Using the parameter, each Drive Data Set (= index) is assigned the associated Motor Data Set (MDS).
The parameter value therefore corresponds to the number of the assigned motor data set.

p0187[0...n] Encoder 1 encoder data set number / Enc 1 EDS number

SERVO_S110-CAN, Can be changed: C1(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned8 Dynamic index: DDS, p0180 Func. diagram: 1580, 8570
SERVO_S110-PN
P-Group: Data sets Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 99 99
Description: Assign a drive data set (= index) the corresponding encoder data set (EDS) for encoder 1.
The value corresponds to the number of the assigned encoder data set.

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 Parameter
List of parameters

Example:
Encoder data set 0 should be assigned to encoder 1 in drive data set 2.
--> p0187[2] = 0
Note: A value of 99 means that no encoder has been assigned to this drive data set (not configured).

p0188[0...n] Encoder 2 encoder data set number / Enc 2 EDS number

SERVO_S110-CAN, Can be changed: C1(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned8 Dynamic index: DDS, p0180 Func. diagram: 1580, 8570
SERVO_S110-PN
P-Group: Data sets Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 99 99
Description: Assign a drive data set (= index) the corresponding encoder data set (EDS) for encoder 2.
The value corresponds to the number of the assigned encoder data set.
Example:
Encoder data set 1 should be assigned to encoder 2 in drive data set 2.
--> p0188[2] = 1
Note: A value of 99 means that no encoder has been assigned to this drive data set (not configured).

r0192 Power unit firmware properties / PU FW property

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Converter Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the properties supported by the power unit firmware.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Edge modulation possible Yes No -
01 Free telegram can be selected Yes No -
02 Smart mode possible for Active Line Module Yes No -
03 Safety Integrated possible for VECTOR Yes No -
06 Liquid cooling Yes No -
07 SERVO pulse frequency changeover, DDS- Yes No -
dependent
08 Simulation mode possible Yes No -
09 Internal armature short-circuit possible Yes No -
10 Autonomous internal armature short-circuit Yes No -
possible
11 Infeed temperature inputs X21.1/2 Yes No -
12 Integral scaled to half the gating unit clock Yes No -
cycle freq.
13 Filtering thermal power unit current limit Yes No -
possible
14 DC link compensation possible in power unit Yes No -
15 PT100 temperature evaluation possible Yes No -
16 Gating unit with pulse frequency wobbula- Yes No -
tion possible
17 Compound braking possible Yes No -
18 Extended voltage range possible Yes No -
19 Gating unit available with current limitation Yes No -
control
20 Component status possible Yes No -
21 Temperature evaluation via Motor Module / Yes No -
CU terminals possible
22 Reduced device supply voltage possible Yes No -

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 Parameter
List of parameters

23 Current measurement oversampling avail- Yes No -

able
24 Keep the relevant data for parking available Yes No -
25 Internal fan operating hours counter avail- Yes No -
able
26 Software gating unit in the CU is supported Yes No -
27 Current controller dynamics higher Yes No -
Notice: This information represents the characteristics/features of the power unit firmware. It does not provide informa-
tion/data about the characteristics/features of the hardware (e.g. bit 06 = 1 means that although the firmware sup-
ports "liquid cooling", a power unit with liquid cooling does not have to be used).
Note: Re bit 09:
The Motor Module supports the internal armature short-circuit. The function is internally required for voltage protec-
tion (p1231 = 3).
Re bit 10:
The Motor Module supports the autonomous internal voltage protection. If the voltage protection function is inter-
nally activated (p1231 = 3) the Motor Module decides autonomously - using the DC link voltage - as to whether the
short-circuit is activated.
Re bit 23:
The component supports the detection of current actual values (and the detection of valve close durations) with
double clocking and phase shift.

r0196[0...255] DRIVE-CLiQ component status / DLQ comp status

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the status of DRIVE-CLiQ components.
r0196[0...1]: Not used
r0196[2]: Status of DRIVE-CLiQ component with component number 2
...
r0196[255]: Status of DRIVE-CLiQ component with component number 255
Note: Structure of status value: Bits 31 ... 08, 07, 06 ... 04, 03 ... 00
Re Bit 31 ... 08: Reserved
Re Bit 07: 1: Part of target topology, 0: Only in actual topology
Re Bit 06 ... 04: 1: Active, 0: Inactive or parked
Re bit 03 ... 00:
0: Component data not available.
1: Power-up, acyclic DRIVE-CLiQ communication (LED = orange).
2: Ready for operation, cyclic DRIVE-CLiQ communication (LED = green).
3: Alarm (LED = green).
4: Fault (LED = red).
5: Detection via LED and ready for operation (LED = green/orange).
6: Detection via LED and alarm (LED = green/orange).
7: Detection via LED and fault (LED = red/orange).
8: Downloading firmware (LED = green/red at 0.5 Hz).
9: Firmware downloading completed, Waiting for POWER ON (LED = green/red at 2.0 Hz).

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 Parameter
List of parameters

r0197 Bootloader vers / Bootloader vers

CU_S110-CAN, Can be changed: - Calculated: - Access level: 4
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the bootloader version.
Dependency: Refer to: r0018, r0128, r0148, r0198
Note: Example:
The value 1010100 should be interpreted as V01.01.01.00.

r0198[0...1] BIOS/EEPROM data version / BIOS/EEPROM vers

CU_S110-CAN, Can be changed: - Calculated: - Access level: 4
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the BIOS and EEPROM data version.
r0198[0]: BIOS version
r0198[1]: EEPROM data version
Dependency: Refer to: r0018, r0128, r0148, r0197
Note: Example:
The value 1010100 should be interpreted as V01.01.01.00.

p0199[0...24] Drive object name / DO name

SERVO_S110-CAN, Can be changed: C1 Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 65535 0
Description: Freely assignable name for a drive object.
In the commissioning software, this name cannot be entered using the expert list, but is specified in the configura-
tion assistant. The object name can be subsequently modified in the Project Navigator using standard Windows
resources.
Note: The parameter is not influenced by setting the factory setting.

r0200[0...n] Power unit code number actual / PU code no. act

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: PDS Func. diagram: -
SERVO_S110-PN
P-Group: Converter Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the unique code number of the power unit.
Note: r0200 = p0201: No power unit found
For parallel circuit configurations, the parameter index is assigned to a power unit.

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 Parameter
List of parameters

p0201[0...n] Power unit code number / PU code no

SERVO_S110-CAN, Can be changed: C2(2) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: PDS Func. diagram: -
SERVO_S110-PN
P-Group: Converter Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 65535 0
Description: Sets the actual code number from r0200 to acknowledge the power unit being used.
When commissioned for the first time, the code number is automatically transferred from r0200 into p0201.
Dependency: Refer to: F07815
Notice: When p0201 = 10000, the rated power unit data is reloaded and dependent parameters are set (e.g. p0205, p0210,
p0230, p0857, p1800). p0201 is then automatically assigned the value of r0200 if the code number of the power
unit could be read. A warm start must be performed after this procedure (automatically if necessary).
Note: The parameter is used to identify when the drive is being commissioned for the first time.
The power unit commissioning can only be exited (p0201 = r0200), if the actual and acknowledged code numbers
are identical (p0010 = 2). However, if the comparator in p9906 or p9908 is at 2 (low) or 3 (minimum), the power unit
commissioning is automatically set to p0201 = r0200 upon exiting.
When the code number is changed, the connection voltage (p0210) is checked and, if necessary, adjusted.
For parallel circuit configurations, the parameter index is assigned to a power unit.

r0203[0...15] Memory card name / Sp_card name

CU_S110-CAN, Can be changed: - Calculated: - Access level: 4
CU_S110-DP, Data type: Unsigned8 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the name of the memory card in ASCII code.
r0203[0]: Name character 1
...
r0203[15]: Name character 16
For the commissioning software, the ASCII characters are displayed uncoded.
Notice: An ASCII table (excerpt) can be found, for example, in the appendix to the List Manual.

r0203[0...n] Actual power unit type / PU actual type

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: PDS Func. diagram: -
SERVO_S110-PN
P-Group: Converter Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
2 400 -
Description: Displays the type of power unit found.
Value: 2: MICROMASTER 440
3: MICROMASTER 411
4: MICROMASTER 410
5: MICROMASTER 436
6: MICROMASTER 440 PX
7: MICROMASTER 430
100: SINAMICS S
101: SINAMICS S (value)
102: SINAMICS S (combi)
112: PM220 (SINAMICS G120)
113: PM230 (SINAMICS G120)
114: PM240 (SINAMICS G120)

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 Parameter
List of parameters

115: PM250 (SINAMICS G120)

116: PM260 (SINAMICS G120)
118: SINAMICS G120 Px
120: PM340 (SINAMICS S120)
133: SINAMICS G120C
150: SINAMICS G
200: SINAMICS GM
250: SINAMICS SM
260: SINAMICS SM120
300: SINAMICS GL
350: SINAMICS SL
400: SINAMICS DCM
Note: For parallel circuit configurations, the parameter index is assigned to a power unit.

r0204[0...n] Power unit hardware properties / PU HW property

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: PDS Func. diagram: -
SERVO_S110-PN
P-Group: Converter Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the properties supported by the power unit hardware.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Device type DC/AC device AC/AC device -
01 RFI filter available Yes No -
02 Active Line Module available Yes No -
03 Smart Line Module available Yes No -
04 Basic Line Module available with thyristor Yes No -
bridge
05 Basic Line Module available with diode Yes No -
bridge
06 Liquid cooling with cooling system (chassis Yes No -
PU)
07 F3E regenerative feedback into the line sup- Yes No -
ply
08 Internal Braking Module Yes No -
09 Different cooling type supported Yes No -
12 Safe Brake Control (SBC) supported No Yes -
13 Safety Integrated supported Yes No -
14 Internal LC output filter Yes No -
Note: For parallel circuit configurations, the parameter index is assigned to a power unit.

r0206[0...4] Rated power unit power / PU P_rated

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Converter Units group: 14_6 Unit selection: p0100
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [kW] - [kW] - [kW]
Description: Displays the rated power unit power for various load duty cycles.
Index: [0] = Rating plate
[1] = Load duty cycle with low overload
[2] = Load duty cycle with high overload
[3] = S1 cont duty cyc
[4] = S6 load duty cycle
Dependency: IECdrives (p0100 = 0): Units kW
NEMA drives (p0100 = 1): Units hp
Refer to: p0100

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 Parameter
List of parameters

r0207[0...4] Rated power unit current / PU PI_rated

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 8014
SERVO_S110-PN
P-Group: Converter Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [Arms] - [Arms] - [Arms]
Description: Displays the rated power unit power for various load duty cycles.
Index: [0] = Rating plate
[1] = Load duty cycle with low overload
[2] = Load duty cycle with high overload
[3] = S1 cont duty cyc
[4] = S6 load duty cycle

r0208 Rated power unit line supply voltage / PU U_rated

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Converter Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [Vrms] - [Vrms] - [Vrms]
Description: Displays the rated line supply voltage of the power unit.
r0208 = 400 : 380 - 480 V +/-10 %
r0208 = 500 : 500 - 600 V +/-10 %
r0208 = 690 : 660 - 690 V +/-10 %
For the Basic Line Module (BLM) the following applies:
r0208 = 690 : 500 - 690 V +/-10 %

r0209[0...4] Power unit, maximum current / PU I_max

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 8750, 8850,
SERVO_S110-PN 8950
P-Group: Converter Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [Arms] - [Arms] - [Arms]
Description: Displays the maximum output current of the power unit.
Index: [0] = Catalog
[1] = Load duty cycle with low overload
[2] = Load duty cycle with high overload
[3] = S1 load duty cycle
[4] = S6 load duty cycle

p0210 Drive unit line supply voltage / V_connect

SERVO_S110-CAN, Can be changed: C2(2), T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Converter Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
1 [V] 63000 [V] 600 [V]
Description: Sets the drive unit supply voltage.
AC/AC unit: The rms value of the phase-to-phase line supply voltage should be entered.
DC/AC unit: The rated DC voltage of the connection busbar should be entered.

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 Parameter
List of parameters

Dependency: Set p1254, p1294 (automatic detection of the Vdc switch-on levels) = 0.
The switch-in thresholds of the Vdc_max controller are then directly determined using p0210.
Caution: If the line supply voltage is higher than the entered value, the Vdc controller may be automatically de-activated in
some cases to prevent the motor from accelerating. In this case, an appropriate alarm is output.
Note: Setting ranges for p0210 as a function of the rated power unit voltage:
U_rated = 400 V:
- p0210 = 380 ... 480 V (AC/AC), 510 ... 720 V (DC/AC)
U_rated = 500 V:
- p0210 = 500 ... 600 V (AC/AC), 675 ... 900 V (DC/AC)
U_rated = 660 V ... 690 V:
- p0210 = 660 ... 690 V (AC/AC), 890 ... 1035 V (DC/AC)
U_rated = 500 V ... 690 V:
- p0210 = 500 ... 690 V (AC/AC), 675 ... 1035 V (DC/AC)
The pre-charging switch-in threshold for the DC link voltage (Vdc) is calculated from p0210:
Vdc_pre = p0210 * 0.82 * 1.35 (AC/AC)
Vdc_pre = p0210 * 0.82 (DC/AC)
The undervoltage thresholds for the DC link voltage (Vdc) are calculated from p0210 as a function of the rated
power unit voltage:
U_rated = 400 V:
- U_min = p0210 * 0.78 (AC/AC) > 330 V, p0210 * 0.60 (DC/AC) > 380 V
U_rated = 500 V:
- U_min = p0210 * 0.76 (AC/AC) > 410 V
U_rated = 660 V ... 690 V:
- U_min = p0210 * 0.82 (AC/AC) > 565 V, p0210 * 0.63 (DC/AC) > 650 V
U_rated = 500 V ... 690 V:
- U_min = p0210 * 0.82 (AC/AC) > 420 V, p0210 * 0.63 (DC/AC) > 480 V

p0212 Power unit configuration / PU config

SERVO_S110-CAN, Can be changed: C2(2) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Converter Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 bin
Description: Sets the power unit configuration.
Bit field: Bit Signal name 1 signal 0 signal FP
01 External pre-charging present Yes No -
Dependency: Re bit 01 = 1:
The external pre-charging setting only affects the DC/AC power units.
Caution: Re bit 00:
Working with reduced input voltages de-activates undervoltage detection.

Note: Re bit 00 = 0:
It is not possible to reduce the supply voltage in p0210.
Re bit 00 = 1:
With this setting the supply voltage in p0210 can be reduced to 100 V.
Only operating mode p1300 = 19 is possible.
Re bit 01 = 0:
There is no external pre-charging of the DC/AC Motor Modules. The pre-charging monitoring is bypassed.
Re bit 01 = 1:
There is external pre-charging of the DC/AC Motor Modules. The pre-charging monitoring is calculated.

© Siemens AG 2012 All Rights Reserved 1-69

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 Parameter
List of parameters

p0233 Power unit motor reactor / PU mot reactor

SERVO_S110-CAN, Can be changed: C2(2), U, T Calculated: - Access level: 4
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Converter Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.000 [mH] 1000.000 [mH] 0.000 [mH]
Description: Enter the inductance of a filter connected at the power unit output.
Dependency: This parameter is automatically pre-set when you select a filter via p0230 if a SIEMENS filter is defined for the
power unit.
Note: The parameter cannot be changed if the power unit has an internal sine-wave filter.

p0234 Power unit sine-wave filter capacitance / PU sine filter C

SERVO_S110-CAN, Can be changed: C2(2), U, T Calculated: - Access level: 4
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Converter Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.000 [µF] 1000.000 [µF] 0.000 [µF]
Description: Enters the capacitance of a sine-wave filter connected at the power unit output.
Dependency: This parameter is automatically pre-set when you select a filter via p0230 if a SIEMENS filter is defined for the
power unit.
Note: The parameter value includes the sum of all of the capacitances of a phase connected in series (phase - ground).
The parameter cannot be changed if the power unit has an internal sine-wave filter.

r0238 Internal power unit resistance / PU R internal

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Converter Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [ohm] - [ohm] - [ohm]
Description: Displays the internal resistance of the power unit (IGBT and line resistance).
Note: For a parallel circuit, the value corresponds to the resistance of a power unit.

p0249 Power unit cooling type / PU cool type

SERVO_S110-CAN, Can be changed: C2(1, 2) Calculated: - Access level: 4
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Converter Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Sets the cooling type for booksize compact power units.
This therefore defines whether for these power units, the internal air cooling is shut down and instead, the "Cold-
Plate" cooling type is used.
Value: 0: Air cooling int
1: Cold-Plate
Note: For booksize compact power units, there is a 4 at the 5th position in the Order No.
The parameter is irrelevant for all other power unit types.

1-70 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

p0251[0...n] Operating hours counter power unit fan / PU fan t_oper

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: PDS Func. diagram: -
SERVO_S110-PN
P-Group: Modulation Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 [h] 4294967295 [h] 0 [h]
Description: Displays the power unit fan operating hours.
The number of hours operated can only be reset to 0 in this parameter (e.g. after a fan has been replaced).
Dependency: Refer to: p0252

p0252 Maximum operating time power unit fan / PU fan t_oper max
SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 4
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Modulation Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 [h] 100000 [h] 40000 [h]
Description: Sets the maximum operating time of the power unit fan.
The pre-alarm (warning) is output 500 hours before this set value.
The monitoring is de-activated with p0252 = 0.
Dependency: Refer to: p0251
Note: For chassis units, the maximum operating time in the power unit parameter is set to 50000 via the factory setting.

p0255[0...1] Power unit contactor monitoring time / PU cont t_monit

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Modulation Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 [ms] 6500 [ms] 0 [ms]
Description: Sets the monitoring time for internal monitoring of the contactor feedback contacts.
Index: [0] = Pre-charge contactor
[1] = Bypass contactor
Dependency: Refer to: F30060, F30061
Note: This parameter is only effective for chassis power units with 3 AC line connection and line contactors.
A value of 0 de-activates the associated line contactor monitoring.

p0278 DC link voltage undervoltage threshold reduction / Vdc U_under red

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Converter Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-80 [V] 0 [V] 0 [V]
Description: Sets the absolute value by which the threshold to initiate the undervoltage fault (F30003) is reduced.
Dependency: Refer to: p0210, r0296
Refer to: F30003
Notice: When using a Control Supply Module (CSM) for 24 V supply from the DC link, the minimum continuous DC link volt-
age may not lie below 430 V. DC link voltages in the range 300 ... 430 V are permissible up to a duration of 1 min.
For chassis power units, this parameter has no significance.

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 Parameter
List of parameters

Note: The resulting shutdown threshold can be read in r0296 and is dependent on the selected rated voltage (p0210) and
the power unit being used.

p0287[0...1] Ground fault monitoring thresholds / Gnd flt threshold

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.0 [%] 100.0 [%] [0] 6.0 [%]
[1] 16.0 [%]
Description: Sets the shutdown thresholds for the ground fault monitoring.
The setting is made as a percentage of the maximum power unit current (r0209).
Index: [0] = Threshold at which pre-charging starts
[1] = Threshold at which pre-charging stops
Dependency: Refer to: F30021
Note: The parameter only applies to booksize and chassis power units.
De-activating the ground fault monitoring:
- Sequence: --> p0287[1] = 0 --> p0287[0] = 0
- irrespective of the firmware version of the power unit.
Sets the thresholds:
- the prerequisite is at least firmware version 2.2 of the power unit.

r0289 CO: Maximum power unit output current / PU I_outp max

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: p2002 Expert list: 1
Min Max Factory setting
- [Arms] - [Arms] - [Arms]
Description: Displays the actual maximum output current of the power unit taking into account derating factors.

p0290 Power unit overload response / PU overld response

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 8014
SERVO_S110-PN
P-Group: Converter Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 3 0
Description: Sets the response to a thermal overload condition of the power unit.
The following quantities can result in a response to thermal overload:
- heat sink temperature (r0037.0)
- chip temperature (r0037.1)
- power unit overload I2T (r0036)
Possible measures to avoid thermal overload:
- reduce the output current limit r0289 and r0067 (for closed-loop speed/velocity or torque/force control) or the out-
put frequency (for U/f control) indirectly via the output current limit and the intervention of the current limiting control-
ler).
- reduce the pulse frequency (only for vector control).
A reduction, if parameterized, is always realized after an appropriate alarm is output.
Value: 0: Reduce output current or output frequency
1: No reduction, shutdown when overload threshold is reached
2: Reduce I_output or f_output and f_pulse (not using I2t)
3: Reduce the pulse frequency (not using I2t)

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 Parameter
List of parameters

Dependency: If a sine-wave filter is parameterized as output filter (p0230 = 3, 4), then only responses can be selected without
pulse frequency reduction (p0290 = 0, 1).
If a fault or alarm is present, then r2135.13 or r2135.15 is set.
Refer to: r0036, r0037, p0108, r0108, r2135
Refer to: A05000, A05001, A07805
Caution: If the thermal overload of the power unit is not sufficiently reduced by the actions taken, the drive is always shut
down. This means that the power unit is always protected irrespective of the setting of this parameter.
Note: The setting p0290 = 0, 2 is only practical if the load decreases with decreasing speed (e.g. for applications with vari-
able torque such as for pumps and fans).
Under overload conditions, the current and torque limit are reduced, and therefore the motor is braked and forbid-
den speed ranges (e.g. minimum speed p1080 and suppression [skip] speeds p1091 ... p1094) can be passed
through.
For p0290 = 2, 3, the I2t overload detection of the power unit does not influence the responses.
When the motor data identification routine is selected, p0290 cannot be changed.

p0294 Power unit alarm with I2t overload / PU I2t alrm thresh
SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 8014
SERVO_S110-PN
P-Group: Converter Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
10.0 [%] 100.0 [%] 95.0 [%]
Description: Sets the alarm threshold for the I2t power unit overload.
Drive:
If this threshold is exceeded, an overload alarm is generated and the system responds as parameterized in p0290.
Infeed:
When the threshold value is exceeded, only an overload alarm is output.
Dependency: Refer to: r0036, p0290
Refer to: A07805
Note: The I2t fault threshold is 100 %. If this value is exceeded, fault F30005 is output.

p0295 Fan run-on time / Fan run-on time

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 1
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Converter Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 [s] 600 [s] 0 [s]
Description: Sets the fan run-on time after the pulses for the power unit have been canceled.
Note: - Under certain circumstances, the fan can continue to run for longer than was set (e.g. as a result of the exces-
sively high heat sink temperature).
- For values less than 1 s, a 1 s run on time for the fan is active.

r0296 DC link voltage undervoltage threshold / Vdc U_lower_thresh

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Converter Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [V] - [V] - [V]
Description: If the DC link voltage falls below this threshold, the Motor Module is shut down due to a DC link undervoltage condi-
tion (F30003).
Dependency: Refer to: p0278
Refer to: F30003

© Siemens AG 2012 All Rights Reserved 1-73

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 Parameter
List of parameters

Note: The value depends on the device type and the selected rated voltage p0210.
For booksize units, the following applies:
The undervoltage threshold can be reduced with p0278.

r0297 DC link voltage overvoltage threshold / Vdc U_upper_thresh

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 8750, 8760,
SERVO_S110-PN 8850, 8864, 8950, 8964
P-Group: Converter Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [V] - [V] - [V]
Description: If the DC link voltage exceeds the threshold specified here, the drive unit is tripped due to DC link overvoltage.
Dependency: Refer to: F30002

p0300[0...n] Motor type selection / Mot type sel

SERVO_S110-CAN, Can be changed: C2(1, 3) Calculated: - Access level: 1
SERVO_S110-DP, Data type: Integer16 Dynamic index: MDS, p0130 Func. diagram: 6310
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 10001 0
Description: Selects the motor type or start to read in the motor parameters for a motor with DRIVE-CLiQ (p0300 = 10000).
For p0300 < 10000 the following applies:
The first digit of the parameter value always defines the general motor type and corresponds to the third-party
motor belonging to a motor list:
1 = Rotating induction motor
2 = Rotating synchronous motor
The type information must be entered to filter motor-specific parameters and to optimize the operating characteris-
tics and behavior. For example, for synchronous motors, power factor (p0308) is neither used nor displayed (in the
BOP/AOP).
Value: 0: No motor
1: Induction motor (rotating)
2: Synchronous motor (rotating, permanent-magnet)
104: 1PH4 induction motor
107: 1PH7 induction motor
108: 1PH8 induction motor
111: Induction motor (rotary) for OEMs
200: 1PH8 synchronous motor
206: 1FT6 synchronous motor
207: 1FT7 synchronous motor
222: Synchronous motor (rotary) for OEMs
236: 1FK6 synchronous motor
237: 1FK7 synchronous motor
444: Synchronous motor (linear) for OEMs
10000: Motor with DRIVE-CLiQ
10001: Motor with DRIVE-CLiQ 2nd data set
Dependency: When the motor type is changed, the code number in p0301 may be reset to 0.
If p0300 is changed during quick commissioning (p0010 = 1), then the matching technological application (p0500) is
automatically pre-assigned. This does not occur when commissioning the motor (p0010 = 3). If p0300 = 10000 is
written for a parameter download, p0500 is pre-assigned with DRIVE-CLiQ corresponding to the motor type.
Refer to: p0301
Caution: If a catalog motor is selected (p0300 >= 100) and an associated motor code number (p0301), then the parame-
ters,that are associated with this list cannot be changed (write protection). The write protection is canceled if the
motor type p0300 is set to a non-Siemens motor that matches p0301 (e.g. p0300 = 2 for p0301 = 2xxxx). Write pro-
tection is automatically canceled when the results of motor data identification are copied to the motor parameters.

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 Parameter
List of parameters

The motor type of a catalog motor corresponds to the upper three digits of the code number or the following assign-
ment (if the particular motor type is listed):
Type/code number ranges
102 / 102xx, 112xx, 122xx
104 / 104xx, 114xx, 124xx
107 / 107xx, 117xx, 127xx
108 / 108xx, 118xx, 128xx
134 / 134xx, 144xx, 154xx
136 / 136xx, 146xx, 156xx
166 / 166xx, 176xx, 186xx
200 / 200xx, 210xx, 220xx
204 / 204xx, 214xx, 224xx
206 / 206xx, 216xx, 226xx
207 / 207xx, 217xx, 227xx
261 / 261xx, 262xx
283 / 283xx, 293xx
286 / 286xx, 296xx
403 / 403xx, 413xx
406 / 406xx, 416xx, 426xx
Notice: If required, the list of motor codes/encoder codes can be found in the Appendix of the List Manual.
Note: With p0300 = 10000, for a motor with DRIVE-CLiQ, the motor parameters are automatically downloaded, with
p0300 = 10001, the motor parameters of a second data set (if available).
If a motor type has not been selected (p0300 = 0), then the drive commissioning routine cannot be exited.
A motor type with a value above p0300 >= 100 describes motors for which a motor parameter list exists.
Motor types with a value below p0300 < 100 correspond to the selection of a third-party motor. When appropriately
selected, this means that the motor parameters are pre-assigned the settings for a third-party motor.
This also applies for parameters for a motor with DRIVE-CLiQ. In this case p0300 can only be set to p0300 = 10000
or 10001 (read motor parameters) or to the corresponding non-Siemens motor (first digit of the motor code number)
in order to be able to cancel the write protection.

p0301[0...n] Motor code number selection / Mot code No. sel

SERVO_S110-CAN, Can be changed: C2(1, 3) Calculated: - Access level: 1
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: FEM Scaling: - Expert list: 1
Min Max Factory setting
0 65535 0
Description: The parameter is used to select a motor from a motor parameter list.
When changing the code number (with the exception to the value 0), all of the motor parameters are pre-assigned
from the internally available parameter lists.
Dependency: Code numbers can only be selected for motor types that correspond to the motor type selected in p0300. For 1PH2,
1PH4, 1PH7, 1PM4, 1PM6, 1FT6 motors, code numbers are also possible, whose fourth decimal position is greater
by a value of 1 or 2 than the matching motor type in p0300. For 1FE1 motors, the third decimal position can be
higher by a value of 1.
Refer to: p0300
Notice: If required, the list of motor codes/encoder codes can be found in the Appendix of the List Manual.
Note: The motor code number can only be changed if the matching catalog motor was first selected in p0300.
For a motor with DRIVE-CLiQ, p0301 cannot be changed. In this case, p0301 is automatically written to the code
number of the motor parameter read in (r0302) if p0300 is set to 10000.
When selecting a catalog motor (p0300 >= 100), drive commissioning can only be exited if a code number is
selected.
If, for direct drives, the motor code number (p0301) is changed, this does not automatically result in the angular
commutation offset being determined (p0431).

© Siemens AG 2012 All Rights Reserved 1-75

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 Parameter
List of parameters

r0302[0...n] Motor code number of motor with DRIVE-CLiQ / Motor code Mot DLQ
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the motor code number from the saved motor data from a motor with DRIVE-CLiQ.
Note: Drive commissioning can only be exited if the code number that was downloaded (r0302) matches the stored code
number (p0301). If the numbers differ, then the motor data set should be re-loaded using p0300 = 10000.
The motor data are always expected from the first encoder that is assigned to the drive data sets (refer to p0187 =
encoder 1) data set number.
The value is not updated cyclically but only on specific events (e.g. update DRIVE-CLiQ device).
r0302 = 0: No motor with DRIVE-CLiQ found

r0303[0...n] Motor with DRIVE-CLiQ status word / Motor w DLQ ZSW

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the status word of the automatic motor parameter sensing of a motor with DRIVE-CLiQ.
Motor parameter sensing takes place in the following events if the SMI is connected to the Motor Module and the
encoder is activated (p0145):
- Warm restart
- downloading projects.
- POWER ON (off/on).
- where p0300 = 10000, 10001.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Motor data set selected MDS1 MDS0 -
01 Motor connection type Delta Star -
02 Windings can be changed Yes No -
03 Windings can be changed number 2 0 -
Dependency: Refer to: p0145, p0300
Note: SMI: SINAMICS Sensor Module Integrated

p0304[0...n] Rated motor voltage / Mot U_rated

SERVO_S110-CAN, Can be changed: C2(1, 3) Calculated: - Access level: 1
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: 6300, 6724
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 [Vrms] 20000 [Vrms] 0 [Vrms]
Description: Sets the rated motor voltage (rating plate).
Dependency: Refer to: p0349
Caution: When selecting a catalog motor (p0301), this parameter is automatically pre-assigned and is write protected. Infor-
mation in p0300 should be carefully observed when removing write protection.
Note: When the parameter value is entered the connection type of the motor (star-delta) must be taken into account.

1-76 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

p0305[0...n] Rated motor current / Mot I_rated

SERVO_S110-CAN, Can be changed: C2(1, 3) Calculated: - Access level: 1
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: 6300
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [Arms] 10000.00 [Arms] 0.00 [Arms]
Description: Sets the rated motor current (rating plate).
Dependency: Refer to: p0349
Caution: When selecting a catalog motor (p0301), this parameter is automatically pre-assigned and is write protected. Infor-
mation in p0300 should be carefully observed when removing write protection.
Notice: If p0305 is changed during quick commissioning (p0010 = 1), then the maximum current p0640 is pre-assigned
accordingly. This is not the case when commissioning the motor (p0010 = 3).
Note: When the parameter value is entered the connection type of the motor (star-delta) must be taken into account.

p0307[0...n] Rated motor power / Mot P_rated

SERVO_S110-CAN, Can be changed: C2(1, 3) Calculated: - Access level: 1
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: 14_6 Unit selection: p0100
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [kW] 100000.00 [kW] 0.00 [kW]
Description: Sets the rated motor power (rating plate).
Dependency: IECdrives (p0100 = 0): Units kW
NEMA drives (p0100 = 1): Units hp
Refer to: p0100
Caution: When selecting a catalog motor (p0301), this parameter is automatically pre-assigned and is write protected. Infor-
mation in p0300 should be carefully observed when removing write protection.

p0308[0...n] Rated motor power factor / Mot cos_phi_rated

SERVO_S110-CAN, Can be changed: C2(1, 3) Calculated: - Access level: 1
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: PEM, REL Scaling: - Expert list: 1
Min Max Factory setting
0.000 1.000 0.000
Description: Sets the rated motor power factor (cos phi, rating plate).
For a parameter value of 0.000, the power factor is internally calculated and displayed in r0332.
Dependency: This parameter is only available for IEC motors (p0100 = 0).
Refer to: p0100, r0332
Caution: When selecting a catalog motor (p0301), this parameter is automatically pre-assigned and is write protected. Infor-
mation in p0300 should be carefully observed when removing write protection.
Note: The parameter is not used for synchronous motors (p0300 = 2xx).

p0310[0...n] Rated motor frequency / Mot f_rated

SERVO_S110-CAN, Can be changed: C2(1, 3) Calculated: - Access level: 1
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [Hz] 3000.00 [Hz] 0.00 [Hz]
Description: Sets the rated motor frequency (rating plate).

© Siemens AG 2012 All Rights Reserved 1-77

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 Parameter
List of parameters

Dependency: The number of pole pairs (r0313) is automatically re-calculated when the parameter is changed (together with
p0311), if p0314 = 0.
If p0310 is changed during quick commissioning (p0010 = 1), then the maximum speed p1082, which is also asso-
ciated with quick commissioning, is pre-assigned accordingly.
Refer to: p0311, r0313, p0314
Caution: When selecting a catalog motor (p0301), this parameter is automatically pre-assigned and is write protected. Infor-
mation in p0300 should be carefully observed when removing write protection.
Notice: If p0310 is changed during quick commissioning (p0010 = 1), the maximum speed p1082, which is also associated
with quick commissioning, is pre-assigned accordingly. This is not the case when commissioning the motor (p0010
= 3).
Note: For synchronous motors, the parameter is not required and must therefore be pre-assigned zero. For p0310 = 0, it
is not possible to calculate the pole pair; instead, it must be entered in p0314.

p0311[0...n] Rated motor speed / Mot n_rated

SERVO_S110-CAN, Can be changed: C2(1, 3) Calculated: - Access level: 1
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.0 [rpm] 210000.0 [rpm] 0.0 [rpm]
Description: Sets the rated motor speed (rating plate).
Dependency: If p0311 is changed and for p0314 = 0, the pole pair (r0313) is re-calculated automatically.
Refer to: p0310, r0313, p0314
Caution: When selecting a catalog motor (p0301), this parameter is automatically pre-assigned and is write protected. Infor-
mation in p0300 should be carefully observed when removing write protection.
Notice: If p0311 is changed during quick commissioning (p0010 = 1), the maximum speed p1082, which is also associated
with quick commissioning, is pre-assigned accordingly. This is not the case when commissioning the motor (p0010
= 3).

p0312[0...n] Rated motor torque / Mot M_rated

SERVO_S110-CAN, Can be changed: C2(3) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: 7_4 Unit selection: p0100
Not for motor type: ASM, REL, FEM Scaling: - Expert list: 1
Min Max Factory setting
0.00 [Nm] 1000000.00 [Nm] 0.00 [Nm]
Description: Sets the rated motor torque (rating plate).
Caution: When selecting a catalog motor (p0301), this parameter is automatically pre-assigned and is write protected. Infor-
mation in p0300 should be carefully observed when removing write protection.

r0313[0...n] Motor pole pair number, actual (or calculated) / Mot PolePairNo act
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: MDS, p0130 Func. diagram: 5300
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the number of motor pole pairs. The value is used for internal calculations.
r0313 = 1: 2-pole motor
r0313 = 2: 4-pole motor, etc.
Dependency: For p0314 > 0, the entered value is displayed in r0313.
For p0314 = 0, the pole pair number (r0313) is automatically calculated from the rated frequency (p0310) and the
rated speed (p0311).
Refer to: p0310, p0311, p0314

1-78 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

Note: For the automatic calculation, the pole pair number is set to the value of 2 if the rated speed or the rated frequency
is zero.

p0314[0...n] Motor pole pair number / Mot pole pair No.

SERVO_S110-CAN, Can be changed: C2(1, 3) Calculated: - Access level: 1
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 4000 0
Description: Sets the motor pole pair number.
p0314 = 1: 2-pole motor
r0314 = 2: 4-pole motor, etc.
Dependency: For p0314 = 0, the pole pair number is automatically calculated from the rated frequency (p0310) and the rated
speed (p0311) and displayed in r0313.
Notice: If p0314 is changed during quick commissioning (p0010 = 1), the maximum speed p1082, which is also associated
with quick commissioning, is pre-assigned accordingly. This is not the case when commissioning the motor (p0010
= 3).
For induction motors, the value need only be input if the rated data of a generator is entered therefore resulting in a
negative rated slip. In this case, the number of pole pairs in r0313 is too low by 1 and must be manually corrected.

p0316[0...n] Motor torque constant / Mot kT

SERVO_S110-CAN, Can be changed: C2(1, 3), U, T Calculated: - Access level: 1
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: 28_1 Unit selection: p0100
Not for motor type: ASM, REL, FEM Scaling: - Expert list: 1
Min Max Factory setting
0.00 [Nm/A] 400.00 [Nm/A] 0.00 [Nm/A]
Description: Sets the torque constant of the synchronous motor.
p0316 = 0: The torque constant is calculated from the motor data.
p0316 > 0: The selected value is used as torque constant.
Dependency: Refer to: r0334, r1937
Caution: When selecting a catalog motor (p0301), this parameter is automatically pre-assigned and is write protected. Infor-
mation in p0300 should be carefully observed when removing write protection.
Note: This parameter is not used for induction motors (p0300 = 1xx).

p0318[0...n] Motor stall current / Mot I_standstill

SERVO_S110-CAN, Can be changed: C2(3) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: 8017
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: ASM, REL, FEM Scaling: - Expert list: 1
Min Max Factory setting
0.00 [Arms] 10000.00 [Arms] 0.00 [Arms]
Description: Sets the stall current for synchronous motors (p0300 = 2xx).
Caution: When selecting a catalog motor (p0301), this parameter is automatically pre-assigned and is write protected. Infor-
mation in p0300 should be carefully observed when removing write protection.
Note: The parameter is used for the I2t monitoring of the motor (refer to p0611).
This parameter is not used for induction motors (p0300 = 1xx).

© Siemens AG 2012 All Rights Reserved 1-79

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p0319[0...n] Motor stall torque / Mot M_standstill

SERVO_S110-CAN, Can be changed: C2(3) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: 7_4 Unit selection: p0100
Not for motor type: ASM, REL, FEM Scaling: - Expert list: 1
Min Max Factory setting
0.00 [Nm] 100000.00 [Nm] 0.00 [Nm]
Description: Sets the standstill (stall) torque for rotating synchronous motors (p0300 = 2xx).
Caution: When selecting a catalog motor (p0301), this parameter is automatically pre-assigned and is write protected. Infor-
mation in p0300 should be carefully observed when removing write protection.
Note: This parameter is not used for induction motors (p0300 = 1xx).
This parameter value is not evaluated from a control-related perspective.

p0320[0...n] Motor rated magnetizing current/short-circuit current / Mot I_mag_rated

SERVO_S110-CAN, Can be changed: C2(3), U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: 5722
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: REL, FEM Scaling: - Expert list: 1
Min Max Factory setting
0.000 [Arms] 5000.000 [Arms] 0.000 [Arms]
Description: Induction motors:
Sets the rated motor magnetizing current.
For p0320 = 0.000 the magnetizing current is internally calculated and displayed in r0331.
Synchronous motors:
Sets the rated motor short-circuit current.
Caution: When selecting a catalog motor (p0301), this parameter is automatically pre-assigned and is write protected. Infor-
mation in p0300 should be carefully observed when removing write protection.
Note: The magnetization current p0320 for induction motors (not for catalog motors) is reset when quick commissioning is
exited with p3900 > 0.
VECTOR:
If, for induction motors, the magnetizing current p0320 is changed outside the commissioning phase (p0010 > 0),
then the magnetizing inductance p0360 is changed so that the EMF r0337 remains constant.

p0322[0...n] Maximum motor speed / Mot n_max

SERVO_S110-CAN, Can be changed: C2(1, 3) Calculated: - Access level: 1
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.0 [rpm] 210000.0 [rpm] 0.0 [rpm]
Description: Sets the maximum motor speed.
Dependency: Refer to: p1082
Caution: When selecting a catalog motor (p0301), this parameter is automatically pre-assigned and is write protected. Infor-
mation in p0300 should be carefully observed when removing write protection.
Notice: If p0322 is changed during quick commissioning (p0010 = 1), the maximum speed p1082, which is also associated
with quick commissioning, is pre-assigned accordingly. This is not the case when commissioning the motor (p0010
= 3).

1-80 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p0323[0...n] Maximum motor current / Mot I_max

SERVO_S110-CAN, Can be changed: C2(1, 3) Calculated: - Access level: 1
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: 5722
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: ASM, FEM Scaling: - Expert list: 1
Min Max Factory setting
0.00 [Arms] 20000.00 [Arms] 0.00 [Arms]
Description: Sets the maximum permissible motor current (e.g. de-magnetizing current for synchronous motors).
Caution: When selecting a catalog motor (p0301), this parameter is automatically pre-assigned and is write protected. Infor-
mation in p0300 should be carefully observed when removing write protection.
Notice: If p0323 is changed during quick commissioning (p0010 = 1), then the maximum current p0640 is pre-assigned
accordingly. This is not the case when commissioning the motor (p0010 = 3).
Note: The parameter has no effect for induction motors.
For synchronous motors, a value must always be entered for the maximum motor current.
p0323 is a motor data. The user-selectable current limit is entered into p0640.

p0324[0...n] Winding maximum speed / Winding n_max

SERVO_S110-CAN, Can be changed: C2(1, 3) Calculated: - Access level: 1
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.0 [rpm] 210000.0 [rpm] 0.0 [rpm]
Description: Sets the electrical maximum speed of the winding.
Dependency: Refer to: p1082
Caution: When selecting a catalog motor (p0301), this parameter is automatically pre-assigned and is write protected. Infor-
mation in p0300 should be carefully observed when removing write protection.
Notice: If p0324 is changed during quick commissioning (p0010 = 1), then the maximum speed p1082, which is also asso-
ciated with quick commissioning, is pre-assigned appropriately. This is not the case when commissioning the motor
(p0010 = 3).

p0325[0...n] Motor pole position identification current, 1st phase / Mot PolID I 1st ph
SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: ASM, REL, FEM Scaling: - Expert list: 1
Min Max Factory setting
0.000 [Arms] 10000.000 [Arms] 0.000 [Arms]
Description: Sets the current for the 1st phase of the two-stage technique for pole position identification routine.
The current of the 2nd phase is set in p0329.
The two-stage technique is selected with p1980 = 4.
Dependency: Refer to: p0329, p1980, p1981, p1982, p1983, r1984, r1985, r1986, r1987, p1990, r1992
Refer to: F07995
Notice: When the motor code (p0301) is changed, it is possible that p0325 is not pre-assigned.
p0325 can be pre-assigned using p0340 = 3.
Note: The value is automatically pre-assigned for the following events:
- For p0325 = 0 and automatic calculation of the closed-loop control parameters (p0340 = 1, 2, 3).
- for quick commissioning (p3900 = 1, 2, 3).

© Siemens AG 2012 All Rights Reserved 1-81

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p0326[0...n] Motor stall torque correction factor / Mot M_stall_corr

SERVO_S110-CAN, Can be changed: C2(3), U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: REL, FEM Scaling: - Expert list: 1
Min Max Factory setting
5 [%] 300 [%] 60 [%]
Description: Sets the correction factor for the stall torque/force at a 600 V DC link voltage.
Caution: When selecting a catalog motor (p0301), this parameter is automatically pre-assigned and is write protected. Infor-
mation in p0300 should be carefully observed when removing write protection.
Note: When quick commissioning is exited with p3900 > 0, then the parameter is reset if a catalog motor has not been
selected (refer to p0300).
The reference value for this parameter is inversely proportional to the leakage inductance of the motor (p0353,
p0354, p0356).
The following applies for firmware version 2.6 SP2 and higher:
If leakage inductances are changed for motor data identification, the value in p0326 is automatically adapted to
maintain the stall torque.

p0327[0...n] Optimum motor load angle / Mot phi_load opt

SERVO_S110-CAN, Can be changed: C2(3), U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: 5722
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: ASM, REL, FEM Scaling: - Expert list: 1
Min Max Factory setting
0.0 [°] 135.0 [°] 90.0 [°]
Description: Sets the optimum load angle for synchronous motors with reluctance torque (e.g. 1FE ... motors).
SERVO: The load angle is measured at 1.5 x rated motor current.
VECTOR: The load angle is measured at the rated motor current.
Dependency: Refer to: r1947
Caution: When selecting a catalog motor (p0301), this parameter is automatically pre-assigned and is write protected. Infor-
mation in p0300 should be carefully observed when removing write protection.
Note: This parameter has no significance for induction motors.
For synchronous motors without reluctance torque, a angle of 90 degrees must be set.
When quick commissioning is exited with p3900 > 0, then the parameter is reset if a catalog motor has not been
selected (refer to p0300).

p0328[0...n] Motor reluctance torque constant / Mot kT_reluctance

SERVO_S110-CAN, Can be changed: C2(3), U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: ASM, REL, FEM Scaling: - Expert list: 1
Min Max Factory setting
-1000.00 [mH] 1000.00 [mH] 0.00 [mH]
Description: Sets the reluctance torque constant for synchronous motors with reluctance torque (e.g. 1FE ... motors).
This parameter has no significance for induction motors.
Dependency: Refer to: r1939
Caution: When selecting a catalog motor (p0301), this parameter is automatically pre-assigned and is write protected. Infor-
mation in p0300 should be carefully observed when removing write protection.
Note: For synchronous motors without reluctance torque, the value 0 must be set.

1-82 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p0329[0...n] Motor pole position identification current / Mot PolID current

SERVO_S110-CAN, Can be changed: C2(3), U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: ASM, REL, FEM Scaling: - Expert list: 1
Min Max Factory setting
0.00 [Arms] 10000.00 [Arms] 0.00 [Arms]
Description: Sets the current for the pole position identification routine.
For a two-stage technique, the current is set for the 2nd phase.
Dependency: Refer to: p0325, p1980, p1981, p1982, p1983, r1984, r1985, r1986, r1987, p1990, r1992
Refer to: F07995
Caution: When selecting a catalog motor (p0301), this parameter is automatically pre-assigned and is write protected. Infor-
mation in p0300 should be carefully observed when removing write protection.

r0330[0...n] Rated motor slip / Mot slip_rated

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: PEM, REL, FEM Scaling: - Expert list: 1
Min Max Factory setting
- [Hz] - [Hz] - [Hz]
Description: Displays the rated motor slip.
Dependency: The rated slip is calculated from the rated frequency, rated speed and number of pole pairs.
Refer to: p0310, p0311, r0313
Note: The parameter is not used for synchronous motors (p0300 = 2xx).

r0331[0...n] Actual motor magnetizing current/short-circuit current / Mot I_mag_rtd act

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: 5722, 6722,
SERVO_S110-PN 6724
P-Group: Motor Units group: - Unit selection: -
Not for motor type: REL, FEM Scaling: - Expert list: 1
Min Max Factory setting
- [Arms] - [Arms] - [Arms]
Description: Induction motor:
Displays the rated magnetizing current from p0320.
For p0320 = 0, the internally calculated magnetizing current is displayed.
Synchronous motor:
Displays the rated short-circuit current from p0320.
Dependency: If p0320 was not entered, then the parameter is calculated from the rating plate parameters.
Note: In the case of multi-motor operation r0331 is increased by the factor p0306 compared to p0320.

© Siemens AG 2012 All Rights Reserved 1-83

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r0332[0...n] Rated motor power factor / Mot cos_phi_rated

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: PEM, REL Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the rated power factor for induction motors.
For IEC motors, the following applies (p0100 = 0):
For p0308 = 0, the internally-calculated power factor is displayed.
For p0308 > 0, this value is displayed.
For NEMA motors, the following applies (p0100 = 1):
For p0309 = 0, the internally-calculated power factor is displayed.
For p0309 > 0, this value is converted into the power factor and displayed.
Dependency: If p0308 is not entered, the parameter is calculated from the rating plate parameters.
Note: The parameter is not used for synchronous motors (p0300 = 2xx).

r0333[0...n] Rated motor torque / Mot M_rated

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: 7_4 Unit selection: p0100
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [Nm] - [Nm] - [Nm]
Description: Displays the rated motor torque.
Dependency: IEC drives (p0100 = 0): unit Nm
NEMA drives (p0100 = 1): unit lbf ft
Note: For induction and reluctance motors, r0333 is calculated from p0307 and p0311.
For synchronous motors, r0333 is calculated from p0305, p0316, p0327 and p0328. The result can deviate from the
input in p0312. If p0316 = 0, then r0333 = p0312 is displayed.
In the case of multi-motor operation r0333 is increased by the factor p0306 compared to the rated torque of an indi-
vidual motor.

r0334[0...n] Actual motor-torque constant / Mot kT act

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: 28_1 Unit selection: p0100
Not for motor type: ASM, REL, FEM Scaling: - Expert list: 1
Min Max Factory setting
- [Nm/A] - [Nm/A] - [Nm/A]
Description: Displays the torque constant of the synchronous motor used.
Dependency: IEC drives (p0100 = 0): unit Nm / A
NEMA drives (p0100 = 1): unit lbf ft / A
Refer to: p0316
Note: This parameter is not used for induction motors (p0300 = 1xx).
For synchronous motors, parameter r0334 = p0316 is displayed. if p0316 = 0, r0334 is calculated from p0305 and
p0312.

1-84 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p0335[0...n] Motor cooling type / Motor cooling type

SERVO_S110-CAN, Can be changed: C2(1, 3), T Calculated: - Access level: 1
SERVO_S110-DP, Data type: Integer16 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: PEM, REL, FEM Scaling: - Expert list: 1
Min Max Factory setting
0 128 0
Description: Sets the motor cooling system used.
Value: 0: Non-ventilated
1: Forced cooling
2: Liquid cooling
4: Non-ventilated and internal fan
5: Forced cooling and internal fan
6: Liquid cooling and internal fan
128: No fan
Dependency: For 1LA5 and 1LA7 motors (refer to p0300), the parameter is pre-set as a function of p0307 and p0311.
Caution: When selecting a catalog motor (p0301), this parameter is automatically pre-assigned and is write protected. Infor-
mation in p0300 should be carefully observed when removing write protection.
Note: The parameter influences the thermal 3-mass motor model.
1LA1 and 1LA8 motors are characterized by the fact that they have an internal rotor fan. This "internal cooling" lies
within the motor frame and is not visible. Air is not directly exchanged with the motor ambient air. For 1PQ8 motors,
p0335 should be set to 5 as these motors are force-ventilated motors.
1LA7 motors, frame size 56 are operated without fan.

r0336[0...n] Actual rated motor frequency / Mot f_rated act

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [Hz] - [Hz] - [Hz]
Description: Displays the rated frequency of the motor.
For p0310 > 0, this value is displayed.
Dependency: Refer to: p0311, p0314
Note: For p0310 = 0 or for synchronous motors, the rated motor frequency r0336 is calculated from the rated speed and
the pole pair number.
For p0310 > 0, this value is displayed (not for synchronous motors).

r0337[0...n] Rated motor EMF / Mot EMF_rated

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
- [Vrms] - [Vrms] - [Vrms]
Description: Displays the rated EMF of the motor.
Note: EMF: Electromagnetic force

© Siemens AG 2012 All Rights Reserved 1-85

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p0338[0...n] Motor limit current / Mot I_limit

SERVO_S110-CAN, Can be changed: C2(1, 3) Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: ASM, REL, FEM Scaling: - Expert list: 1
Min Max Factory setting
0.00 [Arms] 10000.00 [Arms] 0.00 [Arms]
Description: Sets the motor limit current for synchronous motors (for a 600 V DC link voltage).
Using this current, the maximum torque is achieved at the rated speed (voltage limit characteristic).
Caution: When selecting a catalog motor (p0301), this parameter is automatically pre-assigned and is write protected. Infor-
mation in p0300 should be carefully observed when removing write protection.
Notice: If p0338 is changed during quick commissioning (p0010 = 1), then the maximum current p0640 is appropriately pre-
assigned. This is not the case when commissioning the motor (p0010 = 3).

r0339[0...n] Rated motor voltage / Mot U_rated

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
- [Vrms] - [Vrms] - [Vrms]
Description: Displays the rated motor voltage.
Note: For induction motors (p0300 = 1xx) the parameter is set to p0304.
For synchronous motors, parameter r0339 = p0304 is displayed. If p0304 = 0, then r0339 is calculated from p0305
and p0316.

p0340[0...n] Automatic calculation, motor/control parameters / Calc auto par

SERVO_S110-CAN, Can be changed: C2(3), T Calculated: - Access level: 2
SERVO_S110-DP, Data type: Integer16 Dynamic index: DDS, p0180 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 5 0
Description: Setting to automatically calculate motor parameters and U/f open-loop and closed-loop control parameters from the
rating plate data.
Value: 0: No calculation
1: Complete calculation
2: Calculation of equivalent circuit diagram parameters
3: Calculation of closed-loop control parameters
4: Calculation of controller parameters
5: Calculation of technological limits and threshold values
Notice: After the value has been modified, no further parameter modifications can be made and the status is shown in
r3996. Modifications can be made again when r3996 = 0.
The following parameters are influenced using p0340:
The parameters designated with (*) are not overwritten for catalog motors (p0300 > 100).
SERVO:
p0340 = 1:
--> All of the parameters influenced for p0340 = 2, 3, 4, 5
--> p0341 (*)
--> p0342, p0344, p0600, p0640, p1082, p2000, p2001, p2002, p2003, p2005, p2007
p0340 = 2:
--> p0350 (*), p0354 (*), p0356 (*), p0358 (*), p0360 (*)
--> p0625 (matching p0350)

1-86 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p0340 = 3:
--> All of the parameters influenced for p0340 = 4, 5
--> p0325 (is only calculated for p0325 = 0)
--> p0348 (*) (is only calculated for p0348 = 0)
--> p0441, p0442, p0443, p0444, p0445 (only for 1FT6, 1FK6, 1FK7 motors)
--> p0492, p1082, p1980, p1319, p1326, p1327, p1612, p1752, p1755
p0340 = 4:
--> p1441, p1460, p1462, p1463, p1464, p1465, p1470, p1472, p1590, p1592, p1596, p1656, p1657, p1658,
p1659, p1715, p1717
--> p1461 (for p0348 > p0322, p1461 is set to 100 %)
--> p1463 (for p0348 > p0322, p1463 is set to 400 %)
p0340 = 5:
--> p1037, p1038, p1520, p1521, p1530, p1531, p2140 ... p2142, p2148, p2150, p2155, p2161, p2162, p2163,
p2164, p2175, p2177, p2194, p3820 ... p3829
VECTOR:
p0340 = 1:
--> All of the parameters influenced for p0340 = 2, 3, 4, 5
--> p0341 (*)
--> p0342, p0344, p0600, p0640, p1082, p1231, p1232, p1333, p1349, p1360, p1362, p1441, p1442, p1576,
p1577, p1609, p1610, p1611, p1619, p1620, p1621, p1654, p1726, p1825, p1828 ... p1832, p1909, p1959, p2000,
p2001, p2002, p2003, p2005, p2007, p3927, p3928
p0340 = 2:
--> p0350 (*), p0354 ... p0361 (*), p0652 ... p0660
--> p0625 (matching p0350)
p0340 = 3:
--> All of the parameters influenced for p0340 = 4, 5
--> p0346, p0347, p0492, p0622, p1262, p1320 ... p1327, p1582, p1584, p1612, p1616, p1744, p1748, p1749,
p1755, p1756, p2178
p0340 = 4:
--> p1290, p1292, p1293, p1299, p1338, p1339, p1340, p1341, p1345, p1346, p1460, p1461, p1462, p1463,
p1464, p1465, p1470, p1472, p1590, p1592, p1600, p1628, p1629, p1630, p1643, p1703, p1715, p1717, p1740,
p1756, p1757, p1760, p1761, p1764, p1767, p1781, p1783, p1785, p1786, p1795, p7036, p7037, p7038
p0340 = 5:
--> p260 ... p264, p1037, p1038, p1520, p1521, p1530, p1531, p1574, p1750, p1802, p1803, p2140, p2142, p2148,
p2150, p2161, p2162, p2163, p2164, p2175, p2177, p2194, p3207, p3208, p3815, p3820 ... p3829
Note: p0340 = 1 contains the calculations of p0340 = 2, 3, 4, 5 without overwriting the motor parameters from the Sie-
mens motor lists (p0301 > 0).
p0340 = 2 calculates the motor parameters (p0350 ... p0360), but only if it does involve a Siemens catalog motor
(p0301 = 0).
p0340 = 3 contains the calculations of p0340 = 4, 5.
p0340 = 4 only calculates the controller parameters.
p0340 = 5 only calculates the controller limits.
When quick commissioning is exited using p3900 > 0, p0340 is automatically set to 1.
At the end of the calculations, p0340 is automatically set to 0.
If the STARTER commissioning software writes a 3 into p0340 when "downloading to target device", then this cor-
responds to a "complete calculation of the motor/control parameters without equivalent circuit diagram data". The
same calculations are carried out as for p0340 = 1, however, without the equivalent circuit diagram parameters of
the motor (p0340 = 2), the motor moment of inertia (p0341) and the motor weight (p0344).

© Siemens AG 2012 All Rights Reserved 1-87

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p0341[0...n] Motor moment of inertia / Mot M_mom of inert

SERVO_S110-CAN, Can be changed: C2(3), U, T Calculated: CALC_MOD_ALL Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: 5042, 5210
SERVO_S110-PN
P-Group: Motor Units group: 25_1 Unit selection: p0100
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.000000 [kgm²] 100000.000000 [kgm²] 0.000000 [kgm²]
Description: Sets the motor moment of inertia (without load).
Dependency: IEC drives (p0100 = 0): unit kg m^2
NEMA drives (p0100 = 1): unit lb ft^2
The parameter value is included, together with p0342, in the rated starting time of the motor.
Refer to: p0342
Caution: When selecting a catalog motor (p0301), this parameter is automatically pre-assigned and is write protected. Infor-
mation in p0300 should be carefully observed when removing write protection.
Note: p0341 * p0342 + p1498 influence the speed/torque pre-control in encoderless operation.

p0342[0...n] Ratio between the total and motor moment of inertia / Mot MomInert Ratio
SERVO_S110-CAN, Can be changed: C2(3), U, T Calculated: CALC_MOD_ALL Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: 5042, 5210
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
1.000 10000.000 1.000
Description: Sets the ratio between the total moment of inertia/mass (load + motor) and the intrinsic motor moment of iner-
tia/mass (no load).
Dependency: Refer to: p0341, p1498
Note: p0341 * p0342 + p1498 influence the speed/torque pre-control in encoderless operation.

p0344[0...n] Motor weight (for the thermal motor model) / Mot weight th mod
SERVO_S110-CAN, Can be changed: C2(3), T Calculated: CALC_MOD_ALL Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: 27_1 Unit selection: p0100
Not for motor type: PEM, REL, FEM Scaling: - Expert list: 1
Min Max Factory setting
0.0 [kg] 50000.0 [kg] 0.0 [kg]
Description: Sets the motor weight.
Dependency: IEC drives (p0100 = 0): unit kg
NEMA drives (p0100 = 1): unit lb
Caution: When selecting a catalog motor (p0301), this parameter is automatically pre-assigned and is write protected. Infor-
mation in p0300 should be carefully observed when removing write protection.
Note: The parameter influences the thermal 3 mass model of the induction motor.
The parameter is not used for synchronous motors (p0300 = 2xx).

p0347[0...n] Motor de-excitation time / Mot t_de-excitat.

SERVO_S110-CAN, Can be changed: C2(3), U, T Calculated: CALC_MOD_REG Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.000 [s] 20.000 [s] 0.000 [s]
Description: Sets the de-magnetizing time (for induction motors) after the inverter pulses have been canceled.
The inverter pulses cannot be switched in (enabled) within this delay time.

1-88 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

For SERVO, the de-excitation time is only used for DC current braking.
Note: The parameter is calculated using p0340 = 1, 3.
For induction motors, the result depends on the rotor time constant (r0384).
if this time is shortened too much, then this can result in an inadequate de-magnetizing of the induction motor and
in an overcurrent condition when the pulses are subsequently enabled (only when the flying restart function is acti-
vated and the motor is rotating).

p0348[0...n] Speed at the start of field weakening Vdc = 600 V / Mot n_field weaken
SERVO_S110-CAN, Can be changed: C2(3), U, T Calculated: CALC_MOD_REG Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: 5722
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.0 [rpm] 210000.0 [rpm] 0.0 [rpm]
Description: Sets the speed at the start of field weakening for a DC link voltage of 600 V.
Dependency: Refer to: p0320, r0331
Caution: When selecting a catalog motor (p0301), this parameter is automatically pre-assigned and is write protected. Infor-
mation in p0300 should be carefully observed when removing write protection.

p0349 System of units, motor equivalent circuit diagram data / Unit_sys mot ESB
SERVO_S110-CAN, Can be changed: C2(3) Calculated: - Access level: 1
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
1 1 1
Description: Sets the actual system of units for motor equivalent circuit diagram data.
Value: 1: System of units, physical
Dependency: Refer to: p0304, p0305, p0310
Note: The reference parameter for resistances of the rated motor impedance Z = p0304 / (1.732 * p0305) is in the % units
system.
Inductances are converted into a resistance using the factor 2 * Pi * p0310.
If a reference parameter (p0304, p305, p0310) is zero, then it is not possible to make a changeover to "referred"
values (per unit values).

p0350[0...n] Motor stator resistance, cold / Mot R_stator cold

SERVO_S110-CAN, Can be changed: C2(3), U, T Calculated: CALC_MOD_EQU Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: 16_1 Unit selection: p0349
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00000 [ohm] 2000.00000 [ohm] 0.00000 [ohm]
Description: Sets the stator resistance of the motor at ambient temperature p0625.
Dependency: Refer to: p0625, r1912
Caution: When selecting a catalog motor (p0301), this parameter is automatically pre-assigned and is write protected. Infor-
mation in p0300 should be carefully observed when removing write protection.
Note: The motor identification routine determines the stator resistance from the total stator resistance minus the cable
resistance (p0352).

© Siemens AG 2012 All Rights Reserved 1-89

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p0352[0...n] Cable resistance / Mot R_cable cold

SERVO_S110-CAN, Can be changed: C2(3), U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: 16_1 Unit selection: p0349
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00000 [ohm] 120.00000 [ohm] 0.00000 [ohm]
Description: Resistance of the power cable between the Motor Module and motor.
Caution: The cable resistance should be entered prior to motor data identification. If it is used subsequently, the difference
by which p0352 was changed must be subtracted from the stator resistance p0350 or motor data identification must
be repeated.

Note: The parameter influences the temperature adaptation of the stator resistance.
The motor identification routine does not change the cable resistance. This is subtracted from the total measured
stator resistance in order to calculate the stator resistance (p0350, p0352).
The cable resistance is reset when quick commissioning is exited with p3900 > 0.

p0353[0...n] Motor series inductance / Mot L_series

SERVO_S110-CAN, Can be changed: C2(3), U, T Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: 15_1 Unit selection: p0349
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.000 [mH] 1000000.000 [mH] 0.000 [mH]
Description: Sets the series inductance.
Note: For the automatic calculation with p0340 = 1 or 3, the calculation of p0348 is influenced by p0353 if p0348 was 0.
For the automatic calculation with p0340 = 1, 3 or 4, the calculation of p1715 is influenced by p0353.
The series inductance is reset when quick commissioning is exited with p3900 > 0.
The reference value for p0326 is inversely proportional to the leakage inductance of the motor (p0353, p0354,
p0356).

p0354[0...n] Motor rotor resistance cold / damping resistance d axis / Mot R_r cold/R_D d
SERVO_S110-CAN, Can be changed: C2(3), U, T Calculated: CALC_MOD_EQU Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: 16_1 Unit selection: p0349
Not for motor type: PEM, REL Scaling: - Expert list: 1
Min Max Factory setting
0.00000 [ohm] 300.00000 [ohm] 0.00000 [ohm]
Description: Sets the rotor/secondary section resistance of the motor at the ambient temperature p0625.
For separately-excited synchronous motors: Sets the damping resistance in the rotor direction (d-axis).
This parameter value is automatically calculated using the motor model (p0340 = 1, 2) or using the motor data iden-
tification routine (p1910) (not for separately-excited synchronous motors).
Dependency: Refer to: p0625
Caution: When selecting a catalog motor (p0301), this parameter is automatically pre-assigned and is write protected. Infor-
mation in p0300 should be carefully observed when removing write protection.
Note: The parameter is not used for synchronous motors (p0300 = 2xx).
The reference value for p0326 is inversely proportional to the leakage inductance of the motor (p0353, p0354,
p0356).

1-90 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p0356[0...n] Motor stator leakage inductance / Mot L_stator leak.

SERVO_S110-CAN, Can be changed: C2(3), U, T Calculated: CALC_MOD_EQU Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: 15_1 Unit selection: p0349
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00000 [mH] 1000.00000 [mH] 0.00000 [mH]
Description: Induction motor, separately-excited synchronous motor: Sets the rotor leakage inductance of the motor.
Synchronous motor: Sets the stator quadrature axis inductance of the motor.
This parameter value is automatically calculated using the motor model (p0340 = 1, 2) or using the motor identifica-
tion routine (p1910).
Caution: When selecting a catalog motor (p0301), this parameter is automatically pre-assigned and is write protected. Infor-
mation in p0300 should be carefully observed when removing write protection.
Note: The reference value for p0326 is inversely proportional to the leakage inductance of the motor (p0353, p0354,
p0356).

p0358[0...n] Motor rotor leakage inductance / damping inductance, d axis / Mot L_r leak / LDd
SERVO_S110-CAN, Can be changed: C2(3), U, T Calculated: CALC_MOD_EQU Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: 15_1 Unit selection: p0349
Not for motor type: PEM, REL Scaling: - Expert list: 1
Min Max Factory setting
0.00000 [mH] 1000.00000 [mH] 0.00000 [mH]
Description: Sets the rotor/secondary section leakage inductance of the motor.
For separately-excited synchronous motors: Sets the damping inductance in the rotor direction (d-axis).
This value is automatically calculated using the motor model (p0340 = 1, 2) or using the motor identification routine
(p1910) (not for separately-excited synchronous motors).
Caution: When selecting a catalog motor (p0301), this parameter is automatically pre-assigned and is write protected. Infor-
mation in p0300 should be carefully observed when removing write protection.
Note: The parameter is not used for synchronous motors (p0300 = 2xx).
VECTOR:
If the rotor leakage inductance (p0358) for induction motors is changed outside the commissioning phase (p0010 >
0), then the magnetizing inductance (p0360) is automatically adapted to the new EMF (r0337). You are then
advised to repeat the measurement for the saturation characteristic (p1960).

p0360[0...n] Motor magnetizing inductance/magn. inductance, d axis saturated / Mot Lh/Lh d sat
SERVO_S110-CAN, Can be changed: C2(3), U, T Calculated: CALC_MOD_EQU Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: 15_1 Unit selection: p0349
Not for motor type: PEM, REL Scaling: - Expert list: 1
Min Max Factory setting
0.00000 [mH] 10000.00000 [mH] 0.00000 [mH]
Description: Sets the magnetizing inductance of the motor.
For separately-excited synchronous motors: Sets the saturated magnetizing inductance in the rotor direction (d-
axis).
This parameter value is automatically calculated using the motor model (p0340 = 1, 2) or using the motor identifica-
tion routine (p1910) (not for separately-excited synchronous motors).
Caution: When selecting a catalog motor (p0301), this parameter is automatically pre-assigned and is write protected. Infor-
mation in p0300 should be carefully observed when removing write protection.
Note: The parameter is not used for synchronous motors (p0300 = 2xx).

© Siemens AG 2012 All Rights Reserved 1-91

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r0370[0...n] Motor stator resistance, cold / Mot R_stator cold

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 4
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: 16_1 Unit selection: p0349
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [ohm] - [ohm] - [ohm]
Description: Displays the motor stator resistance at an ambient temperature (p0625).
The value does not include the cable resistance.
Dependency: Refer to: p0625

r0373[0...n] Motor rated stator resistance / Mot R_stator rated

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 4
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: 16_1 Unit selection: p0349
Not for motor type: PEM, REL, FEM Scaling: - Expert list: 1
Min Max Factory setting
- [ohm] - [ohm] - [ohm]
Description: Displays the rated motor stator resistance at rated temperature (total of p0625 and p0627).
Dependency: Refer to: p0627
Note: The parameter is not used for synchronous motors (p0300 = 2xx).

r0374[0...n] Motor rotor resistance cold / damping resistance d axis / Mot R_r cold / RDd
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 4
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: 16_1 Unit selection: p0349
Not for motor type: PEM, REL Scaling: - Expert list: 1
Min Max Factory setting
- [ohm] - [ohm] - [ohm]
Description: Displays the rotor/secondary section resistance of the motor for the ambient temperature p0625.
For separately-excited synchronous motors: Displays the damping resistance in the rotor direction (d-axis).
Dependency: Refer to: p0625
Note: The parameter is not used for synchronous motors (p0300 = 2xx).

r0376[0...n] Rated motor rotor resistance / Mot R_rotor rated

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 4
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: 16_1 Unit selection: p0349
Not for motor type: PEM, REL, FEM Scaling: - Expert list: 1
Min Max Factory setting
- [ohm] - [ohm] - [ohm]
Description: Displays the rated (nominal) rotor/secondary section resistance of the motor at the rated temperature (total of
p0625 and p0628).
Dependency: Refer to: p0628
Note: The parameter is not used for synchronous motors (p0300 = 2xx).

1-92 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r0377[0...n] Motor leakage inductance, total / Mot L_leak total

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 4
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: 6640
SERVO_S110-PN
P-Group: Motor Units group: 15_1 Unit selection: p0349
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [mH] - [mH] - [mH]
Description: Induction motor:
Displays the stator leakage inductance of the motor including the series inductance (p0353).
Synchronous motor:
Displays the stator quadrature axis inductance of the motor including the series inductance (p0353).

r0382[0...n] Motor magnetizing inductance transformed / Lh d axis saturated / Mot L_m tr/Lhd sat
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 4
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: 15_1 Unit selection: p0349
Not for motor type: PEM, REL Scaling: - Expert list: 1
Min Max Factory setting
- [mH] - [mH] - [mH]
Description: Displays the magnetizing inductance of the motor.
For separately-excited synchronous motors: Displays the saturated magnetizing inductance in the rotor direction (d-
axis).
Note: The parameter is not used for synchronous motors (p0300 = 2xx).

r0384[0...n] Motor rotor time constant / damping time constant d axis / Mot T_rotor/T_Dd
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 4
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: 6722
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: PEM, REL Scaling: - Expert list: 1
Min Max Factory setting
- [ms] - [ms] - [ms]
Description: Displays the rotor time constant.
For separately-excited synchronous motors: Displays the damping time constant in the rotor direction (d-axis).
Note: The parameter is not used for synchronous motors.
The value is calculated from the total of the inductances on the rotor side (p0358, p0360) divided by the rotor/damp-
ing resistance (p0354). The temperature adaptation of the rotor resistance for induction motors is not taken into
account.

r0386[0...n] Motor stator leakage time constant / Mot T_stator leak

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 4
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [ms] - [ms] - [ms]
Description: Displays the stator leakage time constant.
Note: The value is calculated from the total of all leakage inductances (p0233*, p0353, p0356, p0358) divided by the total
of all motor resistances (p0350, p0352, p0354). The temperature adaptation of the resistances is not taken into
account.
* only applies for VECTOR (r0107).

© Siemens AG 2012 All Rights Reserved 1-93

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p0391[0...n] Current controller adaptation, starting point KP / I_adapt pt KP

SERVO_S110-CAN, Can be changed: C2(3), U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: 5714
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.00 [Arms] 6000.00 [Arms] 0.00 [Arms]
Description: Sets the starting point of the current-dependent current controller adaptation where the current controller gain
p1715 is effective.
Dependency: Refer to: p0392, p0393, p1402, p1715
Caution: When selecting a catalog motor (p0301), this parameter is automatically pre-assigned and is write protected. Infor-
mation in p0300 should be carefully observed when removing write protection.
Note: For p0393 = 100 % or p1402.2 = 0, the current controller adaptation is disabled and p1715 is effective over the
entire range.

p0392[0...n] Current controller adaptation, starting point KP adapted / I_adapt pt KP adap

SERVO_S110-CAN, Can be changed: C2(3), U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: 5714
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.00 [Arms] 6000.00 [Arms] 0.00 [Arms]
Description: Sets the starting point of the current-dependent current controller adaptation where the adapted current controller
gain p1715 x p0393 is effective.
Dependency: Refer to: p0391, p0393, p1402, p1715
Caution: When selecting a catalog motor (p0301), this parameter is automatically pre-assigned and is write protected. Infor-
mation in p0300 should be carefully observed when removing write protection.
Note: For p0393 = 100 % or p1402.2 = 0, the current controller adaptation is disabled and p1715 is effective over the
entire range.

p0393[0...n] Current controller adaptation p gain adaptation / I_adapt Kp adapt

SERVO_S110-CAN, Can be changed: C2(3), U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: 5714
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.00 [%] 1000.00 [%] 100.00 [%]
Description: Sets the factor for the current controller P gain in the adaptation range (current > p0392).
The value is referred to p1715.
Dependency: Refer to: p0391, p0392, p1402, p1715
Caution: When selecting a catalog motor (p0301), this parameter is automatically pre-assigned and is write protected. Infor-
mation in p0300 should be carefully observed when removing write protection.
Note: For p0393 = 100 % or p1402.2 = 0, the current controller adaptation is disabled and p1715 is effective over the
entire range.

1-94 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r0395[0...n] Actual stator resistance / R_stator act

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: 6300, 6730,
SERVO_S110-PN 6731, 6732
P-Group: Motor Units group: 16_1 Unit selection: p0349
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [ohm] - [ohm] - [ohm]
Description: Displays the actual stator resistance (phase value).
The parameter value also contains the temperature-independent cable resistance.
Dependency: In the case of induction motors the parameter is also affected by the motor temperature model.
Refer to: p0350, p0352, p0620
Note: In each case, only the stator resistance of the active Motor Data Set is included with the stator temperature of the
thermal motor model.

r0396[0...n] Actual rotor resistance / R_rotor act

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: 6730
SERVO_S110-PN
P-Group: Motor Units group: 16_1 Unit selection: p0349
Not for motor type: PEM, REL, FEM Scaling: - Expert list: 1
Min Max Factory setting
- [ohm] - [ohm] - [ohm]
Description: Displays the actual rotor/secondary section resistance (phase value).
The parameter is affected by the motor temperature model.
Dependency: Refer to: p0354, p0620
Note: In each case, only the rotor resistance of the active Motor Data Set is included with the rotor temperature of the
thermal motor model.
This parameter is not used for synchronous motors (p0300 = 2xx).

p0400[0...n] Encoder type selection / Enc_typ sel

SERVO_S110-CAN, Can be changed: C2(1, 4) Calculated: - Access level: 1
SERVO_S110-DP, Data type: Integer16 Dynamic index: EDS, p0140 Func. diagram: 1580, 4704
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 10100 0
Description: Selects the encoder from the list of encoder types supported.
Value: 0: No encoder
202: DRIVE-CLiQ encoder AS20, singleturn
204: DRIVE-CLiQ encoder AM20, multiturn 4096
242: DRIVE-CLiQ encoder AS24, singleturn
244: DRIVE-CLiQ encoder AM24, multiturn 4096
1001: Resolver 1 speed
1002: Resolver 2 speed
1003: Resolver 3 speed
1004: Resolver 4 speed
2001: 2048, 1 Vpp, A/B C/D R
2002: 2048, 1 Vpp, A/B R
2003: 256, 1 Vpp, A/B R
2004: 400, 1 Vpp, A/B R
2005: 512, 1 Vpp, A/B R
2006: 192, 1 Vpp, A/B R
2007: 480, 1 Vpp, A/B R
2008: 800, 1 Vpp, A/B R
2010: 18000, 1 Vpp, A/B R distance-coded

© Siemens AG 2012 All Rights Reserved 1-95

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

2051: 2048, 1 Vpp, A/B, EnDat, Multiturn 4096

2052: 32, 1 Vpp, A/B, EnDat, Multiturn 4096
2053: 512, 1 Vpp, A/B, EnDat, Multiturn 4096
2054: 16, 1 Vpp, A/B, EnDat, Multiturn 4096
2055: 2048, 1 Vpp, A/B, EnDat, Singleturn
2081: 2048, 1 Vpp, A/B, SSI, Singleturn
2082: 2048, 1 Vpp, A/B, SSI, Multiturn 4096
2083: 2048, 1 Vpp, A/B, SSI, singleturn, error bit
2084: 2048, 1 Vpp, A/B, SSI, multiturn 4096, error bit
3001: 1024 HTL A/B R
3002: 1024 TTL A/B R
3003: 2048 HTL A/B R
3005: 1024 HTL A/B
3006: 1024 TTL A/B
3007: 2048 HTL A/B
3008: 2048 TTL A/B
3009: 1024 HTL A/B unipolar
3011: 2048 HTL A/B unipolar
3020: 2048 TTL A/B R, with sense
3081: SSI, Singleturn, 24 V
3082: SSI, Multiturn 4096, 24 V
3090: 4096, HTL, A/B, SSI, Singleturn
9000: Pulse encoder s_set
9001: Pulse encoder n_set
9999: User-defined
10000: Identify encoder
10050: Encoder with EnDat interface identified
10051: DRIVE-CLiQ encoder identified
10100: Identify encoder (waiting)
Caution: An encoder type with p0400 < 9000 defines an encoder for which there is an encoder parameter list. When select-
ing a catalog encoder (p0400 < 9000) the parameters from the encoder parameter list cannot be changed (write
protection). To remove write protection, the encoder type should be set to a third-party encoder (p0400 = 9999).
Notice: If required, the list of motor codes/encoder codes can be found in the Appendix of the List Manual.
Note: The connected encoder can be identified by setting p0400 to 10000 or 10100. This assumes that the encoder sup-
ports this method, which is possible in the following cases: Motor with DRIVE-CLiQ, encoder with EnDat interface,
DRIVE-CLiQ encoder.
The encoder data (e.g. pulse number p0408) can only be changed when p0400 = 9999.
When using an encoder with track A/B and zero pulse, as standard, fine synchronization is not set using a zero
mark. If, for a synchronous motor, fine synchronization is to be realized using a zero mark, then the following must
be executed:
- set p0400 to 9999
- set p0404.15 to 1
Prerequisite:
Coarse synchronization must be selected (e.g. pole position identification) and the zero pulse of the encoder must
be either mechanically or electronically (p0431) adjusted to the pole position.
For p0400 = 10000 the following applies:
If an identification is not possible, then p0400 is set to 0.
For p0400 = 10100 the following applies:
If an identification is not possible, p0400 remains set to 10100 until it becomes possible.
For p0400 = 9000, 9001 the following applies:
- for p0400 = 9000 and p0184 > 0 the following BICO interconnection is established: CI: p2530 = CO: r2531
- for p0400 = 9001 and p0184 > 0 the following BICO interconnection is established: CI: p1155 = CO: r0061
- write protection for the parameters from the encoder parameter list is lifted
- check the encoder parameters and make any necessary corrections

1-96 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p0401[0...n] Encoder type, OEM selection / Enc type OEM sel

SERVO_S110-CAN, Can be changed: C2(1, 4) Calculated: - Access level: 2
SERVO_S110-DP, Data type: Integer16 Dynamic index: EDS, p0140 Func. diagram: 1580, 4704
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 32767 0
Description: Selects the encoder from the list of encoder types that the OEM supports.
Note: The connected encoder can be identified by p0400 = 10000. This means that the encoder must support this and is
possible in the following cases: Motor with DRIVE-CLiQ, encoder with EnDat interface.
If an identification is not possible, then p0400 is set to 0.
The encoder data (e.g. pulse number p0408) can only be changed when p0400 = 9999.
Using p0400 = 20000, the encoder type can be selected from the list of OEM encoders using p0401.

p0404[0...n] Encoder configuration effective / Enc_config eff

SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: EDS, p0140 Func. diagram: 4010, 4704
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 0000 0000 0000 0000
0000 0000 0000 bin
Description: Settings for the basic encoder properties.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Linear encoder Yes No -
01 Abs value encoder Yes No -
02 Multiturn encoder Yes No -
03 Track A/B sq-wave Yes No -
04 Track A/B sinus Yes No -
05 Track C/D Yes No -
06 Hall sensor Yes No -
08 EnDat encoder Yes No -
09 SSI encoder Yes No -
10 DRIVE-CLiQ encoder Yes No -
11 Digital encoder Yes No -
12 Equidistant zero mark Yes No -
13 Irregular zero mark Yes No -
14 Distance-coded zero mark Yes No -
15 Commutation with zero mark (not ASM) Yes No -
16 Acceleration Yes No -
17 Track A/B analog Yes No -
20 Voltage level 5 V Yes No -
21 Voltage level 24 V Yes No -
22 Remote sense (only SMC30) Yes No -
23 Resolver excit. Yes No -
Caution: This parameter is automatically pre-set for encoders from the encoder list (p0400).
When selecting a catalog encoder, this parameter cannot be changed (write protection). Information in p0400
should be carefully observed when removing write protection.
Notice: If an SSI encoder (bit 9 = 1) is used as motor encoder for permanent-magnet synchronous motors, then this is only
permissible in conjunction with an additional A/B track (bit 3 = 1 or bit 4 = 1).
Note: ZM: Zero mark
SMC: Sensor Module Cabinet
If a technique to determine the commutation information/data has not been selected (e.g. track C/D, Hall sensor),
and the encoder pulse number is an integer multiple of the pole number, then the following applies:
The track A/B is adjusted to match the magnetic position of the motor.

© Siemens AG 2012 All Rights Reserved 1-97

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 Parameter
List of parameters

Re bit 01, 02 (absolute encoder, multiturn encoder):

These bits can only be selected for EnDat encoders, SSI encoders or DRIVE-CLiQ encoders.
Re bit 10 (DRIVE-CLiQ encoder):
This bit is only used for the large-scale integrated DRIVE-CLiQ encoders that provide their encoder data directly in
DRIVE-CLiQ format without converting this data. This bit is not, therefore, set for first-generation DRIVE-CLiQ
encoders.
Re bit 12 (equidistant zero mark):
The zero marks occur at regular intervals (e.g. rotary encoder with 1 zero mark per revolution or linear encoder with
constant zero mark distance).
The bit activates monitoring of the zero mark distance (p0424/p0425, linear/rotary) or in the case of the linear
encoder with 1 zero mark and p0424 = 0 zero mark monitoring is activated.
Re bit 13 (irregular zero mark):
The zero marks occur at irregular intervals (e.g. a linear scale with only 1 zero mark in the traversing range). The
zero mark distance is not monitored.
Re bit 14 (distance-coded zero mark):
The distance (clearance) between two or several consecutive zero marks allows the absolute position to be calcu-
lated.
Re bit 15 (commutation with zero mark):
Only applicable for synchronous motors.
The function can be de-selected by priority via p0430.23.
For distance-coded zero marks, the following applies:
The phase sequence of the C/D track (if available) must be the same as the phase sequence of the encoder (A/B
track).
The phase sequence of the Hall signal (if available) must be the same as the phase sequence of the motor. Further,
the position of the Hall sensor must be mechanically adjusted to the motor EMF.
The fine synchronization is only started after two zero marks have been passed.

p0405[0...n] Square-wave encoder track A/B / Sq-wave enc A/B

SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: EDS, p0140 Func. diagram: 4704
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 1111 bin
Description: Settings for the track A/B in a square-wave encoder.
For square-wave encoders, p0404.3 must also be 1.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Signal Bipolar Unipolar -
01 Level TTL HTL -
02 Track monitoring A/B <> -A/B None -
03 Zero pulse Same as A/B track 24 V unipolar -
04 Switching thresh High Low -
05 Pulse/direction Active Inactive -
Caution: This parameter is automatically pre-set for encoders from the encoder list (p0400). When selecting a catalog
encoder, this parameter cannot be changed (write protection). Information in p0400 should be carefully observed
when removing write protection.
Note: Re bit 02:
When the function is activated, track monitoring can be de-activated by setting p0437.26.
Re bit 05:
When the function is activated, a frequency setpoint and a direction for traveling can be entered via an encoder
interface.

1-98 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p0408[0...n] Rotary encoder pulse No. / Rot enc pulse No.

SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: EDS, p0140 Func. diagram: 4010, 4704
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 16777215 2048
Description: Sets the number of pulses for a rotary encoder.
Caution: This parameter is automatically pre-set for encoders from the encoder list (p0400). When selecting a catalog
encoder, this parameter cannot be changed (write protection). Information in p0400 should be carefully observed
when removing write protection.
Note: The number of pole pairs for a resolver is entered here.
The smallest permissible value is 1 pulse.

p0410[0...n] Encoder inversion actual value / Enc inv act value

SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 bin
Description: Setting to invert actual values.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Invert speed actual value Yes No 4710,
4715
01 Invert position actual value Yes No 4704
Note: The inversion influences the following parameters:
Bit 00: r0061, r0063 (exception: encoderless control), r0094
Bit 01: r0482, r0483

p0414[0...n] Redundant coarse position value relevant bits (identified) / Relevant bits
SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 16 16
Description: Sets the number of relevant bits for the redundant coarse position value.

p0415[0...n] Gx_XIST1 Coarse position safe most significant bit (identified) / Gx_XIST1 safe MSB
SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 31 14
Description: Sets the bit number for the safe most significant bit (MSB) of the Gx_XIST1 coarse position.
Note: MSB: Most Significant Bit

© Siemens AG 2012 All Rights Reserved 1-99

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p0418[0...n] Fine resolution Gx_XIST1 (in bits) / Enc fine Gx_XIST1

SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned8 Dynamic index: EDS, p0140 Func. diagram: 4010, 4704
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
2 18 11
Description: Sets the fine resolution in bits of the incremental position actual values.
Note: The parameter applies for the following process data:
- Gx_XIST1
- Gx_XIST2 for reference mark or flying measurement
The fine resolution specifies the fraction between two encoder pulses. Depending on the physical measurement
principle, an encoder pulse can be broken down into a different number of fractions (e.g. squarewave encoder: 2 bit
= resolution 4, sin/cos encoder: Typical 11 bit = resolution 2048).
For a squarewave encoder, with the factory setting, the least significant bits have the value zero, i.e. they do not
supply any useful information.
For especially high quality measuring systems, the fine resolution must be increased corresponding to the available
accuracy.

p0419[0...n] Fine resolution absolute value Gx_XIST2 (in bits) / Enc fine Gx_XIST2
SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned8 Dynamic index: EDS, p0140 Func. diagram: 4704, 4710
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
2 18 9
Description: Sets the fine resolution in bits of the absolute position actual values.
Dependency: Refer to: p0418
Note: This parameter applies to process data Gx_XIST2 when reading the absolute value.

p0421[0...n] Absolute encoder rotary multiturn resolution / Enc abs multiturn

SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: EDS, p0140 Func. diagram: 4704
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 65535 4096
Description: Sets the number of rotations that can be resolved for a rotary absolute encoder.
Caution: This parameter is automatically pre-set for encoders from the encoder list (p0400). When selecting a catalog
encoder, this parameter cannot be changed (write protection). Information in p0400 should be carefully observed
when removing write protection.

p0423[0...n] Absolute encoder rotary singleturn resolution / Enc abs singleturn

SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: EDS, p0140 Func. diagram: 4704
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1073741823 8192
Description: Sets the number of measuring steps per revolution for a rotary absolute encoder. The resolution refers to the abso-
lute position.

1-100 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

Caution: This parameter is automatically pre-set for encoders from the encoder list (p0400). When selecting a catalog
encoder, this parameter cannot be changed (write protection). Information in p0400 should be carefully observed
when removing write protection.

p0425[0...n] Encoder, rotary zero mark distance / Enc rot dist ZM

SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: EDS, p0140 Func. diagram: 4704, 8570
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 16777215 2048
Description: Sets the distance in pulses between two zero marks for a rotary encoder. This information is used for zero mark
monitoring.
Caution: This parameter is automatically pre-set for encoders from the encoder list (p0400). When selecting a catalog
encoder, this parameter cannot be changed (write protection). Information in p0400 should be carefully observed
when removing write protection.
Note: For distance-coded zero marks, this means the basic distance.

p0426[0...n] Encoder zero mark differential distance / Enc ZM Dif_dist

SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
1 65535 1
Description: Sets the differential distance with distance-coded zero marks [signal periods].
The value corresponds to jump displacement of "zero mark with interference".
Caution: This parameter is automatically pre-set for encoders from the encoder list (p0400). When selecting a catalog
encoder, this parameter cannot be changed (write protection). Information in p0400 should be carefully observed
when removing write protection.

p0427[0...n] Encoder SSI baud rate / Enc SSI baud rate

SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 [kHz] 65535 [kHz] 100 [kHz]
Description: Sets the baud rate for an SSI encoder.
Caution: This parameter is automatically pre-set for encoders from the encoder list (p0400). When selecting a catalog
encoder, this parameter cannot be changed (write protection). Information in p0400 should be carefully observed
when removing write protection.
Note: SSI: Synchronous Serial Interface

p0428[0...n] Encoder SSI monoflop time / Enc SSI t_monoflop

SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 [µs] 65535 [µs] 30 [µs]
Description: Sets the minimum delay time between two data transfers of the absolute value for an SSI encoder.

© Siemens AG 2012 All Rights Reserved 1-101

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Caution: This parameter is automatically pre-set for encoders from the encoder list (p0400). When selecting a catalog
encoder, this parameter cannot be changed (write protection). Information in p0400 should be carefully observed
when removing write protection.

p0429[0...n] Encoder SSI configuration / Enc SSI config

SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 0000 bin
Description: Sets the configuration for an SSI encoder.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Transfer code Binary code Gray code -
02 Transfer absolute value twice Yes No -
06 Data line during the monoflop time High level Low level -
Caution: This parameter is automatically pre-set for encoders from the encoder list (p0400). When selecting a catalog
encoder, this parameter cannot be changed (write protection). Information in p0400 should be carefully observed
when removing write protection.
Note: Re bit 06:
The quiescent signal level of the data line corresponds to the inverted, set level.

p0430[0...n] Sensor Module configuration / SM config

SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 1110 0000 0000 1000 0000
0000 0000 0000 bin
Description: Sets the configuration of the Sensor Module.
Bit field: Bit Signal name 1 signal 0 signal FP
17 Burst oversampling Yes No -
18 Continuous oversampling (reserved) Yes No -
19 Safety position actual value sensing Yes No -
20 Speed calculation mode (only SMC30) Incremental diff Flank time meas -
21 Zero mark tolerance Yes No -
22 Rot pos adapt Yes No -
23 De-select commutation with zero mark Yes No -
24 Commutation with selected zero mark Yes No -
25 Switch off encoder voltage supply during Yes No -
parking
27 Extrapolate position values Yes No -
28 Cubic correction Yes No -
29 Phase correction Yes No -
30 Amplitude correction Yes No -
31 Offset correction Yes No -
Notice: A bit-wise configuration is only possible if the corresponding property is also present in r0458.
Note: Re bit 17 (burst oversampling):
- if bit = 1, burst oversampling is switched on.
Re bit 18 (continuous oversampling):
- if bit = 1, continuous oversampling is switched on.
Re bit 19 (Safety position actual value sensing):
- if bit = 1, the Safety position actual value is transferred in the cyclic telegram.

1-102 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

Re bit 20 (speed calculation mode):

- if bit = 1, the speed is calculated via incremental difference without extrapolation.
- if bit = 0, the speed is calculated via edge time measurement with extrapolation. p0453 is effective in this mode.
Re bit 21 (zero mark tolerance):
- if bit = 1, a one-off zero mark distance error is tolerated. In the event of a defect, the fault F3x100/F3x101 does not
appear, but alarm A3x400/A3x401 does.
Re bit 22 (rotor position adaptation):
- if bit = 1, the rotor position is corrected automatically. The correction speed is +/-1/4 encoder pulse per zero mark
distance.
Re bit 23 (de-select commutation with zero mark):
- The bit should only be set for encoders that have not been adjusted.
Re bit 24 (commutation with selected zero mark):
- if bit = 1, the commutation position is corrected via a selected zero mark.
Re bit 25 (disconnect the encoder power supply on parking):
- if bit = 1, the encoder power supply is switched off on parking (0 V).
- if bit = 0, the encoder power supply is not switched off on parking, it is reduced from 24 V to 5 V.
Re bit 27 (extrapolate position values):
- if bit = 1, the extrapolation of the position values is activated.
Re bit 28 (cubic correction);
- if bit = 1, the cubic correction for track A/B sine is activated.
Re bit 29 (phase correction):
- if bit = 1, the phase correction for track A/B sine is activated.
Re bit 30 (amplitude correction):
- if bit = 1, the amplitude correction for track A/B sine is activated.
Re bit 31 (offset correction):
- if bit = 1, the offset correction for track A/B sine is activated.

p0431[0...n] Angular commutation offset / Ang_com offset

SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-180.00 [°] 180.00 [°] 0.00 [°]
Description: Sets the angular commutation offset.
Dependency: The value is taken into account in r0094.
Refer to: r0094, r1778
Caution: When the firmware is upgraded from V2.3 to V2.4 or higher, the value must be reduced by 60° if all the following
conditions are fulfilled:
- The motor is a synchronous motor (p0300 = 2, 2xx, 4, 4xx).
- The encoder is a resolver (p0404.23 = 1).
- The actual speed value is inverted (p0410.0 = 1).
Notice: The angular commutation offset cannot be generally taken from other drive systems. As a minimum - the sign of the
offset determined for SIMODRIVE 611 digital and SIMODRIVE 611 universal must be reversed for SINAMICS
(p0431 (SINAMICS) = -p1016 (SIMODRIVE)).
Note: Angular commutation offset, angular difference between electrical position of encoder and flux position.
For p0404.5 = 1 (track C/D) the following applies:
The angular offset in p0431 acts on track A/B, the zero mark on track C/D.
For p0404.6 = 1 (Hall sensor) the following applies:
The angular offset in p0431 acts on track A/B and the zero mark.

© Siemens AG 2012 All Rights Reserved 1-103

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p0432[0...n] Gearbox factor, encoder revolutions / Grbx_fact enc_rev

SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
1 10000 1
Description: Sets the encoder revolutions for the gearbox factor of the encoder evaluation.
The gearbox factor specifies the ratio between the encoder shaft and motor shaft (for motor encoders) or between
the encoder shaft and the load.
Dependency: This parameter can only be set for p0402 = 9999.
Refer to: p0410, p0433
Note: Negative gearbox factors should be implemented with p0410.

p0433[0...n] Gearbox factor, motor/load revolutions / Grbx_fact mot_rev

SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
1 10000 1
Description: Sets the motor and load revolutions for the gearbox factor of the encoder evaluation.
The gearbox factor specifies the ratio between the encoder shaft and motor shaft (for motor encoders) or between
the encoder shaft and the load.
Dependency: This parameter can only be set for p0402 = 9999.
Refer to: p0410, p0432
Note: Negative gearbox factors should be implemented with p0410.

p0434[0...n] Encoder SSI error bit / Enc SSI error bit

SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 65535 0
Description: Sets the position and level of the error bit in the SSI protocol.
Notice: The bit may only be positioned before (p0446) or after (p0448) the absolute value in the SSI protocol.
Note: Value = dcba
ba: Position of the error bit in the protocol (0 ... 63).
c: Level (0: Low level, 1: High level).
d: Status of the evaluation (0: Off, 1: On with 1 error bit, 2: On with 2 error bits ... 9: On with 9 error bits).
For several error error bits, the following applies:
- the position specified under ba and the additional bits are assigned increasing consecutively.
- the level set under c applies to all error bits.
Example:
p0434 = 1013
--> The evaluation is switched in and the error bit is at position 13 with a low level.
p0434 = 1113
--> The evaluation is switched in and the error bit is at position 13 with a high level.

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 Parameter
List of parameters

p0435[0...n] Encoder SSI alarm bit / Enc SSI alarm bit

SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 65535 0
Description: Sets the position and level of the alarm bit in the SSI protocol.
Notice: The bit may only be positioned before (p0446) or after (p0448) the absolute value in the SSI protocol.
Note: Value = dcba
ba: Position of the alarm bit in protocol (0 ... 63).
c: Level (0: Low level, 1: High level).
d: State of the evaluation (0: Off, 1: On).
Example:
p0435 = 1014
--> The evaluation is switched in and the alarm bit is at position 14 with a low level.
p0435 = 1114
--> The evaluation is switched in and the alarm bit is at position 14 with a high level.

p0436[0...n] Encoder SSI parity bit / Enc SSI parity bit

SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 65535 0
Description: Sets the position and parity of the parity bit in the SSI protocol.
Notice: The bit may only be positioned before (p0446) or after (p0448) the absolute value in the SSI protocol.
Note: Value = dcba
ba: Position of the parity bit in the protocol (0 ... 63).
c: Parity (0: even, 1: uneven).
d: State of the evaluation (0: Off, 1: On).
Example:
p0436 = 1015
--> The evaluation is switched in and the parity bit is at position 15 with even parity.
p0436 = 1115
--> The evaluation is switched in and the parity bit is at position 15 with uneven parity.

p0437[0...n] Sensor Module configuration extended / SM config ext

SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0011 0000 0000 0000 0000
1000 0000 0000 bin
Description: Sets the extended configuration of the Sensor Module.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Data logger Yes No -
01 Zero mark edge detection Yes No -
02 Correction position actual value XIST1 Yes No -
04 Edge evaluation bit 0 Yes No -

© Siemens AG 2012 All Rights Reserved 1-105

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 Parameter
List of parameters

05 Edge evaluation bit 1 Yes No -

06 Freeze the speed actual value for dn/dt Yes No -
errors
07 Accumulate uncorrected encoder pulses Yes No -
11 Fault handling after PROFIdrive Yes No -
12 Activate additional messages Yes No -
26 Track monitoring de-selection Yes No -
28 EnDat linear encoder monitoring incremen- Yes No -
tal/absolute
29 EnDat encoder initialization with high accu- Yes No -
racy
31 Analog unipolar track monitoring Yes No -
Dependency: Refer to: p0430, r0459
Note: A value of zero is displayed if an encoder is not present.
Re bit 00:
When the data logger (trace) is activated, in the case of a fault, data before and after the event are recorded
(traced) and saved in files on the non-volatile memory medium. Experts can then evaluate this data.
Re bit 01:
If bit = 0, the zero mark is evaluated by ANDing tracks A and B and the zero mark.
For bit = 1, the zero mark is evaluated depending on the direction of rotation detected. For a positive direction of
rotation, the positive edge of the zero mark is considered and for a negative direction of rotation, the negative edge
of the zero mark.
Re bit 02:
If the bit is set, in the event of a deviation less than the tolerance window for the zero mark (p4681, p4682), the
pulses per revolution are corrected. If the bit is not set, encoder fault F3x131 is triggered.
Re Bit 04 and Bit 05:
The current hardware only supports 1x or 4x signal evaluation.
Bit 5/4 = 0/0: Signal evaluation per period, 4x.
Bit 5/4 = 1/0: Illegal setting.
Bit 5/4 = 0/1: Signal evaluation per period, 1x.
Bit 5/4 = 1/1: Illegal setting.
Re bit 06:
If the function is active, when dn/dt monitoring responds, the speed actual value is internally frozen for a time equiv-
alent to two current controller clock cycles. The rotor position continues to be integrated. The actual value is then
re-enabled after this time has expired.
Re bit 07:
If the bit is set, the encoder pulses which have not been corrected are added to p4688 at the zero mark.
Re bit 11:
If the bit is set, the Sensor Module checks within a certain time grid whether the fault cause is still present. This
enables the Sensor Module to switch from the fault state to the operating state and provide valid actual values auto-
matically. The faults are displayed until the user acknowledges them.
Re bit 12:
Additional fault messages can be activated for extended fault diagnostics.
Re bit 20:
If the bit is set, the bandwidth of the analog filter for SMx10 (resolver) and SMx20 (sin/cos encoder) can be set via
p4660.
Re bit 26:
Track monitoring is de-activated for the square-wave encoders when the bit is set, even if the monitoring function is
selected in p0405.2.
Re bit 28:
Monitoring of the difference between incremental and absolute position in the case of linear encoders.
Re bit 29:
When the bit is set, the EnDat encoder is initialized under a certain speed and, therefore, with high accuracy. If ini-
tialization at a higher speed is requested, fault F31151, F32151, or F33151 is output.
Re bit 31:
When monitoring is active, the levels of the individual track signals and the corresponding inverted track signals are
monitored separately.

1-106 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

p0438[0...n] Squarewave encoder filter time / Enc t_filt

SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [µs] 100.00 [µs] 0.64 [µs]
Description: Sets the filter time for a squarewave encoder.
The hardware of the squarewave encoder only supports the following values:
0: No filtering
0.04 µs
0.64 µs
2.56 µs
10.24 µs
20.48 µs
Dependency: Refer to: r0452
Notice: If the filter time is too long, the track signals A/B/R may be suppressed and the appropriate messages output.
Note: The most suitable filter time depends on the number of pulses and maximum speed of the square-wave encoder.
The filter time is automatically corrected to the next value when entering a non-specified value. In this case, no
message is output.
The effective filter time is displayed in r0452.

p0439[0...n] Encoder ramp-up time / Enc ramp-up time

SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 [ms] 65535 [ms] 0 [ms]
Description: Sets the ramp-up time for the encoder.
The encoder supplies stable track signals once this time has elapsed.
Caution: This parameter is automatically pre-set for encoders from the encoder list (p0400). When selecting a catalog
encoder, this parameter cannot be changed (write protection). Information in p0400 should be carefully observed
when removing write protection.

p0440[0...n] Copy encoder serial number / Copy enc ser_no

SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Copies the actual serial number of the encoder belonging to this Encoder Data Set (EDS) to p0441 ... p0445.
Example:
For p0440[0] = 1, the serial number of the encoder belonging EDS0 is copied to p0441[0] ... p0445[0].
Value: 0: No action
1: Transfer serial number
Dependency: Refer to: p0441, p0442, p0443, p0444, p0445, r0460, r0461, r0462, r0463, r0464, p1990
Note: For encoders with serial number, encoder replacement is monitored in order to request angular commutation cali-
bration (adjustment) for motor encoders and absolute calibration for direct measuring systems with absolute value
data. The serial number, which from then onwards is used for monitoring purposes, can be transferred using p0440.

© Siemens AG 2012 All Rights Reserved 1-107

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 Parameter
List of parameters

In the following cases, copying is automatically started in the following cases:

1.) When commissioning 1FT6, 1FK6, 1FK7 motors.
2.) When writing into p0431.
3.) For p1990 = 1.
p0440 is automatically set to 0 when the copying has been completed.
In order to permanently accept the copied values, it is necessary to save in a non-volatile fashion (p0977).

p0441[0...n] Encoder commissioning serial number part 1 / Enc comm ser_no 1

SERVO_S110-CAN, Can be changed: C2(4) Calculated: CALC_MOD_ALL Access level: 4
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex FFFF FFFF hex 0000 hex
Description: Serial number part 1 of the encoder for the commissioning.
Dependency: Refer to: p0440, p0442, p0443, p0444, p0445, r0460, r0461, r0462, r0463, r0464
Refer to: F07414
Note: A value of zero is displayed if an encoder is not present.

p0442[0...n] Encoder commissioning serial number part 2 / Enc comm ser_no 2

SERVO_S110-CAN, Can be changed: C2(4) Calculated: CALC_MOD_ALL Access level: 4
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex FFFF FFFF hex 0000 hex
Description: Serial number part 2 of the encoder for the commissioning.
Dependency: Refer to: p0440, p0441, p0443, p0444, p0445, r0460, r0461, r0462, r0463, r0464
Refer to: F07414
Note: A value of zero is displayed if an encoder is not present.

p0443[0...n] Encoder commissioning serial number part 3 / Enc comm ser_no 3

SERVO_S110-CAN, Can be changed: C2(4) Calculated: CALC_MOD_ALL Access level: 4
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex FFFF FFFF hex 0000 hex
Description: Serial number part 3 of the encoder for the commissioning.
Dependency: Refer to: p0440, p0441, p0442, p0444, p0445, r0460, r0461, r0462, r0463, r0464
Refer to: F07414
Note: A value of zero is displayed if an encoder is not present.

p0444[0...n] Encoder commissioning serial number part 4 / Enc comm ser_no 4

SERVO_S110-CAN, Can be changed: C2(4) Calculated: CALC_MOD_ALL Access level: 4
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex FFFF FFFF hex 0000 hex
Description: Serial number part 4 of the encoder for the commissioning.

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 Parameter
List of parameters

Dependency: Refer to: p0440, p0441, p0442, p0443, p0445, r0460, r0461, r0462, r0463, r0464
Refer to: F07414
Note: A value of zero is displayed if an encoder is not present.

p0445[0...n] Encoder commissioning serial number part 5 / Enc comm ser_no 5

SERVO_S110-CAN, Can be changed: C2(4) Calculated: CALC_MOD_ALL Access level: 4
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex FFFF FFFF hex 0000 hex
Description: Serial number part 5 of the encoder for the commissioning.
Dependency: Refer to: p0440, p0441, p0442, p0443, p0444, r0460, r0461, r0462, r0463, r0464
Refer to: F07414
Note: A value of zero is displayed if an encoder is not present.

p0446[0...n] Encoder SSI number of bits before the absolute value / Enc SSI bit before
SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 65535 0
Description: Sets the number of bits before the absolute value in the SSI protocol.
Caution: This parameter is automatically pre-set for encoders from the encoder list (p0400). When selecting a catalog
encoder, this parameter cannot be changed (write protection). Information in p0400 should be carefully observed
when removing write protection.
Note: For example, error bit, alarm bit or parity bit can be positioned at these bits.

p0447[0...n] Encoder SSI number of bits absolute value / Enc SSI bit val
SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 65535 25
Description: Sets the number of bits for the absolute value in the SSI protocol.
Caution: This parameter is automatically pre-set for encoders from the encoder list (p0400). When selecting a catalog
encoder, this parameter cannot be changed (write protection). Information in p0400 should be carefully observed
when removing write protection.

p0448[0...n] Encoder SSI number of bits after the absolute value / Enc SSI bit after
SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 65535 0
Description: Sets the number of bits after the absolute value in the SSI protocol.
Caution: This parameter is automatically pre-set for encoders from the encoder list (p0400). When selecting a catalog
encoder, this parameter cannot be changed (write protection). Information in p0400 should be carefully observed
when removing write protection.
Note: For example, error bit, alarm bit or parity bit can be positioned at these bits.

© Siemens AG 2012 All Rights Reserved 1-109

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 Parameter
List of parameters

p0449[0...n] Encoder SSI number of bits, filler bits / Enc SSI fill bits
SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 65535 1
Description: Sets the number of filler bits for double absolute value transfer in the SSI protocol.
Dependency: Refer to: p0429
Caution: This parameter is automatically pre-set for encoders from the encoder list (p0400). When selecting a catalog
encoder, this parameter cannot be changed (write protection). Information in p0400 should be carefully observed
when removing write protection.
Note: This parameter is only of significance for p0429.2 = 1.

r0451[0...2] Commutation angle factor / Enc commut_factor

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 4710
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the relationship between the electrical and mechanical pole positions.
Index: [0] = Encoder 1
[1] = Encoder 2
[2] = Reserved
Note: A value of zero is displayed if an encoder is not present.

r0452[0...2] Squarewave encoder filter time display / Enc t_filt displ

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [µs] - [µs] - [µs]
Description: Displays the effective filter time for a squarewave encoder.
The filter time is set using p0438.
Index: [0] = Encoder 1
[1] = Encoder 2
[2] = Reserved
Dependency: Refer to: p0438
Note: A value of zero is displayed if an encoder is not present.

p0453[0...n] Pulse encoder evaluation zero speed measuring time / Enc_ev z 0 t_meas
SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.10 [ms] 10000.00 [ms] 1000.00 [ms]
Description: Sets the measuring time for evaluating zero speed.
If no pulses are detected from track A/B during this time, a speed actual value of zero is output.
Dependency: Refer to: r0452

1-110 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

Note: This function is required for slow-running motors so that actual speeds close to zero can be output correctly.

r0455[0...2] Encoder configuration recognized / Enc config act

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the detected encoder configuration.
In this case, the encoder must automatically support the function (e.g. encoder with EnDat interface).
Index: [0] = Encoder 1
[1] = Encoder 2
[2] = Reserved
Bit field: Bit Signal name 1 signal 0 signal FP
00 Linear encoder Yes No -
01 Abs value encoder Yes No -
02 Multiturn encoder Yes No -
03 Track A/B sq-wave Yes No -
04 Track A/B sinus Yes No -
05 Track C/D Yes No -
06 Hall sensor Yes No -
08 EnDat encoder Yes No -
09 SSI encoder Yes No -
10 DRIVE-CLiQ encoder Yes No -
11 Digital encoder Yes No -
12 Equidistant zero mark Yes No -
13 Irregular zero mark Yes No -
14 Distance-coded zero mark Yes No -
15 Commutation with zero mark (not ASM) Yes No -
16 Acceleration Yes No -
17 Track A/B analog Yes No -
20 Voltage level 5 V Yes No -
21 Voltage level 24 V Yes No -
22 Remote sense (only SMC30) Yes No -
23 Resolver excit. Yes No -
Dependency: Refer to: p0404
Note: ZM: Zero mark
This parameter is only used for diagnostics.
A value of zero is displayed if an encoder is not present.
Re bit 20, 21 (voltage level 5 V, voltage level 24 V):
The voltage level cannot be detected. Therefore, these bits are always set to 0.

r0456[0...2] Encoder configuration supported / Enc config supp

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Contains the encoder configuration supported by the Sensor Module.
Index: [0] = Encoder 1
[1] = Encoder 2
[2] = Reserved
Bit field: Bit Signal name 1 signal 0 signal FP
00 Linear encoder Yes No -
01 Abs value encoder Yes No -

© Siemens AG 2012 All Rights Reserved 1-111

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 Parameter
List of parameters

02 Multiturn encoder Yes No -

03 Track A/B sq-wave Yes No -
04 Track A/B sinus Yes No -
05 Track C/D Yes No -
06 Hall sensor Yes No -
08 EnDat encoder Yes No -
09 SSI encoder Yes No -
10 DRIVE-CLiQ encoder Yes No -
11 Digital encoder Yes No -
12 Equidistant zero mark Yes No -
13 Irregular zero mark Yes No -
14 Distance-coded zero mark Yes No -
15 Commutation with zero mark (not ASM) Yes No -
16 Acceleration Yes No -
17 Track A/B analog Yes No -
20 Voltage level 5 V Yes No -
21 Voltage level 24 V Yes No -
22 Remote sense (only SMC30) Yes No -
23 Resolver excit. Yes No -
Dependency: Refer to: p0404
Note: ZM: Zero mark
This parameter is only used for diagnostics.
A value of zero is displayed if an encoder is not present.

r0458[0...2] Sensor Module properties / SM properties

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 4704
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Sets the Sensor Module configuration.
Index: [0] = Encoder 1
[1] = Encoder 2
[2] = Reserved
Bit field: Bit Signal name 1 signal 0 signal FP
00 Encoder data available Yes No -
01 Motor data available Yes No -
02 Temperature sensor connection available Yes No -
03 Connection for PTC for motor with DRIVE- Yes No -
CLiQ also available
04 Module temperature available Yes No -
05 Absolute encoder p0408/p0421, no power Yes No -
of 2
06 Sensor Module permits parking/unparking Yes No -
07 Hall sensor can be combined with actual Yes No -
value inversion
08 Evaluation through several temperature Yes No -
channels possible
09 Encoder fault and its associated information Yes No -
available
10 Speed diagnostics in the Sensor Module Yes No -
11 Configuring without park state possible Yes No -
12 Extended functions available Yes No -
13 Extended encoder fault handling Yes No -
14 Extended singleturn/multiturn information Yes No -
available
15 Valuation figures available Yes No -
16 Pole position identification Yes No -
17 Burst oversampling Yes No -

1-112 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

18 Continuous oversampling Yes No -

19 Safety position actual value sensing Yes No -
20 Extended speed calculation being used Yes No -
(only SMC30)
21 Zero mark tolerance Yes No -
22 Rot pos adapt Yes No -
23 Commutation with zero mark can be de- Yes No -
selected
24 Commutation with selected zero mark Yes No -
25 Disconnection of encoder power supply on Yes No -
parking supported
26 Parking with temperature evaluation Yes No -
27 SSI position value extrapolation Yes No -
28 Cubic correction Yes No -
29 Phase correction Yes No -
30 Amplitude correction Yes No -
31 Offset correction Yes No -
Dependency: Refer to: p0437, p0600, p0601
Note: A value of zero is displayed if an encoder is not present.
Re bit 11:
When the property is set, the following parameters can be changed without the actual value in the encoder interface
becoming invalid (state r0481.14 = 1 "parking encoder active"):
p0314, p0315, p0430, p0431, p0441, p0442, p0443, p0444, p0445
Re bit 12:
The extended functions can be configured using p0437.
Re bit 13:
Encoder faults can be acknowledged via Gn_STW.15.
Re bit 14:
Only for internal Siemens use.
Re bit 23:
When the property is set, commutation with zero mark can be de-selected using p0430.23.
Re bit 24:
If the property is set, commutation to the selected zero mark can be carried out.

r0459[0...2] Sensor Module properties extended / SM prop ext

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the extended properties supported by the Sensor Module.
Index: [0] = Encoder 1
[1] = Encoder 2
[2] = Reserved
Bit field: Bit Signal name 1 signal 0 signal FP
00 Data logger Yes No -
01 Zero mark edge detection Yes No -
02 Correction position actual value XIST1 Yes No -
04 Edge evaluation bit 0 Yes No -
05 Edge evaluation bit 1 Yes No -
06 Freeze the speed actual value for dn/dt Yes No -
errors
07 Accumulate uncorrected encoder pulses Yes No -
09 Support function p0426, p0439 Yes No -
10 Pulse/direction interface Yes No -
11 Fault handling after PROFIdrive Yes No -
12 Activate additional messages Yes No -

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14 Spindle functionality Yes No -

25 Parameter check shift factor Gx_XIST2 Yes No -
26 Track monitoring de-selection Yes No -
28 EnDat linear encoder monitoring incremen- Yes No -
tal/absolute
29 EnDat encoder initialization with high accu- Yes No -
racy
31 Analog unipolar track monitoring Yes No -
Dependency: Refer to: p0437
Note: A value of zero is displayed if an encoder is not present.
Re bit 09:
Parameter p0426 or p0439 has been modified. These functions are not supported by the connected Sensor Mod-
ule.

r0460[0...2] Encoder serial number part 1 / Enc ser_no 1

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the actual serial number part 1 of the appropriate encoder.
Index: [0] = Encoder 1
[1] = Encoder 2
[2] = Reserved
Dependency: Refer to: p0441, p0442, p0443, p0444, p0445, r0461, r0462, r0463, r0464

r0461[0...2] Encoder serial number part 2 / Enc ser_no 2

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the actual serial number part 2 of the appropriate encoder.
Index: [0] = Encoder 1
[1] = Encoder 2
[2] = Reserved
Dependency: Refer to: p0441, p0442, p0443, p0444, p0445, r0460, r0462, r0463, r0464

r0462[0...2] Encoder serial number part 3 / Enc ser_no 3

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the actual serial number part 3 of the appropriate encoder.
Index: [0] = Encoder 1
[1] = Encoder 2
[2] = Reserved
Dependency: Refer to: p0441, p0442, p0443, p0444, p0445, r0460, r0461, r0463, r0464

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 Parameter
List of parameters

r0463[0...2] Encoder serial number part 4 / Enc ser_no 4

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the actual serial number part 4 of the appropriate encoder.
Index: [0] = Encoder 1
[1] = Encoder 2
[2] = Reserved
Dependency: Refer to: p0441, p0442, p0443, p0444, p0445, r0460, r0461, r0462, r0464

r0464[0...2] Encoder serial number part 5 / Enc ser_no 5

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the actual serial number part 5 of the appropriate encoder.
Index: [0] = Encoder 1
[1] = Encoder 2
[2] = Reserved
Dependency: Refer to: p0441, p0442, p0443, p0444, p0445, r0460, r0461, r0462, r0463

r0465[0...27] Encoder 1 identification number/serial number / Enc1 ID_no/Ser_no

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned8 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the identification/serial number of encoder 1.
Index 0 = first character of the identification number
...
Index x = 20 hex (blank) --> separation between the identification number of serial number
Index x + 1 = 2F hex (slash) --> separation between the identification number of serial number
Index x + 2 = 20 hex (blank) --> separation between the identification number of serial number
Index x + 3 = first character of the serial number
...
Index y with contents = last character of the serial number
Dependency: Refer to: r0460, r0461, r0462, r0463, r0464
Notice: An ASCII table (excerpt) can be found, for example, in the appendix to the List Manual.
Note: The individual characters of the identification number/serial number are available coded as ASCII characters.

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 Parameter
List of parameters

r0466[0...27] Encoder 2 identification number/serial number / Enc2 ID_no/Ser_no

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned8 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the identification/serial number of encoder 2.
Index 0 = first character of the identification number
...
Index x = 20 hex (blank) --> separation between the identification number of serial number
Index x + 1 = 2F hex (slash) --> separation between the identification number of serial number
Index x + 2 = 20 hex (blank) --> separation between the identification number of serial number
Index x + 3 = first character of the serial number
...
Index y with contents = last character of the serial number
Dependency: Refer to: r0460, r0461, r0462, r0463, r0464
Notice: An ASCII table (excerpt) can be found, for example, in the appendix to the List Manual.
Note: The individual characters of the identification number/serial number are available coded as ASCII characters.

r0470[0...2] Redundant coarse value valid bits / Valid bits

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the valid bits of the redundant coarse position value.
Index: [0] = Encoder 1
[1] = Encoder 2
[2] = Reserved
Dependency: Refer to: p9323, p9523

r0471[0...2] Redundant coarse value fine resolution bits / Fine bit

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the number of valid bits for the fine resolution of the redundant coarse position value.
Index: [0] = Encoder 1
[1] = Encoder 2
[2] = Reserved
Dependency: Refer to: p9324, p9524

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 Parameter
List of parameters

r0472[0...2] Redundant coarse position value relevant bits / Relevant bits

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the number of relevant bits for the redundant coarse position value.
Index: [0] = Encoder 1
[1] = Encoder 2
[2] = Reserved

r0474[0...2] Redundant coarse position value configuration / Red pos config

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the encoder configuration for the redundant coarse position value.
Index: [0] = Encoder 1
[1] = Encoder 2
[2] = Reserved
Bit field: Bit Signal name 1 signal 0 signal FP
00 Incrementer Yes No -
01 Encoder CRC least significant byte first Yes No -
02 Redundant coarse position val. most signifi- Yes No -
cant bit left-aligned
Dependency: Refer to: p9315, p9515

r0475[0...2] Gx_XIST1 coarse position safe most significant bit / Gx_XIST1 safe MSB
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the bit number for the safe most significant bit (MSB) of the Gx_XIST1 coarse position.
Index: [0] = Encoder 1
[1] = Encoder 2
[2] = Reserved
Note: MSB: Most Significant Bit

r0479[0...2] CO: Diagnostics encoder position actual value Gn_XIST1 / Diag Gn_XIST1
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer32 Dynamic index: - Func. diagram: 4704
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the encoder actual position value Gn_XIST1 according to PROFIdrive for diagnostics.
In contrast to r0482, the value is updated in each DRIVE-CLiQ basic clock cycle and displayed with sign.

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 Parameter
List of parameters

Index: [0] = Encoder 1

[1] = Encoder 2
[2] = Reserved
Caution: Following ramping-up or after a data set changeover, the new value is present at connector inputs which are inter-
connected to connector output r0479 and under certain circumstances take 100 ms to become available.
Reason:
These interconnections are updated in the background, unlike interconnections involving other connector outputs
(e.g. CO: r0482).
The value is immediately available when non-cyclically reading r0479 (e.g. via the expert list).

p0480[0...2] CI: Signal source for encoder control word Gn_STW / Enc S_src Gn_STW
SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Integer16 Dynamic index: - Func. diagram: 1580, 4720
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for the encoder control word Gn_STW according to PROFIdrive.
Index: [0] = Encoder 1
[1] = Encoder 2
[2] = Reserved
Note: When the function module "basic positioner" (r0108.4 = 1) is activated, the following BICO interconnection is estab-
lished:
CI: p0480[0] = r2520[0], CI: p0480[1] = r2520[1] and CI: p0480[2] = r2520[2]

r0481[0...2] CO: Encoder status word Gn_ZSW / Enc Gn_ZSW

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 4010, 4704,
SERVO_S110-PN 4730
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the encoder status word Gn_ZSW according to PROFIdrive.
Index: [0] = Encoder 1
[1] = Encoder 2
[2] = Reserved
Bit field: Bit Signal name 1 signal 0 signal FP
00 Function 1 active Yes No -
01 Function 2 active Yes No -
02 Function 3 active Yes No -
03 Function 4 active Yes No -
04 Value 1 Displayed in r0483 Not present -
05 Value 2 Displayed in r0483 Not present -
06 Value 3 Displayed in r0483 Not present -
07 Value 4 Displayed in r0483 Not present -
08 Measuring probe 1 deflected Yes No -
09 Measuring probe 2 deflected Yes No -
11 Encoder fault acknowledge active Yes No 9676
13 Absolute value cyclically Displayed in r0483 No -
14 Parking encoder active Yes No -
15 Encoder fault Displayed in r0483 None -
Notice: Information on Gn_STW/Gn_ZSW can, e.g. be found in the following literature:
SINAMICS S120 Function Manual Drive Functions
Note: Re bit 14:
Displays the acknowledgement for "activate parking encoder" (Gn_STW.14 = 1) or encoder position actual value
(Gn_XIST1) invalid.

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 Parameter
List of parameters

Re bit 14, 15:

r0481.14 = 1 and r0481.15 = 0 can have one of the following causes:
- the encoder is parked.
- the encoder is de-activated.
- the encoder is being commissioned.
- no parameterized encoder available.
- encoder data set is being changed over.
r0481.14 = 1 and r0481.15 = 1 has the following significance:
An encoder error has occurred and the encoder position actual value (Gn_XIST1) is invalid.

r0482[0...2] CO: Encoder actual position value Gn_XIST1 / Enc Gn_XIST1

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 1580, 2450,
SERVO_S110-PN 4010, 4704, 4735, 4740
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the encoder actual position value Gn_XIST1 according to PROFIdrive.
Index: [0] = Encoder 1
[1] = Encoder 2
[2] = Reserved
Note: - this value is reset if necessary when the "parking encoder" (r0481.14) function is de-selected.
- in this value, the measuring gear (p0432, p0433) is only taken into account when the position tracking is activated
(p0411.0 = 1).

r0483[0...2] CO: Encoder actual position value Gn_XIST2 / Enc Gn_XIST2

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 1580, 2450,
SERVO_S110-PN 4010, 4704
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the encoder actual position value Gn_XIST2 according to PROFIdrive.
Recommend.: Possible causes of the error codes:
Error code 4097 and 4098: Defective Control Unit hardware.
Error codes 4099 and 4100: Too many measuring pulses have occurred.
Index: [0] = Encoder 1
[1] = Encoder 2
[2] = Reserved
Notice: The encoder position actual value must be requested using the encoder control word Gn_STW.13.
Note: - in this value, the measuring gear (p0432, p0433) is only taken into account when the position tracking is activated
(p0411.0 = 1).
- if GxZSW.15 = 1 (r0481), then an error code with the following significance is located in Gx_XIST2 (r0483):
1: Encoder fault.
2: Possible position shift in Gx_XIST1.
3: Encoder parking not possible.
4: Abort, reference mark search.
5: Abort, retrieve reference value.
6: Abort, flying measurement.
7: Abort, retrieve measured value.
8: Abort, absolute value transfer.
3841: Function not supported.

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 Parameter
List of parameters

4097: Abort, reference mark search due to an initialization error.

4098: Abort, flying measurement due to an initialization error.
4099: Abort, reference mark search due to a measuring error.
4100: Abort, flying measurement due to a measuring error.

r0484[0...2] CO: Redundant coarse encoder position + CRC Gn_XIST1 / Enc red pos+CRC
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the redundant coarse encoder position including CRC (Cyclic Redundancy Check).
Upper 16 bits:
CRC over the redundant coarse encoder position.
Lower 16 bits:
Redundant coarse encoder position.
On an SMx Sensor Module, the encoder coarse position count direction is opposite to r0482 (encoder actual value
Gn_XIST1). The value contains 2 bit fine resolution.
With a DRIVE-CLiQ encoder, the encoder coarse position count direction is the same as r0482. The encoder
coarse position contains 9 valid bits and no bits for fine resolution.
Index: [0] = Encoder 1
[1] = Encoder 2
[2] = Reserved
Dependency: The values are valid when the safety position actual value sensing is activated (p0430.19 = 1).
Refer to: p0430
Note: This absolute value does not change, contrary to r0482, when de-selecting the function "parking axis".

r0487[0...2] Diagnostic encoder control word Gn_STW / Enc Gn_STW

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 1580, 4704,
SERVO_S110-PN 4720, 4740
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the encoder control word Gn_STW according to PROFIdrive for diagnostics.
Index: [0] = Encoder 1
[1] = Encoder 2
[2] = Reserved
Bit field: Bit Signal name 1 signal 0 signal FP
00 Request function 1 Yes No -
01 Request function 2 Yes No -
02 Request function 3 Yes No -
03 Request function 4 Yes No -
04 Request command bit 0 Yes No -
05 Request command bit 1 Yes No -
06 Request command bit 2 Yes No -
07 Flying measurement mode/search for refer- Flying measurement Reference marks -
ence mark
13 Request absolute value cyclic Yes No -
14 Request parking encoder Yes No -
15 Request acknowledge encoder fault Yes No -
Notice: Information on Gn_STW/Gn_ZSW should be taken from the corresponding product documentation.
Note: The signal source for the encoder control word is set with p0480.

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 Parameter
List of parameters

p0488[0...2] Measuring probe 1 input terminal / Meas probe 1 inp

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 4740
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 7 0
Description: Sets the input terminal to connect probe 1.
Value: 0: No measuring probe
1: DI/DO 9 (X132.2)
2: DI/DO 10 (X132.3)
3: DI/DO 11 (X132.4)
7: DI/DO 8 (X132.1)
Index: [0] = Encoder 1
[1] = Encoder 2
[2] = Reserved
Dependency: Refer to: p0489, p0490, p0728
Note: DI/DO: Bidirectional Digital Input/Output
The terminal must be set as input (p0728).
Refer to the encoder interface for PROFIdrive.
If parameterization is rejected, check whether the terminal is already being used in p0580, p0680, p2517 or p2518.

p0489[0...2] Measuring probe 2 input terminal / Meas probe 2 inp

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 4740
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 7 0
Description: Sets the input terminal to connect probe 2.
Value: 0: No measuring probe
1: DI/DO 9 (X132.2)
2: DI/DO 10 (X132.3)
3: DI/DO 11 (X132.4)
7: DI/DO 8 (X132.1)
Index: [0] = Encoder 1
[1] = Encoder 2
[2] = Reserved
Dependency: Refer to: p0488, p0490, p0728
Note: DI/DO: Bidirectional Digital Input/Output
The terminal must be set as input (p0728).
Refer to the encoder interface for PROFIdrive.
If parameterization is rejected, check whether the terminal is already being used in p0580, p0680, p2517 or p2518.

p0490 Invert measuring probe or equivalent zero mark / Pr or ZM_equiv inv

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 4735, 4740
CU_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 0000 0000 0000 bin
Description: Setting to invert the digital input signals to connect a measuring probe or an equivalent zero mark.

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 Parameter
List of parameters

Bit field: Bit Signal name 1 signal 0 signal FP

08 DI/DO 8 (X132.1) Inverted Not inverted -
09 DI/DO 9 (X132.2) Inverted Not inverted -
10 DI/DO 10 (X132.3) Inverted Not inverted -
11 DI/DO 11 (X132.4) Inverted Not inverted -
Dependency: Refer to: p0488, p0489, p0493, p0495, p0728
Note: The terminal must be set as input.
When the measuring probe or the equivalent zero mark is inverted, this has no effect on the status displays of the
digital inputs (r0721, r0722, r0723).
DI/DO: Bidirectional Digital Input/Output

p0491 Motor encoder fault response ENCODER / Fault resp ENCODER

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 5 0
Description: Sets the behavior for the ENCODER fault response (motor encoder).
This means, for example, if an encoder fault occurs, encoderless operation can be automatically selected with a
shutdown behavior that can be selected.
Value: 0: Encoder fault results in OFF2
1: Enc fault results in encoderless oper. and oper. continues
2: Encoder fault results in encoderless operation and OFF1
3: Encoder fault results in encoderless operation and OFF3
4: Encoder fault results in DC braking
5: Enc fault results in encoderless op, operation continues, alarm
Dependency: The following parameters are relevant for encoderless operation.
Refer to: p0341, p0342, p1470, p1472, p1517, p1612, p1755
Refer to: F07575
Caution: For a value = 1, 2, 3, 5 the following applies:
- encoderless operation must have been started.
- if, for synchronous motors, an encoder fault occurs below the switchover speed p1755, when switching over to
encoderless operation, the motor can stall.
For a value = 1, 5 the following applies:
- in spite of the motor encoder fault that has occurred, the motor continues to operate.
Note: For a value = 1, 2, 3, the following applies:
- for encoderless operation the following condition must be fulfilled: p1800 >= n / (2 * p0115[0]), n = 1, 2, etc.
- Refer to the status signal "encoderless operation due to a fault" (BO: r1407.13).
- If, when setting r1407.13, a different drive data set is selected (e.g. interconnection from p0820), then the open-
loop or closed-loop control type p1300 of this data set must match that of the original data set (e.g. p1300 = 21).
Encoderless closed-loop controlled operation is kept when changing over.
For a value = 4, the following applies:
- the value can only be set for all motor data sets when p1231 = 4
- the function is not supported on synchronous motors
- For induction motors, DC braking is initiated on an encoder fault. DC braking must be commissioned (p1232,
p1233, p1234).

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 Parameter
List of parameters

p0492 Square-wave encoder, maximum speed difference per sampling cycle /

n_dif max/samp_cyc
SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_REG Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [rpm] 210000.00 [rpm] 0.00 [rpm]
Description: Sets the maximum permissible speed difference within the current controller sampling time for squarewave encod-
ers.
When the value is exceeded, depending on p0491, either encoderless closed-loop speed/torque control is selected
or the drive is powered down.
Dependency: Refer to: F31118, A31418, F32118, A32418
Note: For a value of 0.0, the speed change monitoring is disabled.
if the set maximum speed difference is only exceeded for one sampling time of the current controller, then an
appropriate alarm is output. However, if the maximum speed difference is exceeded over several sampling times,
then a corresponding fault is output.

p0493[0...n] Zero mark selection, input terminal / ZM_sel inp_term

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 7 0
Description: Sets the input terminal for selecting the reference mark via BERO/switching signal when performing referencing
with several zero marks.
The encoder interface supplies the position of the reference mark, which was detected immediately after the posi-
tive edge of the BERO signal.
Value: 0: No selection via BERO
1: DI/DO 9 (X132.2)
2: DI/DO 10 (X132.3)
3: DI/DO 11 (X132.4)
7: DI/DO 8 (X132.1)
Dependency: Refer to: p0490
Notice: For CU310, CX32, NX10 and NX15, only DI/DO 9, 10, 11 can be selected as fast inputs (refer to the Equipment
Manual).
Note: Refer to the encoder interface for PROFIdrive.
The terminal must be set as input (p0728).
For p0493 = 0 (factory setting) the following applies:
- there is no logic operation between the reference mark search and an input signal.
For p0493 > 0, the following applies:
- the positive edge of the input signal is evaluated. If the negative edge is to be evaluated, signal inversion must be
parameterized via p0490.
- if a parameter change is rejected, a check should be performed as to whether the input terminal is already being
used in p0580, p0680, p2517, or p2518.

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 Parameter
List of parameters

p0494[0...n] Equivalent zero mark, input terminal / ZM_equiv input

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 7 0
Description: Selects the input terminal for connecting an equivalent zero mark (external encoder zero mark).
Value: 0: No equivalent zero mark (evaluation of the encoder zero mark)
1: DI/DO 9 (X132.2)
2: DI/DO 10 (X132.3)
3: DI/DO 11 (X132.4)
7: DI/DO 8 (X132.1)
Dependency: Refer to: p0490
Notice: For p0494 = 0 (factory setting), the setting in p0495 is effective.
Note: Refer to the encoder interface for PROFIdrive.
The terminal must be set as input.

p0495[0...2] Equivalent zero mark, input terminal / ZM_equiv input

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 4735
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 7 0
Description: Selects the input terminal for connecting an equivalent zero mark (external encoder zero mark).
Value: 0: No equivalent zero mark (evaluation of the encoder zero mark)
1: DI/DO 9 (X132.2)
2: DI/DO 10 (X132.3)
3: DI/DO 11 (X132.4)
7: DI/DO 8 (X132.1)
Index: [0] = Encoder 1
[1] = Encoder 2
[2] = Reserved
Dependency: Refer to: p0490, p0494
Notice: For p0494 > 0, the setting in p0494 and p0495 is invalid.
Note: Refer to the encoder interface for PROFIdrive.
The terminal must be set as input.
For p0495 = 0 (factory setting), the encoder zero mark is evaluated as zero mark.
For p0495 > 0, the following applies:
Depending on the direction of motion, the positive or negative edge at the appropriate input is evaluated.
- increasing position actual values (r0482) --> the 0/1 edge is evaluated.
- decreasing position actual values (r0482) --> the 1/0 edge is evaluated.
Only one zero mark is supported. If function 2, 3 or 4 is selected, this results in a fault message in Gn_ZSW.
The inversion of the inputs via p0490 affects the function "referencing with equivalent zero mark". This is the reason
that the edge evaluation is interchanged as a function of the direction of motion.
An input can only be assigned to one encoder as measuring probe 1, 2 or equivalent zero mark. Exception: The
same encoder can be simultaneously used as measuring probe and equivalent zero mark as both functions cannot
be simultaneously requested.

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 Parameter
List of parameters

p0496[0...2] Encoder diagnostic signal selection / Enc diag select

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 86 0
Description: Selects the trace signal to be output in r0497, r0498 and r0499 for encoder diagnostics.
Value: 0: Inactive
1: r0497: Mechanical revolution
10: r0498: Raw value, track A, r0499: Raw value, track B
11: r0498: Fine position X (-A/2), r0499: Fine position Y (-B/2)
12: r0498: Fine position Phi, r0499: -
13: r0498: Offset correction X, r0499: Offset correction Y
14: r0498: Phase correction X, r0499: Amplitude correction Y
15: r0498: Cubic correction X, r0499: Fine position X
16: r0498: oversampling channel A, r0499: oversampling channel B
17: r0498: fan-out, amount, r0499: fan-out, number
18: r0498: Oversampling angle, r0499: Oversampling amount
20: r0498: Raw value, track C, r0499: Raw value, track D
21: r0498: CD position X (-D/2), r0499: CD position Y (C/2)
22: r0498: CD position Phi, r0499: CD pos. Phi - mech. revolution
23: r0497: Zero mark status
24: r0498: Raw value, track R, r0499: Zero mark status
25: r0498: Raw value, track A, r0499: Raw value, track R
30: r0497: Absolute position serial
31: r0497: Absolute position, incremental
32: r0497: Zero mark position
33: r0497: Correction absolute position difference
40: r0498: Raw temperature, r0499: Temperature in 0.1 °C
41: r0498: Resistance in 0.1 Ohm, r0499: Temperature in 0.1 °C
42: r0497: Resistance 2500 Ohm
51: r0497: Absolute speed difference (dn/dt)
52: r0497: Xact1 corrected quadrants
60: Analog sensor: r0498: raw val chann. A, r0499: raw val chann. B
61: Analog sensor: r0498: fine pos chann. A,r0499: fine pos chann. B
62: Analog sensor: r0498: Fine pos before characteristic, r0499: -
70: Resolver: r0498: Transformation ratio, r0499: phase
80: Spindle: r0498: Sensor S1 (raw), r0499: Sensor S4 (raw)
81: Spindle: r0498: Sensor S5 (raw), r0499: -
85: Spindle: r0498: Sensor S1 (cal), r0499: Sensor S4 (cal)
86: Spindle: r0498: Sensor S5 (cal), r0499: -
Index: [0] = Encoder 1
[1] = Encoder 2
[2] = Reserved
Dependency: Refer to: r0497, r0498, r0499
Notice: The setting option depends on the following properties:
Sensor Module type, hardware version, firmware version (Sensor Module and Control Units), order number (last
digit).
Not all combinations are supported.
Note: Re p0496 = 1: 360 ° <--> 2^32
Re p0496 = 10 (resolver): 2900 mV <--> 26214 dec
Re p0496 = 10, 20 (sin/cos 1 Vpp, EnDat): 500 mV <--> 21299 dec
Re p0496 = 11 (resolver): 2900 mV <--> 13107 dec, internal processor offset is corrected
Re p0496 = 11, 21 (sin/cos 1 Vpp, EnDat): 500 mV <--> 10650 dec, internal processor offset is corrected
Re p0496 = 12: 180 ° fine position <--> 32768 dec
Re p0496 = 13 (resolver): 2900 mV <--> 13107 dec
Re p0496 = 13 (sin/cos 1 Vpp, EnDat): 500 mV <--> 10650 dec

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 Parameter
List of parameters

Re p0496 = 14: 1 ° <--> 286 dec, 100% <--> 16384 dec

Re p0496 = 15: 100 % <--> 16384 dec
Re p0496 = 16: (resolver): channel A: 2900 mV <--> 26214 dec, channel B: 2900 mV <--> 26214 dec
Re p0496 = 16: (sin/cos 1 Vpp, EnDat) channel A: 500 mV <--> 21299 dec, channel B: 500 mV <--> 21299 dec
Re p0496 = 17 (resolver): absolute value: 2900 mV <--> 13107 dec, number: 1 ... 8
Re p0496 = 17 (sin/cos 1 Vpp, EnDat): absolute value 500 mV <--> 10650 dec, number: 1 ... 8
Re p0496 = 18 (resolver): angle: signal period <--> 2^16, absolute value: 2900 mV <--> 13107 dec
Re p0496 = 18 (sin/cos 1 Vpp, EnDat): angle: signal period <--> 2^16, absolute value: 500 mV <--> 10650 dec
Re p0496 = 22: 180 ° <--> 32768 dec
Re p0496 = 23, 24: r0497.31 (r0499.15) set for at least 1 current controller cycle when encoder zero mark detected
Re p0496 = 24, 25: 500 mV <--> 21299 dec
Re p0496 = 30: Rotary: 1 singleturn measuring step <--> 1 dec, linear: 1 measuring step <--> 1 dec
Re p0496 = 31: Absolute position, incremental in 1/4 encoder pulses
Re p0496 = 32: Zero mark position in 1/4 encoder pulses
Re p0496 = 33: counter offset absolute value in 1/4 encoder pulses
Re p0496 = 40: r0498 <--> (R_KTY/1 kOhm - 0.9) * 32768
Re p0496 = 42: 2500 Ohm <--> 2^32
Re p0496 = 51: 1 rpm <--> 1000 dec
Re p0496 = 52: In 1/4 encoder pulses
Re p0496 = 60: voltage, channel A in mV, voltage, channel B in mV
Re p0496 = 61: Channel A: encoder periods <--> 2^16, channel B: encoder periods <--> 2^16
Re p0496 = 62: encoder periods <--> 2^16
Re p0496 = 70: r: 100% <--> 10000 dec, phase: 180 ° <--> 18000 dec
Re p0496 = 80, 81, 85, 86: 1V <--> 1000 inc

r0497[0...2] CO: Encoder diagnostic signal double word / Enc diag DW

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 4
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the trace signal for encoder diagnostics (double word).
The signal to be output is selected in p0496.
Index: [0] = Encoder 1
[1] = Encoder 2
[2] = Reserved
Dependency: Refer to: p0496, r0498, r0499

r0498[0...2] CO: Encoder diagnostic signal low word / Enc diag low word
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 4
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the trace signal for encoder diagnostics (low component).
The signal to be output is selected in p0496.
Index: [0] = Encoder 1
[1] = Encoder 2
[2] = Reserved
Dependency: Refer to: p0496, r0497, r0499

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 Parameter
List of parameters

r0499[0...2] CO: Encoder diagnostic signal high word / Enc diag high word
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 4
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the trace signal for encoder diagnostics (high component).
The signal to be output is selected in p0496.
Index: [0] = Encoder 1
[1] = Encoder 2
[2] = Reserved
Dependency: Refer to: p0496, r0497, r0498

p0500 Technology application / Tec application

SERVO_S110-CAN, Can be changed: C2(1, 5), T Calculated: - Access level: 2
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Applications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
100 102 100
Description: Sets the technology application.
The parameter influences the calculation of open-loop and closed-loop control parameters that is e.g. initiated using
p0578.
Value: 100: Standard drive (SERVO)
101: Feed drive (limit current limitation)
102: Spindle drive (rated current limitation)
Dependency: Refer to: p1520, p1521, p1530, p1531, p2000, p2175, p2177
Caution: After changing over the technological application and then calculating the open-loop and closed-loop parameters,
the behavior of the motor can have changed very significantly (e.g. the same setpoint results in a higher speed due
to a different reference speed). For this reason extreme caution must be taken when the motor is started for the first
time.
Note: The calculation of parameters dependent on the technology application can be called up as follows:
- when exiting quick commissioning using p3900 > 0
- when writing p0340 = 1, 3, 5
- when writing p0578 = 1
For p0500 = 100 and when the calculation is initiated, the following parameters are set:
- p1520/p1521 = rated motor torque (r0333)
- p1530/p1531= 2*pi*r0333*p0311 (rotary) or r0333*p0311 (linear)
- p2000 = rated motor speed (p0311)
- p2175 = factory setting
- p2177 = factory setting
For p0500 = 101 and when the calculation is initiated, the following parameters are set:
- p1520/p1521 = torque at the maximum motor current (p0323)
- p1530/p1531= power at the maximum motor current (p0323) and rated motor speed (p0311)
- p2000 = rated motor speed (p0311)
- p2175 = maximum value
- p2177 = 0.2 s
For p0500 = 102 and when the calculation is initiated, the following parameters are set:
- p1520/p1521 = rated motor torque (r0333)
- p1530/p1531= 2*pi*r0333*p0311 (rotary) or r0333*p0311 (linear)
- p2000 = maximum motor speed (p0322) if p0322 is not equal to 0, otherwise rated motor speed (p0311)

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 Parameter
List of parameters

- p2175 = factory setting

- p2177 = factory setting

p0505 Selecting the system of units / Unit sys select

SERVO_S110-CAN, Can be changed: C2(5) Calculated: - Access level: 1
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Applications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
1 4 1
Description: Adjustable parameter of the actual system of units.
Value: 1: SI system of units
2: System of units, referred/SI
3: US system of units
4: System of units, referred/US
Dependency: The parameter cannot be changed if the master control was fetched.
Caution: If a per unit representation is selected and if the reference parameters (e.g. p2000) are subsequently changed, then
the physical significance of several control parameters is also adapted at the same time. As a consequence, the
control behavior can change (see p1576, p1621, p1744, p1752, p1755 and p1609, p1612, p1619, p1620).

Note: Reference parameter for the unit system % are, for example, p2000 ... p2004. Depending on what has been
selected, these are displayed using either SI or US units.

p0528 Controller gain, system of units / Ctrl_gain unit_sys

SERVO_S110-CAN, Can be changed: C2(5) Calculated: - Access level: 4
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Applications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Sets the system of units for the controller gains.
Value: 0: Representation, physical/% (p0505)
1: Representation, no dimensions (referred)
Note: For p0528 = 0 (physical/%), the following applies:
Using p0505, the dependent parameters can be changed over between physical and % representation.
For SERVO (r0107) the following applies:
The parameter is pre-assigned a value of 0 and cannot be changed.

p0530[0...n] Bearing type selection / Bearing type sel

SERVO_S110-CAN, Can be changed: C2(1, 3) Calculated: - Access level: 1
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: FEM Scaling: - Expert list: 1
Min Max Factory setting
0 104 0
Description: Sets the bearing type.
0 = No selection
1 = Manual entry
101 = STANDARD
102 = PERFORMANCE
103 = HIGH PERFORMANCE
104 = ADVANCED LIFETIME
If the bearing type changes the bearing code number (p0531) is pre-assigned accordingly.
Dependency: Refer to: p0301, p0531, p1082

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 Parameter
List of parameters

Caution: If a valid bearing type (p0530) is entered, the parameters in the bearing list cannot be changed (write protection).
Write protection is canceled if bearing type 1 is entered.
Notice: If p0530 is changed during quick commissioning (p0010 = 1), then the maximum speed p1082, which is also asso-
ciated with quick commissioning, is pre-assigned appropriately. This is not the case when commissioning the motor
(p0010 = 3). The maximum speed of the bearing is factored into the limit for the maximum speed p1082.
Note: For a motor with DRIVE-CLiQ, p0530 can only be changed to the value 1 (manual entry).

p0531[0...n] Bearing code number selection / Bear. code num sel

SERVO_S110-CAN, Can be changed: C2(3) Calculated: - Access level: 1
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: FEM Scaling: - Expert list: 1
Min Max Factory setting
0 65535 0
Description: Display and setting the bearing code number.
It is pre-assigned automatically (from the parameter lists which are available internally) when p0301 and p0530 are
entered and cannot be changed (write protection). The information in p0530 should be observed when removing
write protection.
When changing the bearing code number (except in the case of changing the value to 0), all of the bearing param-
eters are pre-assigned from the parameter lists which are available internally.
Dependency: Refer to: p0301, p0530, p1082
Notice: If p0531 is changed during quick commissioning (p0010 = 1), then the maximum speed p1082, which is also asso-
ciated with quick commissioning, is pre-assigned appropriately. This is not the case when commissioning the motor
(p0010 = 3). The maximum speed of the bearing is factored into the limit for the maximum speed p1082.
Note: p0531 cannot be changed on a motor with DRIVE-CLiQ.

p0532[0...n] Bearing maximum speed / Bearing n_max

SERVO_S110-CAN, Can be changed: C2(1, 3) Calculated: - Access level: 1
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: FEM Scaling: - Expert list: 1
Min Max Factory setting
0.0 [rpm] 210000.0 [rpm] 0.0 [rpm]
Description: Sets the maximum speed for the bearing.
Dependency: Refer to: p1082
Caution: This parameter is pre-assigned in the case of motors from the motor list (p0301) if a bearing type (p0530) or a bear-
ing code (p0531) is selected. When selecting a catalog motor, this parameter cannot be changed (write protection).
The information in p0530 should be observed when removing write protection.
Notice: If p0532 is changed during quick commissioning (p0010 = 1), then the maximum speed p1082, which is also asso-
ciated with quick commissioning, is pre-assigned appropriately. This is not the case when commissioning the motor
(p0010 = 3). The maximum speed of the bearing is factored into the limit for the maximum speed p1082.

p0570 Inhibit list values effective number / Inhib list no

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned8 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Applications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 50 0
Description: Sets the number of parameters in the inhibit list p0571 that should be withdrawn from the automatic motor and
closed-loop control parameter calculation (refer to p0340, p0578), starting from index 0.
Note: Defines the number of entries in p0571 that should be taken into account. This means that a value of 0 de-activates
the complete list.

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 Parameter
List of parameters

p0571[0...49] Inhibit list, motor/closed-loop control parameter calculation / Inhib list calc
SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Applications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 2142 0
Description: The inhibit list contains parameters that should be withdrawn from the automatic motor and closed-loop control
parameter calculation (p0340, p0578).
Value: 0: No parameter
348: Speed at the start of field weakening Vdc = 600 V
600: Motor temperature sensor
640: Current limit
1082: Maximum speed
1441: Actual speed smoothing time
1460: Speed controller P gain
1462: Speed controller integral time
1470: Speed controller P gain, encoderless
1472: Speed controller integral time, encoderless
1520: Torque limit upper/motoring
1521: Torque limit lower/regenerative
1530: Power limit motoring
1531: Power limit regenerative
1590: Flux controller P gain
1592: Flux controller integral time
1656: Activates current setpoint filter
2141: Speed threshold 1
2142: Hysteresis speed 1
Note: p0570 defines the number of entries (starting at index 0) for which the inhibit should apply. p0572 can be used to
define for which drive data sets the inhibit list should apply.
If a motor data set is entered into a parameter number, then this is not overwritten as soon as only one drive data
set refers to the motor data set (p0186).

p0572[0...n] Activate inhibit list / Act inhib list

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
SERVO_S110-DP, Data type: Integer16 Dynamic index: DDS, p0180 Func. diagram: -
SERVO_S110-PN
P-Group: Applications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Enable ID as to whether the parameters of the inhibit list p0571 should be overwritten when calculating the motor
and closed-loop control parameters for the particular drive data set (index = DDS).
Value: 0: No
1: Yes
Note: 0: The automatic calculation (p0340, p0578) also overwrites the parameters of list p0571.
1: The automatic calculation (p0340, p0578) does not overwrite the parameters of list p0571.

p0573 Inhibit automatic reference value calculation / Inhibit calc

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Applications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Setting to inhibit the calculation of reference parameters (e.g. p2000) when automatically calculating the motor and
closed-loop control parameters (p0340, p3900).

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 Parameter
List of parameters

Value: 0: No
1: Yes
Notice: The inhibit for the reference value calculation is canceled when new motor parameters (e.g. p0305) are entered and
only one drive data set exists (p0180 = 1). This is the case during initial commissioning.
Once the motor and control parameters have been calculated (p0340, p3900), the inhibit for the reference value
calculation is automatically re-activated.
Note: If value = 0:
The automatic calculation (p0340, p3900) overwrites the reference parameters.
If value = 1:
The automatic calculation (p0340, p3900) does not overwrite the reference parameters.

p0578[0...n] Calculate technology-dependent parameters / Calc tec par

SERVO_S110-CAN, Can be changed: C2(5), T Calculated: - Access level: 2
SERVO_S110-DP, Data type: Integer16 Dynamic index: DDS, p0180 Func. diagram: -
SERVO_S110-PN
P-Group: Applications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: This parameter is used to calculate all parameters that depend on the technology of the application (p0500).
All of the parameters are calculated that can also be determined using p0340 = 5.
Value: 0: No calculation
1: Complete calculation
Note: At the end of the calculations, p0578 is automatically set to 0.

p0580 Measuring probe, input terminal / MT input terminal

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 7 0
Description: Sets the input terminal for the measuring probe for speed actual value measurement.
Value: 0: No measuring probe
1: DI/DO 9 (X132.2)
2: DI/DO 10 (X132.3)
3: DI/DO 11 (X132.4)
7: DI/DO 8 (X132.1)
Dependency: Refer to: p0728
Refer to: A07498
Note: The terminal must be set as input (p0728).
If a parameter change is rejected, a check should be performed as to whether the input terminal is already being
used in p0488, p0489, p0493, p0494, p0495, p0680, p2517 or p2518.
DI/DO: Bidirectional Digital Input/Output

p0595 Selecting technological units / Select tech units

SERVO_S110-CAN Can be changed: C2(5) Calculated: - Access level: 1
(Tech_ctrl), Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-DP
P-Group: Applications Units group: - Unit selection: -
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Tech_ctrl)
Min Max Factory setting
1 32 1
Description: Selects the units for the parameters of the technology controller.

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 Parameter
List of parameters

Value: 1: %
2: 1 referred, no dimensions
3: bar
4: °C
5: Pa
6: ltr/s
7: m³/s
8: ltr/min
9: m³/min
10: ltr/h
11: m³/h
12: kg/s
13: kg/min
14: kg/h
15: t/min
16: t/h
17: N
18: kN
19: Nm
20: psi
21: °F
22: gallon/s
23: inch³/s
24: gallon/min
25: inch³/min
26: gallon/h
27: inch³/h
28: lb/s
29: lb/min
30: lb/h
31: lbf
32: lbf ft
Dependency: Only units of parameters with unit group 9_1 can be changed over using this parameter.
Refer to: p0596

p0596 Reference quantity, technological units / Ref tech units

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-DP
P-Group: - Units group: - Unit selection: -
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Tech_ctrl)
Min Max Factory setting
0.01 340.28235E36 1.00
Description: Sets the reference quantity for the technological units. When changing over using changeover parameter 595 to
absolute units, all of the parameters involved refer to the reference quantity.
Dependency: Refer to: p0595

p0600[0...n] Motor temperature sensor for monitoring / Mot temp_sensor

SERVO_S110-CAN, Can be changed: C2(3), U, T Calculated: CALC_MOD_ALL Access level: 2
SERVO_S110-DP, Data type: Integer16 Dynamic index: MDS, p0130 Func. diagram: 8016
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 11 1
Description: Sets the sensor to monitor the motor temperature.
Value: 0: No sensor
1: Temperature sensor via encoder 1
10: Temperature sensor via a BICO interconnection
11: Temperature sensor via Motor Module / CU terminals

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 Parameter
List of parameters

Dependency: Refer to: r0458, p0601, p0603

Caution: If, for a selected temperature sensor (p0600 > 0), the motor temperature sensor is not connected but another
encoder, then the temperature adaptation of the motor resistances must be switched out. Otherwise, in controlled-
loop operation, torque errors will occur that will mean that the drive will not be able to be stopped.

Notice: The parameter is calculated in the drive using p0340 and is inhibited for p0340 > 0.
Note: Re p0600 = 0:
With induction motors, the motor temperature is calculated using the motor temperature model (see also p0612, bit
1).
Re p0600 = 10:
The BICO interconnection should be executed via connector input CI: p0603.
Re p0600 = 11:
For SINAMICS S120 AC Drive (AC/AC) and using the Control Unit Adapter CUA31, the temperature sensor is con-
nected at the adapter (X210).

p0601[0...n] Motor temperature sensor type / Mot_temp_sens type

SERVO_S110-CAN, Can be changed: C2(3), U, T Calculated: - Access level: 2
SERVO_S110-DP, Data type: Integer16 Dynamic index: MDS, p0130 Func. diagram: 8016
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 3 2
Description: Sets the sensor type for the motor temperature monitoring.
Value: 0: No sensor
1: PTC alarm & timer
2: KTY84
3: KTY84 and PTC (only for motors with DRIVE-CLiQ):
Dependency: The thermal motor model is only calculated for p0612.1 = 1.
Refer to: r0458, p0600, p0612
Note: The temperature sensor for the temperature evaluation is set in p0600.
For p0600 = 10 (temperature sensor via a BICO interconnection), the setting in p0601 has no significance.
Information on using temperature sensors is provided in the following literature:
- hardware description of the appropriate components
- SINAMICS S120 Commissioning Manual
Re p0601 = 1 (PTC alarm & timer):
Tripping resistance = 1650 Ohm.
After the tripping resistance has been exceeded, an appropriate alarm is output and after the delay time set in
p0606 has expired, an appropriate fault is output.
Re p0601 = 3 (KTY84 and PTC (only for motors with DRIVE-CLiQ)):
For motors with DRIVE-CLiQ and 2 temperature sensors, the value is automatically set.

p0603 CI: Motor temperature signal source / Mot temp S_src

SERVO_S110-CAN, Can be changed: C2(3), T Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: - Func. diagram: 8016
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: - Scaling: p2006 Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source to evaluate the motor temperature via a BICO interconnection.
Dependency: Refer to: p0600
Note: Temperature sensor KTY: Valid temperature range -48 °C ... 248 °C.
PTC temperature sensor:
For a value = -50 °C, the following applies: Motor temperature < nominal response temperature of the PTC.
For a value = 250 °C, the following applies: Motor temperature >= nominal response temperature of the PTC.

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 Parameter
List of parameters

Note:
When using a Terminal Module 31 (TM31), the following applies:
- the sensor type used is set using p4100.
- the temperature signal is interconnected using CO: r4105.

p0604[0...n] Motor temperature alarm threshold / Mot_temp al thr

SERVO_S110-CAN, Can be changed: C2(3), U, T Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: 8016
SERVO_S110-PN
P-Group: Motor Units group: 21_1 Unit selection: p0505
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.0 [°C] 200.0 [°C] 120.0 [°C]
Description: Sets the alarm threshold for monitoring the motor temperature.
Dependency: Refer to: p0606
Caution: When selecting a catalog motor (p0301), this parameter is automatically pre-assigned and is write protected. Infor-
mation in p0300 should be carefully observed when removing write protection.
Note: The hysteresis for canceling the alarm is 2 Kelvin.
When quick commissioning is exited with p3900 > 0, then the parameter is reset if a catalog motor has not been
selected (refer to p0300).

p0605[0...n] Motor temperature fault threshold / Mot_temp flt thr

SERVO_S110-CAN, Can be changed: C2(3), U, T Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: 8016, 8017
SERVO_S110-PN
P-Group: Motor Units group: 21_1 Unit selection: p0505
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.0 [°C] 200.0 [°C] 145.0 [°C]
Description: Sets the fault threshold for monitoring the motor temperature.
Caution: When selecting a catalog motor (p0301), this parameter is automatically pre-assigned and is write protected. Infor-
mation in p0300 should be carefully observed when removing write protection.
Note: The hysteresis for canceling the fault is 2 Kelvin.
When quick commissioning is exited with p3900 > 0, then the parameter is reset if a catalog motor has not been
selected (refer to p0300).

p0606[0...n] Motor temperature timer / Mot_temp timer

SERVO_S110-CAN, Can be changed: C2(3), U, T Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: 8016
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.000 [s] 600.000 [s] 240.000 [s]
Description: Sets the timer for the alarm threshold for the motor temperature monitoring function.
This timer is started when the temperature alarm threshold (p0604) is exceeded.
If the timer expires before the temperature in the meantime falls below the alarm threshold, the fault F07011 is out-
put.
If the temperature fault threshold (p0605) is prematurely exceeded before the timer has expired, then fault F07011
is immediately output.
As long as the motor temperature has still not exceeded the fault threshold and the alarm thresholds have again
been undershot, the fault can be acknowledged.
Dependency: Refer to: p0604, p0605
Refer to: F07011, A07910

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 Parameter
List of parameters

Note: With p0606 = 0 s, the timer is de-activated and only the fault threshold is effective.
KTY sensor: When setting the minimum value, the timer is disabled and a fault is not output until p0605 is
exceeded.
PTC sensor, bimetallic NC contact: The timer minimum value has no special significance.

p0607[0...n] Temperature sensor fault timer / Sensor fault time

SERVO_S110-CAN, Can be changed: C2(3), U, T Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.000 [s] 600.000 [s] 0.100 [s]
Description: Sets the timer between the output of alarm and fault for a temperature sensor fault.
If there is a sensor fault, this timer is started. If the sensor fault is still present after the timer has expired, a corre-
sponding fault message is output.
Notice: The parameterized time is internally rounded-off to an integer multiple of 48 ms.
Note: If the motor is an induction motor, the timer is switched off when setting the minimum value and no alarm is output.
Temperature monitoring is then based on the thermal model.

p0611[0...n] I2t motor model thermal time constant / I2t mot_mod T

SERVO_S110-CAN, Can be changed: C2(3), U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: 8017
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: ASM, REL, FEM Scaling: - Expert list: 1
Min Max Factory setting
0 [s] 20000 [s] 0 [s]
Description: Sets the winding time constant.
The time constant specifies the warm-up time of the cold stator winding when loaded with the motor standstill cur-
rent up until a temperature rise of 63 % of the continuously permissible winding temperature has been reached.
Dependency: This parameter is only used for synchronous motors (p0300 = 2xx).
Refer to: r0034, p0612, p0615
Refer to: F07011, A07012, A07910
Caution: This parameter is automatically pre-set from the motor database for motors from the motor list (p0301).
When selecting a catalog motor, this parameter cannot be changed (write protection). Information in p0300 should
be carefully observed when removing write protection.
Note: When parameter p0611 is reset to 0, then this switches out the thermal I2t motor model (also refer to p0612).
If no temperature sensor is parameterized, then the ambient temperature for the thermal motor model is referred to
p0625.

p0612[0...n] Thermal motor model configuration / Therm Mot_mod conf

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: MDS, p0130 Func. diagram: 8017
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: REL, FEM Scaling: - Expert list: 1
Min Max Factory setting
- - 0010 bin
Description: Sets the configuration for the thermal motor model.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Activate I2t motor model Yes No -
01 Activate motor temperature model Yes No -
Dependency: Refer to: r0034, p0611, p0615

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 Parameter
List of parameters

Note: Re bit 00:

This bit is only used for permanent-magnet synchronous motors (p0300 = 2xx). It is only possible to switch in ther-
mal I2t monitoring with a time constant greater than zero (p0611 > 0).
Re bit 01:
This bit is used to activate/de-activate the thermal motor model for induction motors.

p0615[0...n] I2t motor model fault threshold / I2t mot_mod thresh

SERVO_S110-CAN, Can be changed: C2(3), U, T Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: 8017
SERVO_S110-PN
P-Group: Motor Units group: 21_1 Unit selection: p0505
Not for motor type: ASM, REL, FEM Scaling: - Expert list: 1
Min Max Factory setting
0.0 [°C] 220.0 [°C] 180.0 [°C]
Description: Sets the fault threshold for monitoring using the thermal I2t motor model.
Dependency: The parameter is only used for permanent-magnet synchronous motors (p0300 = 2xx).
Refer to: r0034, p0611, p0612
Refer to: F07011, A07012
Caution: When selecting a catalog motor (p0301), this parameter is automatically pre-assigned and is write protected. Infor-
mation in p0300 should be carefully observed when removing write protection.

p0616[0...n] Motor overtemperature alarm threshold 1 / Mot temp alarm 1

SERVO_S110-CAN, Can be changed: C2(3), U, T Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: 8016
SERVO_S110-PN
P-Group: Motor Units group: 21_1 Unit selection: p0505
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.0 [°C] 200.0 [°C] 195.0 [°C]
Description: Sets the alarm threshold 1 for monitoring the motor temperature.
Note: The alarm threshold is not, as for p0604, coupled to the timer p0606. The hysteresis for canceling the fault is 2 Kel-
vin.

p0620[0...n] Thermal adaptation, stator and rotor resistance / Mot therm_adapt R

SERVO_S110-CAN, Can be changed: C2(3), U, T Calculated: - Access level: 2
SERVO_S110-DP, Data type: Integer16 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 2 2
Description: Sets the thermal adaptation of the stator/primary section resistance and rotor/secondary section resistance accord-
ing to r0395 and r0396.
Value: 0: No thermal adaptation of stator and rotor resistances
1: Resistances adapted to the temperatures of the thermal model
2: Resistances adapted to the measured stator winding temperature
Note: For p0620 = 1, the following applies:
The stator resistance is adapted using the temperature in r0035 and the rotor resistance together with the model
temperature in r0633.
For p0620 = 2, the following applies:
The stator resistance is adapted using the temperature in r0035. If applicable, the rotor temperature for adapting
the rotor resistance is calculated from the stator temperature (r0035) as follows:
theta_R = (r0628 + r0625) / (r0627 + r0625) * r0035

1-136 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

p0624[0...n] Motor Temperature Offset PT100 / Mot T_offset PT100

SERVO_S110-CAN, Can be changed: C2(3), U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: 8016
SERVO_S110-PN
P-Group: Motor Units group: 21_2 Unit selection: p0505
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-100.0 [K] 100.0 [K] 0.0 [K]
Description: Sets the temperature offset for the PT100 measured value.
If there is a difference between the motor temperature displayed in r0035 and the actual motor temperature, this off-
set can be entered in this parameter, thereby compensating for the difference.
Dependency: Refer to: p0600, p0601
Note: The parameter only takes effect with the following settings:
- Temperature sensor of the power unit detected (p0600 = 11).
- Sensor type PT100 selected (p0601 = 5).
If the resistance in series with the PT100 (e.g. the cable resistance of the feeder cable) is known, the following con-
version formula must be used:
Offset in p0624 = Measured resistance in ohms x 2.5 K/Ohm
Example:
Measured cable resistance = 2 Ohm
--> 2 Ohm x 2.5 K / Ohm = 5.0 K

p0625[0...n] Motor ambient temperature / Mot T_ambient

SERVO_S110-CAN, Can be changed: C2(3), U, T Calculated: CALC_MOD_EQU Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: 8016
SERVO_S110-PN
P-Group: Motor Units group: 21_1 Unit selection: p0505
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-40 [°C] 80 [°C] 20 [°C]
Description: Defines the ambient temperature of the motor for calculating the motor temperature model.
Note: The parameters for stator and rotor resistance (p0350, p0354) refer to this temperature.
If the thermal I2t motor model is activated for permanent-magnet synchronous motors (refer to p0611), p0625 is
included in the model calculation if a temperature sensor is not being used (see p0601).

p0626[0...n] Motor overtemperature, stator core / Mot T_over core

SERVO_S110-CAN, Can be changed: C2(3), U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: 8016
SERVO_S110-PN
P-Group: Motor Units group: 21_2 Unit selection: p0505
Not for motor type: PEM, REL, FEM Scaling: - Expert list: 1
Min Max Factory setting
20 [K] 200 [K] 50 [K]
Description: Defines the rated overtemperature of the stator core referred to the ambient temperature.
Dependency: For 1LA5 and 1LA7 motors (refer to p0300), the parameter is pre-set as a function of p0307 and p0311.
Refer to: p0625
Note: When quick commissioning is exited with p3900 > 0, then the parameter is reset if a catalog motor has not been
selected (refer to p0300).

© Siemens AG 2012 All Rights Reserved 1-137

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p0627[0...n] Motor overtemperature, stator winding / Mot T_over stator

SERVO_S110-CAN, Can be changed: C2(3), U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: 8016
SERVO_S110-PN
P-Group: Motor Units group: 21_2 Unit selection: p0505
Not for motor type: PEM, REL, FEM Scaling: - Expert list: 1
Min Max Factory setting
20 [K] 200 [K] 80 [K]
Description: Defines the rated overtemperature of the stator winding referred to the ambient temperature.
Dependency: For 1LA5 and 1LA7 motors (refer to p0300), the parameter is pre-set as a function of p0307 and p0311.
Refer to: p0625
Note: When quick commissioning is exited with p3900 > 0, then the parameter is reset if a catalog motor has not been
selected (refer to p0300).

p0628[0...n] Motor overtemperature rotor winding / Mot T_over rotor

SERVO_S110-CAN, Can be changed: C2(3), U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: 8016
SERVO_S110-PN
P-Group: Motor Units group: 21_2 Unit selection: p0505
Not for motor type: PEM, REL, FEM Scaling: - Expert list: 1
Min Max Factory setting
20 [K] 200 [K] 100 [K]
Description: Defines the rated overtemperature of the squirrel cage rotor referred to ambient temperature.
Dependency: For 1LA5 and 1LA7 motors (refer to p0300), the parameter is pre-set as a function of p0307 and p0311.
Refer to: p0625
Note: When quick commissioning is exited with p3900 > 0, then the parameter is reset if a catalog motor has not been
selected (refer to p0300).

r0630[0...n] Motor temperature model ambient temperature / MotTMod T_amb.

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 4
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: 8016
SERVO_S110-PN
P-Group: Motor Units group: 21_1 Unit selection: p0505
Not for motor type: PEM, REL, FEM Scaling: p2006 Expert list: 1
Min Max Factory setting
- [°C] - [°C] - [°C]
Description: Displays the ambient temperature of the motor temperature model.

r0631[0...n] Motor temperature model, stator core temperature / MotTMod T_core

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 4
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: 8016
SERVO_S110-PN
P-Group: Motor Units group: 21_1 Unit selection: p0505
Not for motor type: PEM, REL, FEM Scaling: p2006 Expert list: 1
Min Max Factory setting
- [°C] - [°C] - [°C]
Description: Displays the stator core temperature of the motor temperature model.

r0632[0...n] Motor temperature model, stator winding temperature / MotTMod T_copper

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 4
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: 8016
SERVO_S110-PN
P-Group: Motor Units group: 21_1 Unit selection: p0505
Not for motor type: PEM, REL, FEM Scaling: p2006 Expert list: 1
Min Max Factory setting
- [°C] - [°C] - [°C]
Description: Displays the stator winding temperature of the motor temperature model.

1-138 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r0633[0...n] Motor temperature model, rotor temperature / MotTMod T_rotor

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 4
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: 8016
SERVO_S110-PN
P-Group: Motor Units group: 21_1 Unit selection: p0505
Not for motor type: PEM, REL, FEM Scaling: p2006 Expert list: 1
Min Max Factory setting
- [°C] - [°C] - [°C]
Description: Displays the rotor temperature of the motor temperature model.

p0640[0...n] Current limit / Current limit

SERVO_S110-CAN, Can be changed: C2(1, 3), U, T Calculated: CALC_MOD_ALL Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5722, 6640
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [Arms] 10000.00 [Arms] 0.00 [Arms]
Description: Sets the current limit.
Dependency: Refer to: r0209, p0323
Note: The parameter is part of the quick commissioning (p0010 = 1); this means that it is appropriately pre-assigned when
changing p0305, p0323 and p0338.
The current limit p0640 is limited to r0209 and p0323. The limit to p0323 is not realized if a value of zero is entered
there.
The resulting current limit is displayed in r0067 and if required, r0067 is reduced by the thermal model of the Motor
Module.
The torque and power limits (p1520, p1521, p1530, p1531) matching the current limit are automatically calculated
when exiting the quick commissioning using p3900 > 0 or using the automatic parameterization with p0340 = 3, 5.
For VECTOR the following applies (p0107):
p0640 is limited to 4.0 x p0305.
p0640 is pre-assigned for the automatic self commissioning routine (e.g. to 1.5 x p0305, with p0305 = r0207[1]).
p0640 must be entered when commissioning the system. This is the reason that p0640 is not calculated by the
automatic parameterization when exiting the quick commissioning (p3900 > 0).
For SERVO the following applies (p0107):
p0640 is pre-assigned as follows using the automatic parameterization (p0340 = 1, p3900 > 0) taking into account
the limits r0209 and r0323:
- for induction motors: p0640 = 1.5 x p0305
- for synchronous motors: p0640 = p0338

p0642[0...n] Encoderless operation current reduction / Encoderl op I_red

SERVO_S110-CAN, Can be changed: C2(1, 3), U, T Calculated: - Access level: 1
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [%] 100.00 [%] 100.00 [%]
Description: Sets the reduction for the current limit in encoderless operation.
The value is referred to p0640.
Dependency: Refer to: r0209, p0323, p0491, p0640, p1300, p1404
Note: If the motor is operated both with encoder as well as without encoder (e.g. p0491 is not equal to 0 or p1404 <
p1082) then the maximum current can be reduced in encoderless operation. This reduces disturbing saturation-
related motor data changes in encoderless operation.

© Siemens AG 2012 All Rights Reserved 1-139

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p0643[0...n] Overvoltage protection for synchronous motors / Overvolt_protect

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Sets the overvoltage protection for synchronous motors in the field-weakening range.
Value: 0: No measure
1: Voltage Protection Module (VPM)
Dependency: Refer to: p0316, p1082, p1231, p9601, p9801
Refer to: F07432, F07906, F07907
Notice: When the speed limiting is removed, the user is responsible for implementing a suitable overvoltage protection.
Note: In the field-weakening range, synchronous motors can, when a fault condition exists, generate high DC link volt-
ages. The following possibilities exist to protect the drive system from being destroyed due to overvoltage:
- limit the maximum speed (p1082) without any additional protection.
The maximum speed without protection is calculated as follows:
p1082 [rpm] <= 11.695 * r0297/p0316 [Nm/A]
- use a Voltage Protection Module (VPM) in conjunction with the function "Safe Torque Off" (p9601, p9801).
When a fault condition exists, the VPM short-circuits the motors. During the short-circuit, the pulses must be sup-
pressed - this means that the terminals for the function "Safe Torque Off" must be connected to the VPM.
- activating the internal voltage protection (IVP) with p1231 = 3.

p0650[0...n] Actual motor operating hours / Mot t_oper act

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 [h] 4294967295 [h] 0 [h]
Description: Displays the operating hours for the corresponding motor.
The motor operating time counter continues to run when the pulses are enabled. When the pulse enable is with-
drawn, the counter is held and the value saved.
Dependency: Refer to: p0651
Refer to: A01590
Note: The operating hours counter in p0650 can only be reset to 0. In this case, p0651 is automatically set to 0.
For p0651 = 0, the operating hours counter is disabled.
The operating hours counter only runs with motor data set 0 and 1 (MDS).

p0651[0...n] Motor operating hours maintenance interval / Mot t_op maint

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 [h] 150000 [h] 0 [h]
Description: Sets the service/maintenance intervals in hours for the appropriate motor.
An appropriate fault is output when the operating hours set here are reached.
Dependency: Refer to: p0650
Refer to: A01590
Note: For p0651 = 0, the operating hours counter is disabled.
The operating hours counter only runs with motor data set 0 and 1 (MDS).

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 Parameter
List of parameters

p0680[0...7] Central measuring probe, input terminal / Cen meas inp

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 7 0
Description: Sets the digital input used for the function "central measuring probe evaluation".
p0680[0]: Digital input, measuring probe 1
p0680[1]: Digital input, measuring probe 2
...
p0680[7]: Digital input, measuring probe 8
Value: 0: No measuring probe
1: DI/DO 9 (X132.2)
2: DI/DO 10 (X132.3)
3: DI/DO 11 (X132.4)
7: DI/DO 8 (X132.1)
Dependency: Refer to: p0728
Note: DI/DO: Bidirectional Digital Input/Output
Prerequisite: The DI/DO must be set as input (p0728.x = 0).
If a parameter change is rejected, a check should be performed as to whether the input terminal is already being
used in p0488, p0489, p0493, p0494, p0495, p0580, p2517 or p2518.

p0681 BI: Central measuring probe, synchronizing signal signal source /

Cen meas sync_sig
CU_S110-CAN, Can be changed: T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for the synchronizing signal (SYN) of the function "central measuring probe evaluation".
The signal is used to synchronize the common system time between the master and slave.
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.

p0682 CI: Central measuring probe, control word signal source / Cen meas STW S_src
CU_S110-CAN, Can be changed: T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 / Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for the control word of the function "central measuring probe evaluation".

p0684 Central measuring probe evaluation technique / Cen meas eval_tech

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Sets the evaluation technique for the "central measuring probe evaluation" function.

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 Parameter
List of parameters

Value: 0: Measurement with handshake

1: Measurement without handshake
Note: During measurement without a handshake, the probe may have a higher evaluation frequency.
The setting "Measurement without handshake" must be supported by the higher-level control. This setting cannot
be used for SIMOTION D with integrated SINAMICS or with CX32.

r0685 Central measuring probe, control word display / Cen meas STW disp
CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the control word for the function "central measuring probe evaluation".
Bit field: Bit Signal name 1 signal 0 signal FP
00 Falling edge, measuring probe 1 Yes No -
01 Falling edge, measuring probe 2 Yes No -
02 Falling edge, measuring probe 3 Yes No -
03 Falling edge, measuring probe 4 Yes No -
04 Falling edge, measuring probe 5 Yes No -
05 Falling edge, measuring probe 6 Yes No -
06 Falling edge, measuring probe 7 Yes No -
07 Falling edge, measuring probe 8 Yes No -
08 Rising edge, measuring probe 1 Yes No -
09 Rising edge, measuring probe 2 Yes No -
10 Rising edge, measuring probe 3 Yes No -
11 Rising edge, measuring probe 4 Yes No -
12 Rising edge, measuring probe 5 Yes No -
13 Rising edge, measuring probe 6 Yes No -
14 Rising edge, measuring probe 7 Yes No -
15 Rising edge, measuring probe 8 Yes No -

r0686[0...7] CO: Central measuring probe, measuring time rising edge / CenMeas t_meas 0/1
CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the measuring time for a rising edge at the digital input for the "central measuring probe evaluation" func-
tion.
The measuring time is specified as 16-bit value with a resolution of 0.25 µs.
r0686[0]: Measuring time, rising edge measuring probe 1
r0686[1]: Measuring time, rising edge measuring probe 2
r0686[2]: Measuring time, rising edge measuring probe 3
r0686[3]: Measuring time, rising edge measuring probe 4
r0686[4]: Measuring time, rising edge measuring probe 5
r0686[5]: Measuring time, rising edge measuring probe 6
r0686[6]: Measuring time, rising edge measuring probe 7
r0686[7]: Measuring time, rising edge measuring probe 8

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 Parameter
List of parameters

r0687[0...7] CO: Central measuring probe, measuring time falling edge / CenMeas t_meas 1/0
CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the measuring time for a falling edge at the digital input for the "central measuring probe evaluation" func-
tion.
The measuring time is specified as 16-bit value with a resolution of 0.25 µs.
r0687[0]: Measuring time, falling edge measuring probe 1
r0687[1]: Measuring time, falling edge measuring probe 2
r0687[2]: Measuring time, falling edge measuring probe 3
r0687[3]: Measuring time, falling edge measuring probe 4
r0687[4]: Measuring time, falling edge measuring probe 5
r0687[5]: Measuring time, falling edge measuring probe 6
r0687[6]: Measuring time, falling edge measuring probe 7
r0687[7]: Measuring time, falling edge measuring probe 8

r0688 CO: Central measuring probe, status word display / Cen meas ZSW disp
CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the status word for the function "central measuring probe evaluation".
Bit field: Bit Signal name 1 signal 0 signal FP
00 Digital input, measuring probe 1 High Low -
01 Digital input, measuring probe 2 High Low -
02 Digital input, measuring probe 3 High Low -
03 Digital input, measuring probe 4 High Low -
04 Digital input, measuring probe 5 High Low -
05 Digital input, measuring probe 6 High Low -
06 Digital input, measuring probe 7 High Low -
07 Digital input, measuring probe 8 High Low -
08 Sub-sampling, measuring probe 1 High Low -
09 Sub-sampling, measuring probe 2 High Low -
10 Sub-sampling, measuring probe 3 High Low -
11 Sub-sampling, measuring probe 4 High Low -
12 Sub-sampling, measuring probe 5 High Low -
13 Sub-sampling, measuring probe 6 High Low -
14 Sub-sampling, measuring probe 7 High Low -
15 Sub-sampling, measuring probe 8 High Low -

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 Parameter
List of parameters

r0721 CU digital inputs, terminal actual value / CU DI actual value

CU_S110-CAN, Can be changed: - Calculated: - Access level: 2
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 1510, 2020,
CU_S110-PN 2030, 2031, 2100, 2120, 2130,
2131, 2132, 2133
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the actual value at the digital inputs.
This means that the actual input signal can be checked at terminal DI x or DI/DO x prior to switching from the simu-
lation mode (p0795.x = 1) to terminal mode (p0795.x = 0).
Bit field: Bit Signal name 1 signal 0 signal FP
00 DI 0 (X133.1) High Low -
01 DI 1 (X133.2) High Low -
02 DI 2 (X133.3) High Low -
03 DI 3 (X133.4) High Low -
08 DI/DO 8 (X132.1) High Low -
09 DI/DO 9 (X132.2) High Low -
10 DI/DO 10 (X132.3) High Low -
11 DI/DO 11 (X132.4) High Low -
16 DI 16 (X130.1) High Low -
17 DI 17 (X130.2) High Low -
18 DI 18 (X130.4) High Low -
19 DI 19 (X130.5) High Low -
20 DI 20 (X131.1) High Low -
21 DI 21 (X131.2) High Low -
22 DI 22 (X131.4) High Low -
Note: If a DI/DO is parameterized as output (p0728.x = 1), then r0721.x = 0 is displayed.
DI: Digital Input
DI/DO: Bidirectional Digital Input/Output

r0722.0...22 CO/BO: CU digital inputs, status / CU DI status

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 1510, 2020,
CU_S110-PN 2030, 2031, 2100, 2120, 2130,
2131, 2132, 2133
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the status of the digital inputs.
Bit field: Bit Signal name 1 signal 0 signal FP
00 DI 0 (X133.1) High Low -
01 DI 1 (X133.2) High Low -
02 DI 2 (X133.3) High Low -
03 DI 3 (X133.4) High Low -
08 DI/DO 8 (X132.1) High Low -
09 DI/DO 9 (X132.2) High Low -
10 DI/DO 10 (X132.3) High Low -
11 DI/DO 11 (X132.4) High Low -
16 DI 16 (X130.1) High Low -
17 DI 17 (X130.2) High Low -
18 DI 18 (X130.4) High Low -
19 DI 19 (X130.5) High Low -
20 DI 20 (X131.1) High Low -

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 Parameter
List of parameters

21 DI 21 (X131.2) High Low -

22 DI 22 (X131.4) High Low -
Dependency: Refer to: r0723
Notice: To the terminal designation:
The first designation is valid for CU320, the second for CU310.
Note: DI: Digital Input
DI/DO: Bidirectional Digital Input/Output

r0723.0...22 CO/BO: CU digital inputs, status inverted / CU DI status inv

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 1510, 2020,
CU_S110-PN 2030, 2031, 2100, 2120, 2130,
2131, 2132, 2133
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the inverted status of the digital inputs.
Bit field: Bit Signal name 1 signal 0 signal FP
00 DI 0 (X133.1) High Low -
01 DI 1 (X133.2) High Low -
02 DI 2 (X133.3) High Low -
03 DI 3 (X133.4) High Low -
08 DI/DO 8 (X132.1) High Low -
09 DI/DO 9 (X132.2) High Low -
10 DI/DO 10 (X132.3) High Low -
11 DI/DO 11 (X132.4) High Low -
16 DI 16 (X130.1) High Low -
17 DI 17 (X130.2) High Low -
18 DI 18 (X130.4) High Low -
19 DI 19 (X130.5) High Low -
20 DI 20 (X131.1) High Low -
21 DI 21 (X131.2) High Low -
22 DI 22 (X131.4) High Low -
Dependency: Refer to: r0722
Notice: To the terminal designation:
The first designation is valid for CU320, the second for CU310.
Note: DI: Digital Input
DI/DO: Bidirectional Digital Input/Output

p0728 CU, set input or output / CU DI or DO

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 1510, 2030,
CU_S110-PN 2031
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 0000 0000 0000 bin
Description: Sets the bidirectional digital inputs/outputs as an input or output.
Bit field: Bit Signal name 1 signal 0 signal FP
08 DI/DO 8 (X132.1) Output Input 2030
09 DI/DO 9 (X132.2) Output Input 2030
10 DI/DO 10 (X132.3) Output Input 2031
11 DI/DO 11 (X132.4) Output Input 2031
Note: DI/DO: Bidirectional Digital Input/Output

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 Parameter
List of parameters

r0729 CU digital outputs access authority / CU DO acc_auth

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 2030, 2031
CU_S110-PN
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the access authority at the digital outputs.
Bit = 1:
The control has access authority to the digital output via PROFIBUS or direct access.
Bit = 0:
The drive has access authority to the digital output or the digital input/output is not set as digital output or is not
available.
Bit field: Bit Signal name 1 signal 0 signal FP
08 DI/DO 8 (X132.1) High Low -
09 DI/DO 9 (X132.2) High Low -
10 DI/DO 10 (X132.3) High Low -
11 DI/DO 11 (X132.4) High Low -
16 DO 16 (X131.5) High Low -
Dependency: Refer to: p0728, p0738, p0739, p0740, p0741, r0747, p0748
Note: The DI/DO must be connected as output (p0728).
DI/DO: Bidirectional Digital Input/Output

p0738 BI: CU, signal source for terminal DI/DO 8 / CU S_src DI/DO 8
CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 1510, 2030
CU_S110-PN
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for terminal DI/DO 8 (X132.1).
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: Prerequisite: The DI/DO must be set as an output (p0728.8 = 1).
DI/DO: Bidirectional Digital Input/Output

p0739 BI: CU, signal source for terminal DI/DO 9 / CU S_src DI/DO 9
CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 1510, 2030,
CU_S110-PN 2130, 2497, 2498
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for terminal DI/DO 9 (X132.2).
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: Prerequisite: The DI/DO must be set as an output (p0728.9 = 1).
DI/DO: Bidirectional Digital Input/Output

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 Parameter
List of parameters

p0740 BI: CU, signal source for terminal DI/DO 10 / CU S_src DI/DO 10
CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 1510, 2031,
CU_S110-PN 2497, 2498
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for terminal DI/DO 10 (X132.3).
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: Prerequisite: The DI/DO must be set as an output (p0728.10 = 1).
DI/DO: Bidirectional Digital Input/Output

p0741 BI: CU, signal source for terminal DI/DO 11 / CU S_src DI/DO 11
CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 1510, 2031,
CU_S110-PN 2497, 2498
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for terminal DI/DO 11 (X132.4).
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: Prerequisite: The DI/DO must be set as an output (p0728.11 = 1).
DI/DO: Bidirectional Digital Input/Output

p0746 BI: CU signal source for terminal DO 16 / CU S_src DO 16

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 1510, 2032
CU_S110-PN
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for terminal DO 16.
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Terminal DO 16 is used for Safety Extended Functions if these have been enabled using p9601 and are not con-
trolled via PROFIsafe, and provided that a signal source has been set for the F-DO using p10042.
The signal source entered in p0746 is then no longer output at terminal DO 16.
Note: DO: Digital Output

r0747 CU, digital outputs status / CU DO status

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 2130, 2131,
CU_S110-PN 2132, 2133
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the status of digital outputs.

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 Parameter
List of parameters

Bit field: Bit Signal name 1 signal 0 signal FP

08 DI/DO 8 (X132.1) High Low -
09 DI/DO 9 (X132.2) High Low -
10 DI/DO 10 (X132.3) High Low -
11 DI/DO 11 (X132.4) High Low -
16 DO 16 (X131.5) High Low -
Notice: Terminal DO 16 is used for Safety Extended Functions as soon as this is enabled using p9601 and assuming that it
is not controlled via PROFIsafe.
The signal source set in p0746 is then no longer output at terminal DO 16.
Note: Inversion using p0748 has been taken into account.
DI/DO: Bidirectional Digital Input/Output

p0748 CU, invert digital outputs / CU DO inv

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 0000 0000 0000 0000
0000 0000 0000 bin
Description: Setting to invert the signals at the digital outputs.
Bit field: Bit Signal name 1 signal 0 signal FP
08 DI/DO 8 (X132.1) Inverted Not inverted 2030
09 DI/DO 9 (X132.2) Inverted Not inverted 2030
10 DI/DO 10 (X132.3) Inverted Not inverted 2031
11 DI/DO 11 (X132.4) Inverted Not inverted 2031
16 DO 16 (X131.5) Inverted Not inverted 2032
Notice: If telegram 39x is set via p0922 in SINAMICS Integrated, the inversion of the output has no effect.
Note: DI/DO: Bidirectional Digital Input/Output

r0752 CO: CU analog input, input voltage actual / CU AI U_input act

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2040
CU_S110-PN
P-Group: Terminals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [V] - [V] - [V]
Description: Displays the actual input voltage at the analog input.
Note: AI: Analog Input

p0753 CU analog input smoothing time constant / CU AI T_smooth

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2040
CU_S110-PN
P-Group: Terminals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.0 [ms] 1000.0 [ms] 0.0 [ms]
Description: Sets the smoothing time constant of the 1st-order low pass filter for the analog input.
Note: AI: Analog Input

1-148 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

r0755 CO: CU analog input actual value in percent / CU AI value in %

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2040
CU_S110-PN
P-Group: Terminals Units group: - Unit selection: -
Not for motor type: - Scaling: PERCENT Expert list: 1
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the currently referred input value of the analog input.
When interconnected, the signals are referred to the reference quantities p200x and p205x.
Note: AI: Analog Input

p0756 CU analog input type / CU AI type

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 2040
CU_S110-PN
P-Group: Terminals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 4 4
Description: Sets the type of the analog input.
Value: 0: Unipolar voltage input (0 V ... +10 V)
4: Bipolar voltage input (-10 V ... +10 V)

p0757 CU analog input characteristic value x1 / CU AI char x1

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2040
CU_S110-PN
P-Group: Terminals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-11.000 [V] 11.000 [V] 0.000 [V]
Description: Sets the scaling characteristic for the analog input.
The scaling characteristic for the analog input is defined using 2 points.
This parameter specifies the x coordinate (input voltage in V) of the 1st value pair of the characteristic.
Note: The parameters for the characteristic do not have a limiting effect.

p0758 CU analog input characteristic value y1 / CU AI char y1

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2040
CU_S110-PN
P-Group: Terminals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-1000.00 [%] 1000.00 [%] 0.00 [%]
Description: Sets the scaling characteristic for the analog input.
The scaling characteristic for the analog input is defined using 2 points.
This parameter specifies the y coordinate (percentage) of the 1st value pair of the characteristic.
Note: The parameters for the characteristic do not have a limiting effect.

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 Parameter
List of parameters

p0759 CU analog input characteristic value x2 / CU AI char x2

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2040
CU_S110-PN
P-Group: Terminals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-11.000 [V] 11.000 [V] 10.000 [V]
Description: Sets the scaling characteristic for the analog input.
The scaling characteristic for the analog input is defined using 2 points.
This parameter specifies the x coordinate (input voltage in V) of the 2nd value pair of the characteristic.
Note: The parameters for the characteristic do not have a limiting effect.

p0760 CU analog input characteristic value y2 / CU AI char y2

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2040
CU_S110-PN
P-Group: Terminals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-1000.00 [%] 1000.00 [%] 100.00 [%]
Description: Sets the scaling characteristic for the analog input.
The scaling characteristic for the analog input is defined using 2 points.
This parameter specifies the y coordinate (percentage) of the 2nd value pair of the characteristic.
Note: The parameters for the characteristic do not have a limiting effect.

p0763 CU analog input offset / CU AI offset

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2040
CU_S110-PN
P-Group: Terminals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-20.000 [V] 20.000 [V] 0.000 [V]
Description: Sets the offset for the analog input.
The offset is added to the input signal before the scaling characteristic.

p0766 CU analog input activate absolute value generation / CU AI absVal act

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 2040
CU_S110-PN
P-Group: Terminals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Activates the absolute value generation of the analog input signal.
Value: 0: No absolute value generation
1: Absolute value generation switched in

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 Parameter
List of parameters

p0767 BI: CU analog input signal source for inversion / CU AI inv S_src
CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 2040
CU_S110-PN
P-Group: Terminals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source to invert the analog input signal.

p0768 CU analog input noise suppression window / CU AI window

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2040
CU_S110-PN
P-Group: Terminals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [%] 20.00 [%] 0.00 [%]
Description: Sets the window for noise suppression of the analog input.
Changes less than the window are suppressed.
Note: AI: Analog Input

p0769 BI: CU analog input signal source for enable / CU AI enable

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 2040
CU_S110-PN
P-Group: Terminals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 1
Description: Sets the signal source to enable the analog input.

p0771[0...2] CI: Test sockets signal source / Test skt S_src

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
CU_S110-DP, Data type: Unsigned32 / Integer16 Dynamic index: - Func. diagram: 8134
CU_S110-PN
P-Group: Terminals Units group: - Unit selection: -
Not for motor type: - Scaling: PERCENT Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for the signal to be output at the test sockets.
Index: [0] = T0
[1] = T1
[2] = Reserved
Dependency: Can only be set when p0776 = 99.
Refer to: r0772, r0774, p0776, p0777, p0778, p0779, p0780, p0783, p0784, r0786

r0772[0...2] Test sockets output signal / TestSktsSignalVal

CU_S110-CAN, Can be changed: - Calculated: - Access level: 2
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 8134
CU_S110-PN
P-Group: Terminals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the actual value of the signal to be output.

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 Parameter
List of parameters

Index: [0] = T0
[1] = T1
[2] = Reserved
Dependency: Refer to: p0771, r0774, p0776, p0777, p0778, p0779, p0780, p0783, p0784, r0786

r0774[0...2] Test sockets output voltage / TestSkts U_output

CU_S110-CAN, Can be changed: - Calculated: - Access level: 2
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Terminals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [V] - [V] - [V]
Description: Displays the actual output voltage for the test sockets.
Index: [0] = T0
[1] = T1
[2] = Reserved
Dependency: Refer to: p0771, r0772, p0776, p0777, p0778, p0779, p0780, p0783, p0784, r0786

p0776[0...2] Test socket mode / Test skt mode

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 8134
CU_S110-PN
P-Group: Terminals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
96 99 99
Description: Sets the mode for the test sockets.
Value: 96: Physical address (32-bit integer signal unsigned)
97: Physical address (32-bit integer signal)
98: Physical address (32-bit floating-point signal)
99: BICO signal
Index: [0] = T0
[1] = T1
[2] = Reserved
Dependency: Refer to: p0771, r0772, r0774, p0777, p0778, p0779, p0780, p0783, p0784, r0786, p0788, p0789, r0790

p0777[0...2] Test socket characteristic value x1 / Test skt char x1

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 8134
CU_S110-PN
P-Group: Terminals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-100000.00 [%] 100000.00 [%] 0.00 [%]
Description: The scaling characteristic for the test sockets is defined using two points. This parameter specifies the x coordinate
(percentage) of the first point on the characteristic.
Index: [0] = T0
[1] = T1
[2] = Reserved
Dependency: Can only be set when p0776 = 99.
Refer to: p0778, p0779, p0780, r0786
Note: The value 0.00 % corresponds to 2.49 V.

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 Parameter
List of parameters

p0778[0...2] Test socket characteristic value y1 / Test skt char y1

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 8134
CU_S110-PN
P-Group: Terminals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [V] 4.98 [V] 2.49 [V]
Description: The scaling characteristic for the test sockets is defined using two points. This parameter specifies the y coordinate
(output voltage) of the first point on the characteristic.
Index: [0] = T0
[1] = T1
[2] = Reserved
Dependency: Can only be set when p0776 = 99.
Refer to: p0777, p0779, p0780, r0786

p0779[0...2] Test socket characteristic value x2 / Test skt char x2

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 8134
CU_S110-PN
P-Group: Terminals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-100000.00 [%] 427.9E9 [%] 100.00 [%]
Description: The scaling characteristic for the test sockets is defined using two points. This parameter specifies the x coordinate
(percentage) of the second point on the characteristic.
Index: [0] = T0
[1] = T1
[2] = Reserved
Dependency: Can only be set when p0776 = 99.
Refer to: p0777, p0778, p0780, r0786
Note: The value 100.00 % corresponds to 4.98 V.

p0780[0...2] Test socket characteristic value y2 / Test skt char y2

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 8134
CU_S110-PN
P-Group: Terminals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [V] 4.98 [V] 4.98 [V]
Description: The scaling characteristic for the test sockets is defined using two points. This parameter specifies the y coordinate
(output voltage) of the second point on the characteristic.
Index: [0] = T0
[1] = T1
[2] = Reserved
Dependency: Can only be set when p0776 = 99.
Refer to: p0777, p0778, p0779, r0786

© Siemens AG 2012 All Rights Reserved 1-153

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 Parameter
List of parameters

p0783[0...2] Test sockets offset / Test skt offset

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 8134
CU_S110-PN
P-Group: Terminals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-4.60 [V] 4.60 [V] 0.00 [V]
Description: Sets an additional offset for the test sockets.
Index: [0] = T0
[1] = T1
[2] = Reserved

p0784[0...2] Test socket limit on/off / TestSktLim on/off

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 8134
CU_S110-PN
P-Group: Terminals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Sets the limit for a signal to be output via test sockets.
Value: 0: Limiting off
1: Limiting on
Index: [0] = T0
[1] = T1
[2] = Reserved
Note: Limiting on:
If signals are output outside the permissible measuring range, the signal is limited to 4.98 V or to 0 V.
Limiting off:
If signals are output outside the permissible measuring range, this causes signal overflow. In the case of signal
overflow, the signal jumps from 0 V to 4.98 V or from 4.98 V to 0 V.

r0786[0...2] Test socket scaling per volt / TestSktScale/Volt

CU_S110-CAN, Can be changed: - Calculated: - Access level: 2
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 8134
CU_S110-PN
P-Group: Terminals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the scaling of the signal to be output. A change in the output voltage by 1 volt corresponds to the value in
this parameter. The units are determined by the interconnected test signal.
Index: [0] = T0
[1] = T1
[2] = Reserved
Dependency: Refer to: p0771, r0772, r0774, p0777, p0778, p0779, p0780, p0783, p0784
Note: Example:
r0786[0] = 1500.0 and the measuring signal is r0063 (CO: Actual speed smoothed [rpm]).
A change of 1 V at the output of test socket T0 corresponds to 1500.0 [rpm].

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 Parameter
List of parameters

p0788[0...2] Test sockets physical address / Test skt PhyAddr

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Terminals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 bin 1111 1111 1111 1111 1111 1111 0000 bin
1111 1111 bin
Description: Sets the physical address to output signals via the test sockets.
Index: [0] = T0
[1] = T1
[2] = Reserved
Dependency: Changes only become effective if p0776 does not equal 99.
Refer to: p0789, r0790

p0789[0...2] Test sockets physical address gain / TestSktPhyAddrGain

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Terminals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-340.28235E36 340.28235E36 1.00000
Description: Sets the gain of a signal output of a physical address via test sockets.
Index: [0] = T0
[1] = T1
[2] = Reserved
Dependency: Changes only become effective if p0776 does not equal 99.
Refer to: p0788

r0790[0...2] Test sockets physical address signal value / TestSktsPhyAddrVal

CU_S110-CAN, Can be changed: - Calculated: - Access level: 4
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Terminals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the actual value of a signal determined via a physical address.
Index: [0] = T0
[1] = T1
[2] = Reserved
Dependency: Only effective when p0776 = 97 or p0776 = 96.
Refer to: p0788

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 Parameter
List of parameters

p0795 CU digital inputs simulation mode / CU DI simulation

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 1510, 2020,
CU_S110-PN 2030, 2031, 2100, 2120, 2130,
2131, 2132, 2133
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 0000 0000 0000 0000
0000 0000 0000 bin
Description: Sets the simulation mode for digital inputs.
Bit field: Bit Signal name 1 signal 0 signal FP
00 DI 0 (X133.1) Simulation Terminal eval. -
01 DI 1 (X133.2) Simulation Terminal eval. -
02 DI 2 (X133.3) Simulation Terminal eval. -
03 DI 3 (X133.4) Simulation Terminal eval. -
08 DI/DO 8 (X132.1) Simulation Terminal eval. -
09 DI/DO 9 (X132.2) Simulation Terminal eval. -
10 DI/DO 10 (X132.3) Simulation Terminal eval. -
11 DI/DO 11 (X132.4) Simulation Terminal eval. -
16 DI 16 (X130.1) Simulation Terminal eval. -
17 DI 17 (X130.2) Simulation Terminal eval. -
18 DI 18 (X130.4) Simulation Terminal eval. -
19 DI 19 (X130.5) Simulation Terminal eval. -
20 DI 20 (X131.1) Simulation Terminal eval. -
21 DI 21 (X131.2) Simulation Terminal eval. -
22 DI 22 (X131.4) Simulation Terminal eval. -
Dependency: The setpoint for the input signals is specified using p0796.
Refer to: p0796
Notice: If a digital input is used as signal source for the function "STO" (BI: p9620) then it is not permissible to select the
simulation mode and this is rejected.
Note: This parameter is not saved when data is backed-up (p0971, p0977).
DI: Digital Input
DI/DO: Bidirectional Digital Input/Output

p0796 CU digital inputs simulation mode setpoint / CU DI simul setp

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 1510, 2020,
CU_S110-PN 2030, 2031, 2100, 2120, 2130,
2131, 2132, 2133
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 0000 0000 0000 0000
0000 0000 0000 bin
Description: Sets the setpoint for the input signals in the digital input simulation mode.
Bit field: Bit Signal name 1 signal 0 signal FP
00 DI 0 (X133.1) High Low -
01 DI 1 (X133.2) High Low -
02 DI 2 (X133.3) High Low -
03 DI 3 (X133.4) High Low -
08 DI/DO 8 (X132.1) High Low -
09 DI/DO 9 (X132.2) High Low -
10 DI/DO 10 (X132.3) High Low -
11 DI/DO 11 (X132.4) High Low -
16 DI 16 (X130.1) High Low -
17 DI 17 (X130.2) High Low -

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 Parameter
List of parameters

18 DI 18 (X130.4) High Low -

19 DI 19 (X130.5) High Low -
20 DI 20 (X131.1) High Low -
21 DI 21 (X131.2) High Low -
22 DI 22 (X131.4) High Low -
Dependency: The simulation of a digital input is selected using p0795.
Refer to: p0795
Notice: To the terminal designation:
The first designation is valid for CU320, the second for CU310.
Note: This parameter is not saved when data is backed-up (p0971, p0977).
DI: Digital Input
DI/DO: Bidirectional Digital Input/Output

p0797 CU analog input simulation mode / CU AI sim_mode

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Terminals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Sets the simulation mode for the analog input.
Value: 0: No simulation mode for analog input x
1: Simulation mode for analog input x
Dependency: The setpoint for the input voltage is specified via p0798.
Refer to: p0798
Note: This parameter is not saved when data is backed-up (p0971, p0977).
AI: Analog Input

p0798 CU analog input simulation mode setpoint / CU AI sim setp

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Terminals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-20.000 [V] 20.000 [V] 0.000 [V]
Description: Sets the setpoint for the input value in the simulation mode of the analog input.
Dependency: The simulation of an analog input is selected using p797.
If AI is parameterized as voltage input (p756), then the setpoint is a voltage in V.
If AI is parameterized as current input (p756), then the setpoint is current in mA.
Refer to: p0756, p0797
Note: This parameter is not saved when data is backed-up (p0971, p0977).
AI: Analog Input

p0799[0...2] CU inputs/outputs, sampling time / CU I/O t_sampl

CU_S110-CAN, Can be changed: C1(3) Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2020, 2030,
CU_S110-PN 2031
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
1000.00 [µs] 5000.00 [µs] 4000.00 [µs]
Description: Sets the sampling time for the inputs and outputs of the Control Unit.

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 Parameter
List of parameters

Index: [0] = Digital inputs/outputs (DI/DO)

[1] = Analog inputs (AI)
[2] = Not available - analog outputs (AO)
Dependency: The parameter can only be modified for p0009 = 3, 29.
Refer to: p0009
Note: The changed sampling time is immediately effective after a completed sub-boot (p0009 -> 0).

p0802 Data transfer: memory card as source/target / mem_card src/targ

CU_S110-CAN, Can be changed: T Calculated: - Access level: 3
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 100 0
Description: Sets the number for data transfer of a parameter backup from/to memory card.
Transfer from memory card to device memory (p0804 = 1):
- Sets the source of parameter backup (e.g. p0802 = 48 --> PS048xxx.ACX is the source).
Transfer from non-volatile device memory to memory card (p0804 = 2):
- Sets the target of parameter backup (e.g. p0802 = 23 --> PS023xxx.ACX is the target).
No setting is required for the transfer of the communication configuration (p0804 = 12).
Dependency: Refer to: p0803, p0804
Notice: If the data between the volatile and non-volatile device memories differ, then it may be necessary to save the data
on the memory card in a non-volatile fashion prior to the transfer (e.g. p0971 = 1).

p0803 Data transfer: device memory as source/target / Dev_mem src/targ

CU_S110-CAN, Can be changed: T Calculated: - Access level: 3
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 12 0
Description: Sets the number for data transfer of a parameter backup from/to device memory.
Transfer from memory card to device memory (p0804 = 1):
- Sets the target of the parameter backup (e.g. p0803 = 10 --> PS010xxx.ACX is the target).
Transfer from non-volatile device memory to memory card (p0804 = 2):
- Sets the source of the parameter backup (e.g. p0803 = 11 --> PS011xxx.ACX is the source).
No setting is required for the transfer of the communication configuration (p0804 = 12).
Value: 0: Source/target standard
10: Source/target with setting 10
11: Source/target with setting 11
12: Source/target with setting 12
Dependency: Refer to: p0802, p0804
Notice: If the data between the volatile and non-volatile device memories differ, then it may be necessary to save the data
on the memory card in a non-volatile fashion prior to the transfer (e.g. p0971 = 1).

p0804 Data transfer start / Data transf start

CU_S110-CAN, Can be changed: T Calculated: - Access level: 3
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1100 0
Description: Sets the transfer direction and start of data transfer between the memory card and non-volatile device memory.

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 Parameter
List of parameters

Example 1:
The parameter backup is to be transferred from the device memory to the memory card with setting 0. The parame-
ter backup is to be stored on the memory card with setting 22.
p0802 = 22 (parameter backup stored on memory card as target with setting 22)
p0803 = 0 (parameter backup stored in device memory as source with setting 0)
p0804 = 2 (start data transfer from device memory to memory card)
--> PS000xxx.ACX is transferred from device memory to memory card and stored as PS022xxx.ACX.
Example 2:
The parameter backup is to be transferred from the memory card to the device memory with setting 22. The param-
eter backup is to be stored in the device memory as setting 0.
p0802 = 22 (parameter backup stored on memory card as source with setting 22)
p0803 = 0 (parameter backup stored in device memory as target with setting 0)
p0804 = 1 (start data transfer from memory card to device memory)
--> PS022xxx.ACX is transferred from memory card to device memory and stored as PS000xxx.ACX.
Example 3:
The communication configuration is to be transferred from the device memory to the memory card.
p0802 = (not relevant)
p0803 = (not relevant)
p0804 = 12 (start data transfer from device memory to memory card)
--> The files that are relevant for the communication configuration are transferred from the device memory to the
memory card and stored in the /SIEMENS/SINAMICS/DATA/CFG directory.
Value: 0: Inactive
1: Memory card to device memory
2: Device memory to memory card
12: Device memory (communication configuration) to memory card
1001: File on memory card cannot be opened
1002: File in device memory cannot be opened
1003: Memory card not found
1100: File cannot be transferred
Dependency: Refer to: p0802, p0803
Notice: The memory card must not be removed while data is being transferred.
Note: If a parameter backup with setting 0 is detected on the memory card when the Control Unit is switched on
(PS000xxx.ACX), this is transferred automatically to the device memory.
When the memory card is inserted, a parameter backup with setting 0 (PS000xxx.ACX) is automatically written to
the memory card when the parameters are saved in a non-volatile memory (e.g. by means of "Copy RAM to ROM").
Once the data has been successfully transferred, this parameter is automatically reset to 0. If an error occurs, the
parameter is set to a value > 1000. Possible fault causes:
p0804 = 1001:
The parameter backup set in p0802 as the source on the memory card does not exist or there is not sufficient mem-
ory space available on the memory card.
p0804 = 1002:
The parameter backup set in p0803 as the source in the device memory does not exist or there is not sufficient
memory space available in the device memory.
p0804 = 1003:
No memory card has been inserted.

p0806 BI: Inhibit master control / PcCtrl inhibit

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source to block the master control.
Dependency: Refer to: r0807

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 Parameter
List of parameters

Note: The master control is used from the commissioning software (drive control panel) and from the Advanced Operator
Panel (AOP, LOCAL mode).

r0807.0 BO: Master control active / PcCtrl active

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned8 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays what has the master control.
The drive can be controlled via the BICO interconnection or from external (e.g. the commissioning software).
Bit field: Bit Signal name 1 signal 0 signal FP
00 Master control active Yes No 5030,
6031
Dependency: Refer to: p0806
Notice: The master control only influences control word 1 and speed setpoint 1. Other control words/setpoints can be trans-
ferred from another automation device.
Note: Bit 0 = 0: BICO interconnection active
Bit 0 = 1: Master control for PC/AOP
The master control is used from the commissioning software (drive control panel) and from the Advanced Operator
Panel (AOP, LOCAL mode).

p0809[0...2] Copy Command Data Set CDS / Copy CDS

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned8 Dynamic index: - Func. diagram: 8560
SERVO_S110-PN
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Copies one Command Data Set (CDS) into another.
Index: [0] = Source Command Data Set
[1] = Target Command Data Set
[2] = Start copying procedure
Note: Procedure:
1. In Index 0, enter which command data set should be copied.
2. In Index 1, enter the command data set that is to be copied into.
3. Start copying: Set index 2 from 0 to 1.
p0809[2] is automatically set to 0 when copying is completed.

p0810 BI: Command data set selection CDS bit 0 / CDS select., bit 0
SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 8560
SERVO_S110-PN
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source to select the Command Data Set bit 0 (CDS bit 0).
Dependency: Refer to: r0050, r0836
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: The Command Data Set selected using the binector inputs is displayed in r0836.
The currently effective command data set is displayed in r0050.
A Command Data Set can be copied using p0809.

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 Parameter
List of parameters

p0819[0...2] Copy Drive Data Set DDS / Copy DDS

SERVO_S110-CAN, Can be changed: C2(15) Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned8 Dynamic index: - Func. diagram: 8565
SERVO_S110-PN
P-Group: Data sets Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 31 0
Description: Copies one Drive Data Set (DDS) into another.
Index: [0] = Source Drive Data Set
[1] = Target Drive Data Set
[2] = Start copying procedure
Note: Procedure:
1. In Index 0, enter which drive data set is to be copied.
2. In Index 1, enter the drive data set data that is to be copied into.
3. Start copying: Set index 2 from 0 to 1.
p0819[2] is automatically set to 0 when copying is completed.

p0820[0...n] BI: Drive Data Set selection DDS bit 0 / DDS select., bit 0
SERVO_S110-CAN, Can be changed: C2(15), T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 8565, 8575
SERVO_S110-PN
P-Group: Data sets Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source to select the Drive Data Set, bit 0 (DDS, bit 0).
Dependency: Refer to: r0051, r0837
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.

p0826[0...n] Motor changeover, motor number / Mot_chng mot No.

SERVO_S110-CAN, Can be changed: C2(3) Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: MDS, p0130 Func. diagram: 8575
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 15 0
Description: Sets the freely-assignable motor number for the motor changeover.
Dependency: Refer to: p0827
Caution: When changing over motor data sets with the same motor number (e.g. star-delta changeover) and for a motor with
brake, the motor brake remains open during the changeover.
Note: When the motor data sets are changed over, the following applies:
The same motor number signifies the same thermal model.

p0827[0...n] Motor changeover status word bit number / Mot_chg ZSW bitNo.
SERVO_S110-CAN, Can be changed: C2(3) Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: MDS, p0130 Func. diagram: 8575
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 15 0
Description: Sets the bit number for every motor data set.

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 Parameter
List of parameters

Example:
p0827[0] = 0: For MDS0, r0830.0 is switched.
p0827[1] = 5: For MDS1, r0830.5 is switched.
Dependency: Refer to: p0826, r0830
Note: A motor is only changed over (a new motor selected) after the pulses have been suppressed.
When the motor data sets are changed over, the following applies:
Bit numbers that are not identical, signify that the motor must be changed over.

p0828[0...n] BI: Motor changeover, feedback signal / Mot_chng fdbk sig

SERVO_S110-CAN, Can be changed: C2(3), T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 8575
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for the feedback signal when changing over the motor.
For p0833.0 = 1 the following applies:
This feedback signal (0/1 edge) is required after a motor changeover to enable the pulses.
Dependency: Refer to: p0833
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.

r0830.0...15 CO/BO: Motor changeover, status word / Mot_chngov ZSW

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 8575
SERVO_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the status word of the motor changeover.
These signals can be connected to digital outputs to change over the motor.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Motor selection, bit 0 High Low -
01 Motor selection, bit 1 High Low -
02 Motor selection, bit 2 High Low -
03 Motor selection, bit 3 High Low -
04 Motor selection, bit 4 High Low -
05 Motor selection, bit 5 High Low -
06 Motor selection, bit 6 High Low -
07 Motor selection, bit 7 High Low -
08 Motor selection, bit 8 High Low -
09 Motor selection, bit 9 High Low -
10 Motor selection, bit 10 High Low -
11 Motor selection, bit 11 High Low -
12 Motor selection, bit 12 High Low -
13 Motor selection, bit 13 High Low -
14 Motor selection, bit 14 High Low -
15 Motor selection, bit 15 High Low -
Dependency: Refer to: p0827

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 Parameter
List of parameters

p0831[0...15] BI: Motor changeover, contactor feedback / Mot_chg cont fdbk

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 8575
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for the feedback signal of the contactors when changing over motors.
There is a fixed inter-relationship between energizing the contactor and the feedback signal.
Example:
A changeover is to be made between MDS0 (motor 0) and MDS1 (motor 1). The contactors should be switched
using bit 4 (contactor 0) and 5 (contactor 1). The changeover should be made with an interconnection of the feed-
back signal.
Implementation:
MDS0: p0827[0] = 4, interconnect output to switch contactor 0 to r0830.4, p0831[4] = "input, feedback signal, con-
tactor 0"
MDS1: p0827[1] = 5, interconnect output to switch contactor 1 to r0830.5, p0831[5] = "input, feedback signal, con-
tactor 1"
The following sequence applies when changing over from MDS0 to MDS1:
1. The status bit r0830.4 is deleted. When the feedback signal (p0831[4]) is connected, the system waits until the
feedback signal "contactor open" is displayed. If the feedback signal is not connected, then the system waits for the
switch-off interlocking time of 320 ms.
2. The status bit r0830.5 is set. If the feedback signal (p0831[5]) is connected, the system waits until the feedback
signal "contactor closed" is displayed. If the feedback signal is not connected, then the system waits for the switch-
on interlocking time of 160 ms.
Index: [0] = Feedback signal contactor 0
[1] = Feedback signal contactor 1
[2] = Feedback signal contactor 2
[3] = Feedback signal contactor 3
[4] = Feedback signal contactor 4
[5] = Feedback signal contactor 5
[6] = Feedback signal contactor 6
[7] = Feedback signal contactor 7
[8] = Feedback signal contactor 8
[9] = Feedback signal contactor 9
[10] = Feedback signal contactor 10
[11] = Feedback signal contactor 11
[12] = Feedback signal contactor 12
[13] = Feedback signal contactor 13
[14] = Feedback signal contactor 14
[15] = Feedback signal contactor 15

r0832.0...15 CO/BO: Mot. changeover, contactor feedback sig. status word / Mot_chng fdbk ZSW
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 8575
SERVO_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the status word of the contactor feedback signals when changing over a motor.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Feedback signal contactor 0 Closed Opened -
01 Feedback signal contactor 1 Closed Opened -
02 Feedback signal contactor 2 Closed Opened -
03 Feedback signal contactor 3 Closed Opened -
04 Feedback signal contactor 4 Closed Opened -

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 Parameter
List of parameters

05 Feedback signal contactor 5 Closed Opened -

06 Feedback signal contactor 6 Closed Opened -
07 Feedback signal contactor 7 Closed Opened -
08 Feedback signal contactor 8 Closed Opened -
09 Feedback signal contactor 9 Closed Opened -
10 Feedback signal contactor 10 Closed Opened -
11 Feedback signal contactor 11 Closed Opened -
12 Feedback signal contactor 12 Closed Opened -
13 Feedback signal contactor 13 Closed Opened -
14 Feedback signal contactor 14 Closed Opened -
15 Feedback signal contactor 15 Closed Opened -
Dependency: Refer to: p0831

p0833 Data set changeover configuration / DS_chng config

SERVO_S110-CAN, Can be changed: C2(15) Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 8575
SERVO_S110-PN
P-Group: Data sets Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 bin
Description: Sets the configuration for the motor and encoder changeover.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Contactor changeover from the applica- application Drive -
tion/drive
01 Pulse suppression by application/drive application Drive -
02 Suppress drive parking for EDS changeover Yes No -
Note: Re bit 00:
When the bit is set and the motor has to be changed over, then p0827 must be set differently in the appropriate
motor data sets.
Re bit 02:
The bit defines whether, for an EDS changeover, the status signal Gn_ZSW.14 is suppressed (parking encoder
active).

r0835.0...11 CO/BO: Data set changeover status word / DDS_ZSW

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 8575
SERVO_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the status word for the drive data set changeover.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Motor changeover active Yes No 8575
01 Encoder changeover active Yes No -
02 Internal parameter calculation active Yes No -
04 Armature short circuit active Yes No -
05 Identification running Yes No -
06 Friction characteristic record running Yes No -
07 Rotating measurement running Yes No -
08 Motor data identification running Yes No -
10 Wait for pulse suppression Yes No -
11 Wait for motor changeover feedback signal Yes No -
Note: This parameter is only supplied with up-to-date values if data set changeover has been selected or is running.
Re bit 00:
The signal is only influenced when a motor changeover is set via p0827 (unequal bit numbers).

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 Parameter
List of parameters

Re bit 01:
The signal is only influenced when an encoder changeover is set via p0187, p0188, or p0189.
Re bit 02:
A data set changeover is delayed by the time required for the internal parameter calculation.
Re bit 04:
A data set changeover is only carried out when the armature short circuit is not activated.
Re bit 05:
The following applies for SERVO:
A data set changeover is only carried out when pole position identification, encoder adjustment, motor data identifi-
cation, and rotating measurement are not running.
The following applies for VECTOR:
A data set changeover is only carried out when pole position identification is not running.
Re bit 06:
A data set changeover is only carried out when the friction characteristic record is not running.
Re bit 07 (VECTOR only):
A data set changeover is only carried out when rotating measurement is not running.
Re bit 08 (VECTOR only):
A data set changeover is only carried out when motor data identification is not running.
Re bit 10:
A motor changeover is set with p0833.1 = 1. It can only be carried out when the application performs pulse suppres-
sion.
Re bit 11:
A motor changeover is set with p0833.0 = 1. The pulses are only enabled when the "Motor changeover feedback"
signal is detected.

r0836.0...1 CO/BO: Command Data Set CDS selected / CDS selected

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned8 Dynamic index: - Func. diagram: 1530, 8560
SERVO_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the command data set (CDS) selected via the binector input.
Bit field: Bit Signal name 1 signal 0 signal FP
00 CDS select. bit 0 ON OFF -
01 CDS select. bit 1 ON OFF -
Dependency: Refer to: r0050, p0810
Note: Command data sets are selected via binector input p0810 and following.
The currently effective command data set is displayed in r0050.

r0837.0...1 CO/BO: Drive Data Set DDS selected / DDS selected

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned8 Dynamic index: - Func. diagram: 8565
SERVO_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the drive data set (DDS) selected via the binector input.
Bit field: Bit Signal name 1 signal 0 signal FP
00 DDS select. bit 0 ON OFF -
01 DDS select. bit 1 ON OFF -
Dependency: Refer to: r0051, p0820

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 Parameter
List of parameters

Note: Drive data sets are selected via binector input p0820 and following.
The currently effective drive data set is displayed in r0051.
If there is only one data set, then a value of 0 is displayed in this parameter and not the selection via binector inputs.

r0838[0...3] Motor/Encoder Data Set selected / MDS/EDS selected

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned8 Dynamic index: - Func. diagram: 8565
SERVO_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the selected Motor Data Set (MDS) and the selected Encoder Data Sets (EDS).
Index: [0] = Motor Data Set MDS selected
[1] = Encoder 1 Encoder Data Set EDS selected
[2] = Encoder 2 Encoder Data Set EDS selected
[3] = Reserved
Dependency: Refer to: r0049, p0186, p0187, p0188
Note: Value 99 means the following: No encoder assigned (not configured).

p0839 Motor changeover contactor control delay time / Mot_chg ctrl t_del
SERVO_S110-CAN, Can be changed: C2(3) Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 [ms] 500 [ms] 0 [ms]
Description: Sets the delay time for the contactor control for the motor changeover.
Note: The delay time is taken into account in the following cases:
- for feedback signal, previous contactor "Open". The new motor contactor is controlled (energized) after the delay
time has expired.
- for the feedback signal, new motor contactor "Closed". The pulses are enabled after the delay time has expired.

p0840[0...n] BI: ON / OFF (OFF1) / ON / OFF (OFF1)

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 2501, 2610,
SERVO_S110-PN 8720, 8820, 8920
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for the command "ON/OFF (OFF1)".
For the PROFIdrive profile, this command corresponds to control word 1 bit 0 (STW1.0).
Recommend.: When the setting for this binector input is changed, the motor can only be switched on by means of an appropriate
signal change of the source.
Dependency: Refer to: p1055, p1056
Caution: When "master control from PC" is activated, this binector input is ineffective.

Notice: For binector input p0840 = 0 signal, the motor can be moved, jogging using binector input p1055 or p1056.
The command "ON/OFF (OFF1)" can be issued using binector input p0840 or p1055/p1056.
For binector input p0840 = 0 signal, the switch-on inhibit is acknowledged.
Only the signal source that originally powered up can also power down again.
The parameter may be protected as a result of p0922 or p2079 and cannot be changed.

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 Parameter
List of parameters

Note: For drives with closed-loop speed control (p1300 = 20, 21), the following applies:
- BI: p0840 = 0 signal: OFF1 (braking with the ramp-function generator, then pulse suppression)
For drives with closed-loop torque control (p1300 = 22, 23), the following applies:
- BI: p0840 = 0 signal: immediate pulse cancellation
For drives with closed-loop torque control (activated using p1501), the following applies:
- BI: p0840 = 0 signal: No dedicated braking response, but pulse suppression when standstill is detected (p1226,
p1227)
For drives with closed-loop speed/torque control, the following applies:
- BI: p0840 = 0/1 signal: ON (pulses can be enabled)
For active infeeds (Active Line Module and Smart Line Module) the following applies:
- BI: p0840 = 0 signal: OFF1 (reduce Vdc along the ramp, then pulse suppression and pre-charging contactor/line
contactor open)
- BI: p0840 = 0/1 signal: ON (pre-charging contactor/line contactor close, pulses can be enabled)
For passive infeeds (Basic Line Module) the following applies:
- BI: p0840 = 0 signal: OFF1 (pre-charging contactor/line contactor open)
- BI: p0840 = 0/1 signal: ON (pre-charging contactor/line contactor close)
r0863.1 of a drive can also be selected as signal source.

p0844[0...n] BI: No coast-down / coast-down (OFF2) signal source 1 / OFF2 S_src 1

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 2501, 8720,
SERVO_S110-PN 8820, 8920
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 1
Description: Sets the first signal source for the command "No coast down/coast down (OFF2)".
The following signals are AND'ed:
- BI: p0844 "No coast-down / coast-down (OFF2) signal source 1"
- BI: p0845 "No coast-down / coast-down (OFF2) signal source 2"
For the PROFIdrive profile, the result of the AND logic operation corresponds to control word 1 bit 1 (STW1.1).
BI: p0844 = 0 signal or BI: p0845 = 0 signal
- OFF2 (immediate pulse suppression and switch on inhibit)
BI: p0844 = 1 signal and BI: p0845 = 1 signal
- No OFF2 (enable is possible)
Caution: When "master control from PC" is activated, this binector input is ineffective.

Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: For Active Line Modules, Smart Line Modules and binector input p0844 = 0 signal or p0845 = 0 signal, the following
applies:
- pre-charging contactor/line contactor is additionally opened.

p0845[0...n] BI: No coast-down / coast-down (OFF2) signal source 2 / OFF2 S_src 2

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 2501, 8720,
SERVO_S110-PN 8820, 8920
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 1
Description: Sets the second signal source for the command "No coast down/coast down (OFF2)".

© Siemens AG 2012 All Rights Reserved 1-167

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 Parameter
List of parameters

The following signals are AND'ed:

- BI: p0844 "No coast-down / coast-down (OFF2) signal source 1"
- BI: p0845 "No coast-down / coast-down (OFF2) signal source 2"
For the PROFIdrive profile, the result of the AND logic operation corresponds to control word 1 bit 1 (STW1.1).
BI: p0844 = 0 signal or BI: p0845 = 0 signal
- OFF2 (immediate pulse suppression and switch on inhibit)
BI: p0844 = 1 signal and BI: p0845 = 1 signal
- No OFF2 (enable is possible)
Caution: When "master control from PC" is activated, this binector input is effective.

Note: For Active Line Modules, Smart Line Modules and binector input p0844 = 0 signal or p0845 = 0 signal, the following
applies:
- pre-charging contactor/line contactor is additionally opened.

p0848[0...n] BI: No Quick Stop / Quick Stop (OFF3) signal source 1 / OFF3 S_src 1
SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 2501
SERVO_S110-PN
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 1
Description: Sets the first signal source for the command "No quick stop/quick stop (OFF3)".
The following signals are AND'ed:
- BI: p0848 "No quick stop / quick stop (OFF3) signal source 1"
- BI: p0849 "No quick stop / quick stop (OFF3) signal source 2"
For the PROFIdrive profile, the result of the AND logic operation corresponds to control word 1 bit 2 (STW1.2).
BI: p0848 = 0 signal or BI: p0849 = 0 signal
- OFF3 (braking along the OFF3 ramp (p1135), then pulse suppression and switch on inhibit)
BI: p0848 = 1 signal and BI: p0849 = 1 signal
- No OFF3 (enable is possible)
Caution: When "master control from PC" is activated, this binector input is ineffective.

Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.

p0849[0...n] BI: No Quick Stop / Quick Stop (OFF3) signal source 2 / OFF3 S_src 2
SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 2501
SERVO_S110-PN
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 1
Description: Sets the second signal source for the command "No quick stop/quick stop (OFF3)".
The following signals are AND'ed:
- BI: p0848 "No quick stop / quick stop (OFF3) signal source 1"
- BI: p0849 "No quick stop / quick stop (OFF3) signal source 2"
For the PROFIdrive profile, the result of the AND logic operation corresponds to control word 1 bit 2 (STW1.2).
BI: p0848 = 0 signal or BI: p0849 = 0 signal
- OFF3 (braking along the OFF3 ramp (p1135), then pulse suppression and switch on inhibit)
BI: p0848 = 1 signal and BI: p0849 = 1 signal
- No OFF3 (enable is possible)

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 Parameter
List of parameters

Caution: When "master control from PC" is activated, this binector input is effective.

p0852[0...n] BI: Enable operation/inhibit operation / Operation enable

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 2501, 8820,
SERVO_S110-PN 8920
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 1
Description: Sets the signal source for the command "enable operation/inhibit operation".
For the PROFIdrive profile, this command corresponds to control word 1 bit 3 (STW1.3).
BI: p0852 = 0 signal
Inhibit operation (suppress pulses).
BI: p0852 = 1 signal
Enable operation (pulses can be enabled).
Caution: When "master control from PC" is activated, this binector input is ineffective.

Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.

p0854[0...n] BI: Control by PLC/no control by PLC / Master ctrl by PLC

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 2501, 8720,
SERVO_S110-PN 8820, 8920
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 1
Description: Sets the signal source for the command "control by PLC/no control by PLC".
For the PROFIdrive profile, this command corresponds to control word 1 bit 10 (STW1.10).
BI: p0854 = 0 signal
No control by PLC
BI: p0852 = 1 signal
Control by PLC.
Caution: When "master control from PC" is activated, this binector input is ineffective.

Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: This bit is used to initiate a response for the drives when the control fails (F07220). If there is no control available,
then binector input p0854 should be set to 1.
If a control is available, then STW1.10 must be set to 1 (PZD1) so that the received data is updated. This applies
regardless of the setting in p0854 and even in the case of free telegram configuration (p0922 = 999).

© Siemens AG 2012 All Rights Reserved 1-169

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 Parameter
List of parameters

p0855[0...n] BI: Unconditionally release holding brake / Uncond open brake

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 2501, 2701,
SERVO_S110-PN 2707
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for the command "unconditionally open holding brake".
Dependency: Refer to: p0858
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: The signal via BI: p0858 (unconditionally close holding brake) has a higher priority than via BI: p0855 (uncondition-
ally open holding brake).

p0856[0...n] BI: Speed controller enable / n_ctrl enable

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 2501, 2701,
SERVO_S110-PN 2707
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 1
Description: Sets the signal source for the command "enable speed controller" (r0898.12).
0 signal: Set the I component and speed controller output to zero.
1 signal: Enable speed controller.
Dependency: Refer to: r0898
Note: If "enable speed controller" is withdrawn, then an existing brake will be closed.
If "speed controller enable" is withdrawn, the pulses are not suppressed.

p0857 Power unit monitoring time / PU t_monit

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 8760, 8864,
SERVO_S110-PN 8964
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
100.0 [ms] 60000.0 [ms] 6000.0 [ms]
Description: Sets the monitoring time for the power unit.
The monitoring time is started after an 0/1 edge of the ON/OFF1 command. If the power unit does not return a
READY signal within the monitoring time, then fault F06000 (infeeds) or F07802 (drives) is output.
Dependency: Refer to: F07802, F30027
Notice: The maximum time to pre-charge the DC link is monitored in the power unit and cannot be changed. The maximum
duration of the pre-charging depends on the power class and the power unit design.
The monitoring time for the pre-charging is started after the ON command (BI: p0840 = 0/1 signal). Fault F30027 is
output when the maximum pre-charging duration is exceeded.
Note: The factory setting for p0857 depends on the power class and the design of the power unit.
The monitoring time for the ready signal of the power unit includes the time to pre-charge the DC link and, if rele-
vant, the de-bounce time of the contactors.
If an excessively low value is entered into p0857, then after enable, this results in the corresponding fault.

1-170 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

p0858[0...n] BI: Unconditionally close holding brake / Uncond close brake

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 2501, 2701,
SERVO_S110-PN 2707
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 9719.13
Description: Sets the signal source for the command "unconditionally close holding brake".
Dependency: Refer to: p0855
Note: The signal via BI: p0858 (unconditionally close holding brake) has a higher priority than via BI: p0855 (uncondition-
ally open holding brake).
For a 1 signal via BI: p0858, the command "unconditionally close the holding brake" is executed and internally a
zero setpoint is entered.

p0860 BI: Line cont. fdbk sig / Line contact feedb

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 2634, 8734,
SERVO_S110-PN 8834, 8934
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 863.1
Description: Sets the signal source for the feedback signal from the line contactor.
Recommend.: When the monitoring is activated (BI: p0860 not equal to r0863.1), then to control the line contactor, signal BO:
r0863.1 of its own drive object should be used.
Dependency: Refer to: p0861, r0863
Refer to: F07300
Notice: The line contactor monitoring is de-activated if the control signal of the particular drive object is set as the signal
source for the feedback signal of the line contactor (BI: p0860 = r0863.1).
Note: The state of the line contactor is monitored depending on signal BO: r0863.1.
When the monitoring is activated (BI: p0860 not equal to r0863.1), fault F07300 is then also output if the contactor
is closed before it is controlled using r0863.1.

p0861 Line contactor monitoring time / LineContact t_mon

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2634, 8734,
SERVO_S110-PN 8834, 8934
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 [ms] 5000 [ms] 100 [ms]
Description: Sets the monitoring time of the line contactor.
This time starts each time that the line contactor switches (r0863.1). If a feedback signal is not received from the
line contactor within the time, a message is output.
Dependency: Refer to: p0860, r0863
Refer to: F07300
Note: The monitoring function is disabled for the factory setting of p0860.

© Siemens AG 2012 All Rights Reserved 1-171

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 Parameter
List of parameters

p0862 Power unit ON delay / PU t_on

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2610, 8732,
SERVO_S110-PN 8832, 8932
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 [ms] 65000 [ms] 0 [ms]
Description: Sets the delay time for the control command of the power unit and a line contactor, if used.
Note: This means that it is possible to realize a shifted (delayed) pre-charging or power-on using a single ON command.
When the infeed units are active, before the line contactor is closed, an offset adjustment of the current measure-
ment is carried out for a duration of 120 ms (p3491).

r0863.0...2 CO/BO: Drive coupling status word/control word / CoupleZSW/STW

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the status and control words of the drive coupling.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Closed-loop control operation Yes No 2610,
6495,
8732,
8832,
8932,
9794
01 Energize contactor Yes No 2610,
2634,
8732,
8734,
8832,
8834,
8932,
8934
02 Infeed line supply failure Yes No -
Note: Re bit 00:
Bit 0 signals that the infeed is ready.
When the operating signal is transferred via BO: r0863.0 this allows several drives to start (run-up) staggered over
time when they are simultaneously powered up.
To realize this, the following connections/interconnections are required:
Drive 1: Internconnect BI: p0864 with BO: r0863.0 of the infeed
Drive 2: Internconnect BI: p0864 with BO: r0863.0 of drive 1
Drive 3: Internconnect BI: p0864 with BO: r0863.0 of drive 2, etc.
The first drive only transfers the operating signal to the next drive after it has reached its ready condition.
Re bit 01:
Bit 1 is used to control an external line contactor.
Re bit 02:
This bit only signals line supply failure for Active Infeed (A_INF) and Smart Infeed (S_INF).

1-172 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

p0868 Power unit DC switch debounce time / PU DC sw t_deboun

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 [ms] 65000 [ms] 65000 [ms]
Description: Sets the debounce time for the DC circuit breaker for Motor Modules in "chassis" format.
Note: The following applies if p0868 = 65000 ms:
The debounce time defined internally in the power unit's EEPROM is implemented.

p0894 Parking pre-setting / Parking pre-set

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 bin
Description: Pre-setting for the "Parking axis" and "Parking encoder" function.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Default with interconnection Park Do not park -
Dependency: Refer to: p0480, p0897
Note: Re bit 00:
If there is at least one BICO interconnection for "Parking axis" or "Parking encoder", this default setting is taken into
consideration during power-up.

r0896.0 BO: Parking axis, status word / Parking axis, ZSW

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned8 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the status word for the "parking axis" function.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Parking axis active Yes No -
Dependency: Refer to: p0897

p0897 BI: Parking axis selection / Parking axis sel

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source to select the "parking axis" function.
Dependency: BI: p0897 = 0 signal
The function "parking axis" is not selected.
BI: p0897 = 1 signal
The function "parking axis" is selected.
Refer to: r0896

© Siemens AG 2012 All Rights Reserved 1-173

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 Parameter
List of parameters

Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: After it has been selected the "parking axis" function only becomes active when the pulses are suppressed.

r0898.0...15 CO/BO: Control word drive object 1 / STW DO1

CU_S110-CAN, Can be changed: - Calculated: - Access level: 2
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the control word of drive object 1 (Control Unit).
Bit field: Bit Signal name 1 signal 0 signal FP
00 Synchronization signal SYN Yes No -
01 Real time synchronization PING Yes No -
07 Acknowledge fault Yes No -
12 Master sign-of-life bit 0 Yes No -
13 Master sign-of-life bit 1 Yes No -
14 Master sign-of-life bit 2 Yes No -
15 Master sign-of-life bit 3 Yes No -

r0898.0...14 CO/BO: Control word sequence control / STW seq_ctrl

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 1530, 2501
SERVO_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the control word of the sequence control.
Bit field: Bit Signal name 1 signal 0 signal FP
00 ON/OFF1 Yes No -
01 OC / OFF2 Yes No -
02 OC / OFF3 Yes No -
03 Operation enable Yes No -
04 Ramp-function generator enable Yes No -
05 Continue ramp-function generator Yes No -
06 Speed setpoint enable Yes No -
07 Command open brake Yes No -
08 Jog 1 Yes No -
09 Jog 2 Yes No -
10 Master ctrl by PLC Yes No -
12 Speed controller enable Yes No -
14 Command close brake Yes No -
Note: OC: Operating condition

r0899.0...15 CO/BO: Status word drive object 1 / ZSW DO1

CU_S110-CAN, Can be changed: - Calculated: - Access level: 2
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the status word from drive object 1 (Control Unit).
Bit field: Bit Signal name 1 signal 0 signal FP
00 reserved Yes No -
03 Fault present Yes No -
07 Alarm present Yes No -

1-174 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

08 System time synchronized Yes No -

12 Slave sign-of-life bit 0 Yes No -
13 Slave sign-of-life bit 1 Yes No -
14 Slave sign-of-life bit 2 Yes No -
15 Slave sign-of-life bit 3 Yes No -

r0899.0...15 CO/BO: Status word sequence control / ZSW seq_ctrl

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 1530, 2503
SERVO_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the status word of the sequence control.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Rdy for switch on Yes No -
01 Ready Yes No -
02 Operation enabled Yes No -
03 Jog active Yes No -
04 No coasting active OFF2 inactive OFF2 active -
05 No Quick Stop active OFF3 inactive OFF3 active -
06 Switching on inhibited active Yes No -
07 Drive ready Yes No -
08 Controller enable Yes No -
09 Control request Yes No -
11 Pulses enabled Yes No -
12 Open holding brake Yes No -
13 Command close holding brake Yes No -
14 Pulse enable from the brake control Yes No -
15 Setpoint enable from the brake control Yes No -
Note: Re bits 00, 01, 02, 04, 05, 06, 09:
For PROFIdrive, these signals are used for status word 1.
Re bit 13:
When the "Safe Brake Control" (SBC) is activated and selected, the brake is no longer controlled using this signal.
Re bit 14, 15:
These signals are only of significance when the "extended brake control" function module is activated (r0108.14 =
1).

p0918 PROFIBUS address / PB address

CU_S110-DP Can be changed: T Calculated: - Access level: 2
Data type: Unsigned16 Dynamic index: - Func. diagram: 1520, 2410
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
1 126 126
Description: Displays or sets the PROFIBUS address for PROFIBUS interface on the Control Unit.
The address can be set as follows:
1) Using the DIP switch on the Control Unit.
--> p0918 can then only be read and displays the selected address.
--> A change only becomes effective after a POWER ON.
2) Using p0918
--> Only if all of the DIP switches are set to ON or OFF.
--> The address is saved in a non-volatile fashion using the function "copy from RAM to ROM".
--> A change only becomes effective after a POWER ON.

© Siemens AG 2012 All Rights Reserved 1-175

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 Parameter
List of parameters

Note: Permissible PROFIBUS addresses: 1 ... 126

Address 126 is used for commissioning.
Every PROFIBUS address change only becomes effective after a POWER ON.

p0922 IF1 PROFIdrive telegram selection / IF1 PD Telegr_sel

CU_S110-DP, Can be changed: C2(1), T Calculated: - Access level: 1
CU_S110-PN Data type: Unsigned16 Dynamic index: - Func. diagram: 1520, 2420,
2422, 2424
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
390 999 999
Description: Sets the send and receive telegram.
Value: 390: SIEMENS telegram 390, PZD-2/2
391: SIEMENS telegram 391, PZD-3/7
392: SIEMENS telegram 392, PZD-3/15
393: SIEMENS telegram 393, PZD-4/21
394: SIEMENS telegram 394, PZD-3/3
999: Free telegram configuration with BICO

p0922 IF1 PROFIdrive telegram selection / IF1 PD Telegr_sel

SERVO_S110-DP, Can be changed: C2(1), T Calculated: - Access level: 1
SERVO_S110-PN Data type: Unsigned16 Dynamic index: - Func. diagram: 1520, 2420,
2422, 2423, 2424
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
1 999 999
Description: Sets the send and receive telegram.
Value: 1: Standard telegram 1, PZD-2/2
2: Standard telegram 2, PZD-4/4
3: Standard telegram 3, PZD-5/9
4: Standard telegram 4, PZD-6/14
102: SIEMENS telegram 102, PZD-6/10
103: SIEMENS telegram 103, PZD-7/15
999: Free telegram configuration with BICO
Dependency: Refer to: p2038
Refer to: F01505, F01506
Note: For p0922 = 100 ... 199, p2038 is automatically set to 1 and p2038 can no longer be changed. This means that for
these telegrams, the "SIMODRIVE 611 universal" interface mode is set and cannot be changed.
If a value is not equal to 999, a telegram is set and the automatically set interconnections in the telegram are inhib-
ited.
The inhibited interconnections can only be changed again after setting value 999.

p0922 IF1 PROFIdrive telegram selection / IF1 PD Telegr_sel

SERVO_S110-DP Can be changed: C2(1), T Calculated: - Access level: 1
(EPOS, Pos ctrl), Data type: Unsigned16 Dynamic index: - Func. diagram: 1520, 2420,
SERVO_S110-PN 2422, 2423, 2424
(EPOS, Pos ctrl)
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
7 999 999
Description: Sets the send and receive telegram.
Value: 7: Standard telegram 7, PZD-2/2
9: Standard telegram 9, PZD-10/5
110: SIEMENS telegram 110, PZD-12/7

1-176 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

111: SIEMENS telegram 111, PZD-12/12

999: Free telegram configuration with BICO
Dependency: Refer to: p2038
Refer to: F01505, F01506
Note: For p0922 = 100 ... 199, p2038 is automatically set to 1 and p2038 can no longer be changed. This means that for
these telegrams, the "SIMODRIVE 611 universal" interface mode is set and cannot be changed.
If a value is not equal to 999, a telegram is set and the automatically set interconnections in the telegram are inhib-
ited.
The inhibited interconnections can only be changed again after setting value 999.

p0922 IF1 PROFIdrive telegram selection / IF1 PD Telegr_sel

SERVO_S110-DP Can be changed: C2(1), T Calculated: - Access level: 1
(Pos ctrl), Data type: Unsigned16 Dynamic index: - Func. diagram: 1520, 2420,
SERVO_S110-PN 2422, 2423, 2424
(Pos ctrl)
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
999 999 999
Description: Sets the send and receive telegram.
Value: 999: Free telegram configuration with BICO
Dependency: Refer to: p2038
Refer to: F01505, F01506
Note: For p0922 = 100 ... 199, p2038 is automatically set to 1 and p2038 can no longer be changed. This means that for
these telegrams, the "SIMODRIVE 611 universal" interface mode is set and cannot be changed.
If a value is not equal to 999, a telegram is set and the automatically set interconnections in the telegram are inhib-
ited.
The inhibited interconnections can only be changed again after setting value 999.

r0924[0...1] ZSW bit pulses enabled / ZSW pulse enab

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 2454, 2456
SERVO_S110-PN
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the position of the "Pulses enabled" status signal in the PROFIdrive telegram.
Index: [0] = Signal number
[1] = Bit position

p0925 PROFIdrive clock synchronous sign-of-life tolerance / PD SoL_tol

CU_S110-DP, Can be changed: U, T Calculated: - Access level: 3
CU_S110-PN, Data type: Unsigned16 Dynamic index: - Func. diagram: 2410
SERVO_S110-DP,
P-Group: Communications Units group: - Unit selection: -
SERVO_S110-PN
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 65535 1
Description: Sets the number of tolerated consecutive sign-of-life errors of the clock-cycle synchronous master.
The sign-of-life signal is normally received in PZD4 (control word 2) from the master.
Dependency: Refer to: p2045, r2065
Refer to: F01912
Note: The sign-of-life monitoring is disabled for p0925 = 65535.

© Siemens AG 2012 All Rights Reserved 1-177

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 Parameter
List of parameters

r0930 PROFIdrive operating mode / PD operating mode

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Setpoints Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the operating mode.
1: Closed-loop speed controlled operation with ramp-function generator
2: Closed-loop position controlled operation
3: Closed-loop speed controlled operation without ramp-function generator

r0944 CO: Counter for fault buffer changes / Fault buff change
All objects Can be changed: - Calculated: - Access level: 2
Data type: Unsigned16 Dynamic index: - Func. diagram: 8060
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays fault buffer changes. This counter is incremented every time the fault buffer changes.
Recommend.: Used to check whether the fault buffer has been read out consistently.
Dependency: Refer to: r0945, r0947, r0948, r0949, r2109

r0945[0...63] Fault code / Fault code

All objects Can be changed: - Calculated: - Access level: 2
Data type: Unsigned16 Dynamic index: - Func. diagram: 1750, 8060
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the numbers of faults that have occurred.
Dependency: Refer to: r0947, r0948, r0949, r2109, r2130, r2133, r2136, r3120, r3122
Note: The buffer parameters are cyclically updated in the background (refer to status signal in r2139).
Fault buffer structure (general principle):
r0945[0], r0949[0], r0948[0], r2109[0], r3115[0] --> actual fault case, fault 1
...
r0945[7], r0949[7], r0948[7], r2109[7], r3115[7] --> actual fault case, fault 8
r0945[8], r0949[8], r0948[8], r2109[8], r3115[8] --> 1st acknowledged fault case, fault 1
...
r0945[15], r0949[15], r0948[15], r2109[15], r3115[15] --> 1st acknowledged fault case, fault 8
...
r0945[56], r0949[56], r0948[56], r2109[56], r3115[56] --> 7th acknowledged fault case, fault 1
...
r0945[63], r0949[63], r0948[63], r2109[63], r3115[63] --> 7th acknowledged fault case, fault 8

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 Parameter
List of parameters

r0946[0...65534] Fault code list / Fault code list

All objects Can be changed: - Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: 8060
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Lists the fault codes stored in the drive unit.
The indices can only be accessed with a valid fault code.
Dependency: The parameter assigned to the fault code is entered in r0951 under the same index.

r0947[0...63] Fault number / Fault number

All objects Can be changed: - Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: 1750, 8060
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: This parameter is identical to r0945.

r0948[0...63] Fault time received in milliseconds / t_fault recv ms

All objects Can be changed: - Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 1750, 8060
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [ms] - [ms] - [ms]
Description: Displays the system runtime in milliseconds when the fault occurred.
Dependency: Refer to: r0945, r0947, r0949, r2109, r2114, r2130, r2133, r2136, r3115, r3120, r3122
Notice: The time comprises r2130 (days) and r0948 (milliseconds).
Note: The buffer parameters are cyclically updated in the background (refer to status signal in r2139).
The structure of the fault buffer and the assignment of the indices is shown in r0945.
When the parameter is read via PROFIdrive, the TimeDifference data type applies.

r0949[0...63] Fault value / Fault value

All objects Can be changed: - Calculated: - Access level: 3
Data type: Integer32 Dynamic index: - Func. diagram: 1750, 8060
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays additional information about the fault that occurred (as integer number).
Dependency: Refer to: r0945, r0947, r0948, r2109, r2130, r2133, r2136, r3115, r3120, r3122
Note: The buffer parameters are cyclically updated in the background (refer to status signal in r2139).
The structure of the fault buffer and the assignment of the indices is shown in r0945.

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 Parameter
List of parameters

p0952 Fault cases, counter / Fault cases qty

All objects Can be changed: U, T Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: 1710, 8060
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 65535 0
Description: Number of fault situations that have occurred since the last reset.
Dependency: The fault buffer is deleted (cleared) by setting p0952 to 0.
Refer to: r0945, r0947, r0948, r0949, r2109, r2130, r2133, r2136

r0963 PROFIBUS baud rate / PB baud rate

CU_S110-DP Can be changed: - Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 255 -
Description: Displays the corresponding value for the PROFIBUS baud rate.
Value: 0: 9.6 kbit/s
1: 19.2 kbit/s
2: 93.75 kbit/s
3: 187.5 kbit/s
4: 500 kbit/s
6: 1.5 Mbit/s
7: 3 Mbit/s
8: 6 Mbit/s
9: 12 Mbit/s
10: 31.25 kbit/s
11: 45.45 kbit/s
255: Baud rate unknown

r0964[0...6] Device identification / Device ident.

CU_S110-CAN, Can be changed: - Calculated: - Access level: 2
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the device identification.
Index: [0] = Company (Siemens = 42)
[1] = Device type
[2] = Firmware version
[3] = Firmware date (year)
[4] = Firmware date (day/month)
[5] = Number of drive objects
[6] = Firmware patch/hot fix
Note: Example:
r0964[0] = 42 --> SIEMENS
r0964[1] = device type, see below
r0964[2] = 403 --> first part of the firmware version V04.03 (for second part, refer to index 6)
r0964[3] = 2010 --> year 2010
r0964[4] = 1705 --> 17th of May
r0964[5] = 2 --> 2 drive objects
r0964[6] = 200 --> second part, firmware version (complete version: V04.03.02.00)

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 Parameter
List of parameters

Device type:
r0964[1] = 5400 --> SINAMICS S110 CU305 DP
r0964[1] = 5401 --> SINAMICS S110 CU305 PN
r0964[1] = 5402 --> SINAMICS S110 CU305 CAN

r0965 PROFIdrive profile number / PD profile number

CU_S110-DP, Can be changed: - Calculated: - Access level: 3
CU_S110-PN Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the PROFIdrive profile number and profile version.
Constant value = 0329 hex.
Byte 1: Profile number = 03 hex = PROFIdrive profile
Byte 2: Profile version = 29 hex = Version 4.1
Note: When the parameter is read via PROFIdrive, the Octet String 2 data type applies.

p0969 System runtime relative / t_System relative

CU_S110-CAN, Can be changed: T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 1750, 8060
CU_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 [ms] 4294967295 [ms] 0 [ms]
Description: Displays the system runtime in ms since the last POWER ON.
Note: The value in p0969 can only be reset to 0.
The value overflows after approx. 49 days.
When the parameter is read via PROFIdrive, the TimeDifference data type applies.

p0970 Reset drive parameters / Drive par reset

SERVO_S110-CAN, Can be changed: C2(30) Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Factory settings Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 100 0
Description: The parameter is used to initiate the reset of the parameters of an individual drive unit.
Parameters p0100, p0205 (only for VECTOR) and the parameters of the basic drive commissioning (p0009) are not
reset (p0107, p0108, p0111, p0112, p0115, p0121, p0130, p0131, p0140, p0141, p0142, p0170, p0186 ... p0189).
These can only be reset using the factory setting of the complete drive unit (p0976).
Value: 0: Inactive
1: Start a parameter reset
5: Starts a safety parameter reset
100: Start a BICO interconnection reset
Dependency: Refer to: F01659
Notice: After the value has been modified, no further parameter modifications can be made and the status is shown in
r3996. Modifications can be made again when r3996 = 0.
Note: A factory setting run can only be started if p0010 was first set to 30 (parameter reset).
At the end of the calculations, p0970 is automatically set to 0.
Parameter reset has been completed if p0970 and p0010 have been set to 0.

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 Parameter
List of parameters

For p0970 = 5 the following applies:

The password for Safety Integrated must be set.
When Safety Integrated is enabled, this can result in error messages, which then require an acceptance test to be
performed.
Then save the parameters and carry out a POWER ON.
For p0970 = 1 the following applies:
If a Safety Integrated function is parameterized (p9601), then the safety parameters are not reset. In this case, a
fault F01659 is output with fault value 2.

p0971 Save drive object parameters / Drv_obj par save

All objects Can be changed: U, T Calculated: - Access level: 1
Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: Factory settings Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Setting to save the parameter of the particular drive object in the non-volatile memory.
Value: 0: Inactive
1: Save drive object
Dependency: Refer to: p0977, p1960
Caution: If a memory card (optional) is inserted, the following applies:
The parameters are also saved on the card and therefore overwrite any existing data!

Caution: The Control Unit power supply may only be powered down after data has been saved (i.e. after data save has been
started, wait until the parameter again has the value 0).
Notice: Writing to parameters is inhibited while saving.
The progress while saving is displayed in r3996.
Note: Starting from the particular drive object, the following parameters are saved:
CU3xx: Device-specific parameters and PROFIBUS device parameters.
Other objects: Parameters of the actual object and PROFIBUS device parameters.
Prerequisite:
In order that the parameter of a drive object, saved with p0971 = 1, is read the next time that the Control Unit is
booted, then all parameters must, as a minimum, have first been saved once with p0977 = 1.

p0972 Drive unit reset / Drv_unit reset

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 3 0
Description: Sets the required procedure to execute a hardware reset for the drive unit.
Value: 0: Inactive
1: Hardware-Reset immediate
2: Hardware reset preparation
3: Hardware reset after cyclic communication has failed
Danger: It must be absolutely ensured that the system is in a safe condition.
The memory card/device memory of the Control Unit must not be accessed.

Note: If value = 1:
Reset is immediately executed and communications interrupted.
After communications have been established, check the reset operation (refer below).

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 Parameter
List of parameters

If value = 2:
Help to check the reset operation.
Firstly, set p0972 = 2 and then read back. Secondly, set p0972 = 1 (it is possible that this request is possibly no lon-
ger acknowledged). The communication is then interrupted.
After communications have been established, check the reset operation (refer below).
If value = 3:
The reset is executed after interrupting cyclic communication. This setting is used to implement a synchronized
reset by a control for several drive units.
If the cyclic communication is active for both PROFIdrive interfaces, then the reset is executed after completing
both cycle communications.
After communications have been established, check the reset operation (refer below).
To check the reset operation:
After the drive unit has been restarted and communications have been established, read p0972 and check the fol-
lowing:
p0972 = 0? --> The reset was successfully executed.
p0972 > 0? --> The reset was not executed.

r0975[0...10] Drive object identification / DO identification

All objects Can be changed: - Calculated: - Access level: 2
Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the identification of the drive object.
Index: [0] = Company (Siemens = 42)
[1] = Drive object type
[2] = Firmware version
[3] = Firmware date (year)
[4] = Firmware date (day/month)
[5] = PROFIdrive drive object, type class
[6] = PROFIdrive drive object, sub-type Class 1
[7] = Drive object number
[8] = Reserved
[9] = Reserved
[10] = Firmware patch/hot fix
Note: Example:
r0975[0] = 42 --> SIEMENS
r0975[1] = 11 --> SERVO drive object type
r0975[2] = 102 --> first part, firmware version V01.02 (second part, refer to index 10)
r0975[3] = 2003 --> year 2003
r0975[4] = 1401 --> 14th of January
r0975[5] = 1 --> PROFIdrive drive object, type class
r0975[6] = 9 --> PROFIdrive drive object sub-type class 1
r0975[7] = 2 --> drive object number = 2
r0975[8] = 0 (reserved)
r0975[9] = 0 (reserved)
r0975[10] = 600 --> second part, firmware version (complete version: V01.02.06.00)

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 Parameter
List of parameters

p0976 Reset and load all parameters / Reset load all par
CU_S110-CAN, Can be changed: C1(30) Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Factory settings Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1013 0
Description: Resets or downloads all parameters of the drive system.
Value: 0: Inactive
1: Start reset of all parameters to factory setting
2: Start dnload of param. saved in non-volatile mem w/ p0977=1
3: Start dnload of volatile parameters from RAM
10: Start dnload of param. saved in non-volatile mem w/ p0977=10
11: Start dnload of param. saved in non-volatile mem w/ p0977=11
12: Start dnload of param. saved in non-volatile mem w/ p0977=12
20: Start download Siemens internal setting 20
21: Start download Siemens internal setting 21
22: Start download Siemens internal setting 22
23: Start download Siemens internal setting 23
24: Start download Siemens internal setting 24
25: Start download Siemens internal setting 25
26: Start download Siemens internal setting 26
100: Start resetting of all BICO interconnections
1011: Start dnload of param. saved in volatile mem w/ p0977=1011
1012: Start dnload of param. saved in volatile mem w/ p0977=1012
1013: Start dnload of param. saved in volatile mem w/ p0977=1013
Notice: After the value has been modified, no further parameter modifications can be made and the status is shown in
r3996. Modifications can be made again when r3996 = 0.
Note: After all of the parameters have been reset to their factory setting, the system must be commissioned for the first
time again.
Resetting or loading is realized in the non-volatile memory.
Procedure:
1. Set p0009 = 30 (parameter reset).
2. Set p0976 to "required value". The system is rebooted.
p0976 is automatically set to 0 and p0009 is automatically set to 1 after this has been carried out.

p0977 Save all parameters / Save all par

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Factory settings Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1013 0
Description: Saves all parameters of the drive system to the non-volatile memory.
Value: 0: Inactive
1: Save in non-volatile memory - downloaded at POWER ON
10: Save as opt. in non-vol. memory - downloaded w/ p0976=10
11: Save as opt. in non-vol. memory - downloaded w/ p0976=11
12: Save as opt. in non-vol. memory - downloaded w/ p0976=12
20: Save in non-volatile memory as setting 20 (reserved)
21: Save in non-volatile memory as setting 21 (reserved)
22: Save in non-volatile memory as setting 22 (reserved)
23: Save in non-volatile memory as setting 23 (reserved)
24: Save in non-volatile memory as setting 24 (reserved)
25: Save in non-volatile memory as setting 25 (reserved)
26: Save in non-volatile memory as setting 26 (reserved)
80: Save in non-volatile memory time-optimized (reserved)

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 Parameter
List of parameters

1011: Save in volatile memory, downloaded with p0976=1011

1012: Save in volatile memory, downloaded with p0976=1012
1013: Save in volatile memory, downloaded with p0976=1013
Dependency: Refer to: p0976, p1960
Caution: Memory card inserted:
The drive parameterization is also saved on the card. Any backed-up data is overwritten!!!

Caution: The Control Unit power supply may only be powered down after data has been saved (i.e. after data save has been
started, wait until the parameter again has the value 0).
Notice: Writing to parameters is inhibited while saving.
The progress while saving is displayed in r3996.
Note: Parameters saved with p0977 = 10, 11 or 12 can be downloaded again with p0976 = 10, 11 or 12.

r0979[0...30] PROFIdrive encoder format / PD encoder format

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 4010, 4704
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the actual position encoder used according to PROFIdrive.
Index: [0] = Header
[1] = Type, encoder 1
[2] = Resolution enc 1
[3] = Shift factor G1_XIST1
[4] = Shift factor G1_XIST2
[5] = Distinguishable revolutions encoder 1
[6] = Reserved
[7] = Reserved
[8] = Reserved
[9] = Reserved
[10] = Reserved
[11] = Type, encoder 2
[12] = Resolution enc 2
[13] = Shift factor G2_XIST1
[14] = Shift factor G2_XIST2
[15] = Distinguishable revolutions encoder 2
[16] = Reserved
[17] = Reserved
[18] = Reserved
[19] = Reserved
[20] = Reserved
[21] = Reserved
[22] = Reserved
[23] = Reserved
[24] = Reserved
[25] = Reserved
[26] = Reserved
[27] = Reserved
[28] = Reserved
[29] = Reserved
[30] = Reserved
Note: Information about the individual indices can be taken from the following literature:
PROFIdrive Profile Drive Technology

© Siemens AG 2012 All Rights Reserved 1-185

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 Parameter
List of parameters

r0980[0...299] List of existing parameters 1 / List avail par 1

All objects Can be changed: - Calculated: - Access level: 4
Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the parameters that exist for this drive.
Dependency: Refer to: r0981, r0989
Note: The existing parameters are displayed in indices 0 to 298. If an index contains the value 0, then the list ends here.
In a long list, index 299 contains the parameter number at which position the list continues.
This list consists solely of the following parameters:
r0980[0...299], r0981[0...299] ... r0989[0...299]
The parameters in this list are not displayed in the expert list of the commissioning software. However, they can be
read from a higher-level control system (e.g. PROFIBUS master).

r0981[0...299] List of existing parameters 2 / List avail par 2

All objects Can be changed: - Calculated: - Access level: 4
Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the parameters that exist for this drive.
Dependency: Refer to: r0980, r0989
Note: The existing parameters are displayed in indices 0 to 298. If an index contains the value 0, then the list ends here.
In a long list, index 299 contains the parameter number at which position the list continues.
This list consists solely of the following parameters:
r0980[0...299], r0981[0...299] ... r0989[0...299]
The parameters in this list are not displayed in the expert list of the commissioning software. However, they can be
read from a higher-level control system (e.g. PROFIBUS master).

r0989[0...299] List of existing parameters 10 / List avail par 10

All objects Can be changed: - Calculated: - Access level: 4
Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the parameters that exist for this drive.
Dependency: Refer to: r0980, r0981
Note: The existing parameters are displayed in indices 0 to 298. If an index contains the value 0, then the list ends here.
This list consists solely of the following parameters:
r0980[0...299], r0981[0...299] ... r0989[0...299]
The parameters in this list are not displayed in the expert list of the commissioning software. However, they can be
read from a higher-level control system (e.g. PROFIBUS master).

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 Parameter
List of parameters

p1001[0...n] CO: Fixed speed setpoint 1 / n_set_fixed 1

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Extended set), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 1021, 3010
SERVO_S110-DP
P-Group: Setpoints Units group: 3_1 Unit selection: p0505
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Extended set)
Min Max Factory setting
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
Description: Sets a value for the fixed speed / velocity setpoint 1.
Dependency: Refer to: p1020, p1021, p1022, p1023, r1024, r1197
Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.

p1002[0...n] CO: Fixed speed setpoint 2 / n_set_fixed 2

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Extended set), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3010
SERVO_S110-DP
P-Group: Setpoints Units group: 3_1 Unit selection: p0505
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Extended set)
Min Max Factory setting
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
Description: Sets a value for the fixed speed / velocity setpoint 2.
Dependency: Refer to: p1020, p1021, p1022, p1023, r1024, r1197
Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.

p1003[0...n] CO: Fixed speed setpoint 3 / n_set_fixed 3

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Extended set), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3010
SERVO_S110-DP
(Extended set), P-Group: Setpoints Units group: 3_1 Unit selection: p0505
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Extended set)
Min Max Factory setting
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
Description: Sets a value for the fixed speed / velocity setpoint 3.
Dependency: Refer to: p1020, p1021, p1022, p1023, r1024, r1197
Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.

p1004[0...n] CO: Fixed speed setpoint 4 / n_set_fixed 4

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Extended set), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3010
SERVO_S110-DP
P-Group: Setpoints Units group: 3_1 Unit selection: p0505
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Extended set)
Min Max Factory setting
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
Description: Sets a value for the fixed speed / velocity setpoint 4.
Dependency: Refer to: p1020, p1021, p1022, p1023, r1024, r1197
Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.

© Siemens AG 2012 All Rights Reserved 1-187

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 Parameter
List of parameters

p1005[0...n] CO: Fixed speed setpoint 5 / n_set_fixed 5

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Extended set), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3010
SERVO_S110-DP
P-Group: Setpoints Units group: 3_1 Unit selection: p0505
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Extended set)
Min Max Factory setting
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
Description: Sets a value for the fixed speed / velocity setpoint 5.
Dependency: Refer to: p1020, p1021, p1022, p1023, r1024, r1197
Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.

p1006[0...n] CO: Fixed speed setpoint 6 / n_set_fixed 6

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Extended set), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3010
SERVO_S110-DP
P-Group: Setpoints Units group: 3_1 Unit selection: p0505
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Extended set)
Min Max Factory setting
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
Description: Sets a value for the fixed speed / velocity setpoint 6.
Dependency: Refer to: p1020, p1021, p1022, p1023, r1024, r1197
Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.

p1007[0...n] CO: Fixed speed setpoint 7 / n_set_fixed 7

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Extended set), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3010
SERVO_S110-DP
(Extended set), P-Group: Setpoints Units group: 3_1 Unit selection: p0505
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Extended set)
Min Max Factory setting
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
Description: Sets a value for the fixed speed / velocity setpoint 7.
Dependency: Refer to: p1020, p1021, p1022, p1023, r1024, r1197
Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.

p1008[0...n] CO: Fixed speed setpoint 8 / n_set_fixed 8

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Extended set), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3010
SERVO_S110-DP
P-Group: Setpoints Units group: 3_1 Unit selection: p0505
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Extended set)
Min Max Factory setting
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
Description: Sets a value for the fixed speed / velocity setpoint 8.
Dependency: Refer to: p1020, p1021, p1022, p1023, r1024, r1197
Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.

1-188 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p1009[0...n] CO: Fixed speed setpoint 9 / n_set_fixed 9

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Extended set), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3010
SERVO_S110-DP
P-Group: Setpoints Units group: 3_1 Unit selection: p0505
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Extended set)
Min Max Factory setting
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
Description: Sets a value for the fixed speed / velocity setpoint 9.
Dependency: Refer to: p1020, p1021, p1022, p1023, r1024, r1197
Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.

p1010[0...n] CO: Fixed speed setpoint 10 / n_set_fixed 10

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Extended set), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3010
SERVO_S110-DP
P-Group: Setpoints Units group: 3_1 Unit selection: p0505
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Extended set)
Min Max Factory setting
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
Description: Sets a value for the fixed speed / velocity setpoint 10.
Dependency: Refer to: p1020, p1021, p1022, p1023, r1024, r1197
Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.

p1011[0...n] CO: Fixed speed setpoint 11 / n_set_fixed 11

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Extended set), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3010
SERVO_S110-DP
(Extended set), P-Group: Setpoints Units group: 3_1 Unit selection: p0505
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Extended set)
Min Max Factory setting
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
Description: Sets a value for the fixed speed / velocity setpoint 11.
Dependency: Refer to: p1020, p1021, p1022, p1023, r1024, r1197
Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.

p1012[0...n] CO: Fixed speed setpoint 12 / n_set_fixed 12

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Extended set), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3010
SERVO_S110-DP
P-Group: Setpoints Units group: 3_1 Unit selection: p0505
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Extended set)
Min Max Factory setting
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
Description: Sets a value for the fixed speed / velocity setpoint 12.
Dependency: Refer to: p1020, p1021, p1022, p1023, r1024, r1197
Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.

© Siemens AG 2012 All Rights Reserved 1-189

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p1013[0...n] CO: Fixed speed setpoint 13 / n_set_fixed 13

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Extended set), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3010
SERVO_S110-DP
P-Group: Setpoints Units group: 3_1 Unit selection: p0505
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Extended set)
Min Max Factory setting
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
Description: Sets a value for the fixed speed / velocity setpoint 13.
Dependency: Refer to: p1020, p1021, p1022, p1023, r1024, r1197
Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.

p1014[0...n] CO: Fixed speed setpoint 14 / n_set_fixed 14

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Extended set), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3010
SERVO_S110-DP
P-Group: Setpoints Units group: 3_1 Unit selection: p0505
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Extended set)
Min Max Factory setting
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
Description: Sets a value for the fixed speed / velocity setpoint 14.
Dependency: Refer to: p1020, p1021, p1022, p1023, r1024, r1197
Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.

p1015[0...n] CO: Fixed speed setpoint 15 / n_set_fixed 15

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Extended set), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 1021, 3010
SERVO_S110-DP
(Extended set), P-Group: Setpoints Units group: 3_1 Unit selection: p0505
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Extended set)
Min Max Factory setting
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
Description: Sets a value for the fixed speed / velocity setpoint 15.
Dependency: Refer to: p1020, p1021, p1022, p1023, r1024, r1197
Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.

p1020[0...n] BI: Fixed speed setpoint selection Bit 0 / n_set_fixed Bit 0

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Extended set), Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 2505
SERVO_S110-DP
P-Group: Setpoints Units group: - Unit selection: -
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended set)
Min Max Factory setting
- - 0
Description: Sets the signal source for selecting the fixed speed setpoint.
Dependency: Selects the required fixed speed setpoint using p1020 ... p1023.
Displays the number of the actual fixed speed setpoint in r1197.
Sets the values for the fixed speed setpoints 1 ... 15 using p1001 ... p1015.
Refer to: p1021, p1022, p1023, r1197
Note: If a fixed speed setpoint has not been selected (p1020 ... p1023 = 0, r1197 = 0), then r1024 = 0 (setpoint = 0).

1-190 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p1021[0...n] BI: Fixed speed setpoint selection Bit 1 / n_set_fixed Bit 1

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Extended set), Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 2505
SERVO_S110-DP
P-Group: Setpoints Units group: - Unit selection: -
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended set)
Min Max Factory setting
- - 0
Description: Sets the signal source for selecting the fixed speed setpoint.
Dependency: Selects the required fixed speed setpoint using p1020 ... p1023.
Displays the number of the actual fixed speed setpoint in r1197.
Sets the values for the fixed speed setpoints 1 ... 15 using p1001 ... p1015.
Refer to: p1020, p1022, p1023, r1197
Note: If a fixed speed setpoint has not been selected (p1020 ... p1023 = 0, r1197 = 0), then r1024 = 0 (setpoint = 0).

p1022[0...n] BI: Fixed speed setpoint selection Bit 2 / n_set_fixed Bit 2

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Extended set), Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 2505
SERVO_S110-DP
P-Group: Setpoints Units group: - Unit selection: -
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended set)
Min Max Factory setting
- - 0
Description: Sets the signal source for selecting the fixed speed setpoint.
Dependency: Selects the required fixed speed setpoint using p1020 ... p1023.
Displays the number of the actual fixed speed setpoint in r1197.
Sets the values for the fixed speed setpoints 1 ... 15 using p1001 ... p1015.
Refer to: p1020, p1021, p1023, r1197
Note: If a fixed speed setpoint has not been selected (p1020 ... p1023 = 0, r1197 = 0), then r1024 = 0 (setpoint = 0).

p1023[0...n] BI: Fixed speed setpoint selection Bit 3 / n_set_fixed Bit 3

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Extended set), Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 2505
SERVO_S110-DP
(Extended set), P-Group: Setpoints Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended set)
Min Max Factory setting
- - 0
Description: Sets the signal source for selecting the fixed speed setpoint.
Dependency: Selects the required fixed speed setpoint using p1020 ... p1023.
Displays the number of the actual fixed speed setpoint in r1197.
Sets the values for the fixed speed setpoints 1 ... 15 using p1001 ... p1015.
Refer to: p1020, p1021, p1022, r1197
Note: If a fixed speed setpoint has not been selected (p1020 ... p1023 = 0, r1197 = 0), then r1024 = 0 (setpoint = 0).

© Siemens AG 2012 All Rights Reserved 1-191

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r1024 CO: Fixed speed setpoint effective / n_set_fixed eff

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 3
(Extended set), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 1550, 3010
SERVO_S110-DP
P-Group: Setpoints Units group: 3_1 Unit selection: p0505
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Extended set)
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Displays the selected and effective fixed speed setpoint.
This setpoint is the output value for the fixed speed setpoints and must be appropriately interconnected (e.g. with
the main setpoint).
Recommend.: Interconnect the signal with main setpoint (p1070).
Dependency: Selects the required fixed speed setpoint using p1020 ... p1023.
Displays the number of the actual fixed speed setpoint in r1197.
Sets the values for the fixed speed setpoints 1 ... 15 using p1001 ... p1015.
Refer to: p1070, r1197
Note: If a fixed speed setpoint has not been selected (p1020 ... p1023 = 0, r1197 = 0), then r1024 = 0 (setpoint = 0).

p1030[0...n] Motorized potentiometer configuration / Mop configuration

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 3
(Extended set), Data type: Unsigned16 Dynamic index: DDS, p0180 Func. diagram: 3020
SERVO_S110-DP
(Extended set), P-Group: Setpoints Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended set)
Min Max Factory setting
- - 0000 0110 bin
Description: Sets the configuration for the motorized potentiometer.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Data save active Yes No -
01 Automatic mode, ramp-function generator Yes No -
active
02 Initial rounding-off active Yes No -
03 Save in NVRAM active Yes No -
04 Ramp-function generator always active Yes No -
Note: Re bit 00:
0: The setpoint for the motorized potentiometer is not saved and after ON is entered using p1040.
1: The setpoint for the motorized potentiometer is saved after OFF and after ON set to the saved value. In order to
save in a non-volatile fashion, bit 03 should be set to 1.
Re bit 01:
0: Without ramp-function generator in the automatic mode (ramp-up/ramp-down time = 0).
1: With ramp-function generator in the automatic mode.
For manual operation (0 signal via BI: p1041), the ramp-function generator is always active.
Re bit 02:
0: Without initial rounding-off
1: With initial rounding-off. The selected ramp-up/down time is correspondingly exceeded. The initial rounding-off is
a sensitive way of specifying small changes (progressive reaction when keys are pressed).
The jerk for the initial rounding-off is independent of the ramp-up time and only depends on the selected maximum
speed (p1082). It is calculated as follows:
r = 0.01 % * p1082 [1/s] / 0.13^2 [s^2]
The jerk acts up until the maximum acceleration is reached (a_max = p1082 [1/s] / p1047 [s]), and then the drive
continues to run linearly with a constant rate of acceleration. The higher the maximum acceleration (the lower that
p1047 is), the longer the ramp-up time increases with respect to the set ramp-up time.

1-192 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Re bit 03:
0: Non-volatile data save de-activated.
1: The setpoint for the motorized potentiometer is saved in a non-volatile fashion (for bit 00 = 1).
Re bit 04:
When the bit is set, the ramp-function generator is computed independent of the pulse enable. The actual output
value of the motorized potentiometer is always in r1050.

p1035[0...n] BI: Motorized potentiometer setpoint raise / Mop raise

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Extended set), Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 2505, 3020
SERVO_S110-DP
P-Group: Setpoints Units group: - Unit selection: -
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended set)
Min Max Factory setting
- - 0
Description: Sets the signal source to continually increase the setpoint for the motorized potentiometer.
The setpoint change (CO: r1050) depends on the set ramp-up time (p1047) and the duration of the signal that is
present (BI: p1035).
Dependency: Refer to: p1036
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.

p1036[0...n] BI: Motorized potentiometer lower setpoint / Mop lower

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Extended set), Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 2505, 3020
SERVO_S110-DP
P-Group: Setpoints Units group: - Unit selection: -
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended set)
Min Max Factory setting
- - 0
Description: Sets the signal source to continuously lower the setpoint for the motorized potentiometer.
The setpoint change (CO: r1050) depends on the set ramp-down time (p1048) and the duration of the signal that is
present (BI: p1036).
Dependency: Refer to: p1035
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.

p1037[0...n] Motorized potentiometer maximum speed / MotP n_max

SERVO_S110-CAN Can be changed: U, T Calculated: Access level: 2
(Extended set), CALC_MOD_LIM_REF
SERVO_S110-DP Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3020
(Extended set),
P-Group: Setpoints Units group: 3_1 Unit selection: p0505
SERVO_S110-PN
(Extended set) Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
Description: Sets the maximum speed/velocity for the motorized potentiometer.
Note: This parameter is automatically pre-assigned in the commissioning phase.
The setpoint output from the motorized potentiometer is limited to this value.

© Siemens AG 2012 All Rights Reserved 1-193

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p1038[0...n] Motorized potentiometer minimum speed / MotP n_min

SERVO_S110-CAN Can be changed: U, T Calculated: Access level: 2
(Extended set), CALC_MOD_LIM_REF
SERVO_S110-DP Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3020
(Extended set),
P-Group: Setpoints Units group: 3_1 Unit selection: p0505
SERVO_S110-PN
(Extended set) Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
Description: Sets the minimum speed/velocity for the motorized potentiometer.
Note: This parameter is automatically pre-assigned in the commissioning phase.
The setpoint output from the motorized potentiometer is limited to this value.

p1039[0...n] BI: Motorized potentiometer inversion / MotP inv

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Extended set), Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 3020
SERVO_S110-DP
P-Group: Setpoints Units group: - Unit selection: -
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended set)
Min Max Factory setting
- - 0
Description: Sets the signal source to invert the minimum speed/velocity or the maximum speed/velocity for the motorized
potentiometer.
Dependency: Refer to: p1037, p1038
Note: The inversion is only active during "motorized potentiometer raise" or "motorized potentiometer lower".

p1040[0...n] Motorized potentiometer starting value / Mop start value

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Extended set), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3020
SERVO_S110-DP
P-Group: Setpoints Units group: 3_1 Unit selection: p0505
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended set)
Min Max Factory setting
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
Description: Sets the starting value for the motorized potentiometer. This starting value becomes effective after the drive has
been powered up.
Dependency: Only effective if p1030.0 = 0.
Refer to: p1030

p1041[0...n] BI: Motorized potentiometer manual/automatic / Mop manual/auto

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Extended set), Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 3020
SERVO_S110-DP
(Extended set), P-Group: Setpoints Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended set)
Min Max Factory setting
- - 0
Description: Sets the signal source to change over from manual to automatic when using a motorized potentiometer.
In the manual mode, the setpoint is changed using two signals - raise and lower. In the automatic mode, the set-
point must be interconnected via a connector input.
Dependency: Refer to: p1030, p1035, p1036, p1042
Note: The effectiveness of the internal ramp-function generator can be set in automatic mode.

1-194 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p1042[0...n] CI: Motorized potentiometer automatic setpoint / Mop auto setpoint

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Extended set), Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 3020
SERVO_S110-DP
P-Group: Setpoints Units group: - Unit selection: -
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Extended set)
Min Max Factory setting
- - 0
Description: Sets the signal source for the setpoint of the motorized potentiometer in the automatic mode.
Dependency: Refer to: p1041

p1043[0...n] BI: Motorized potentiometer accept setting value / MotP acc set val
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Extended set), Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 3020
SERVO_S110-DP
P-Group: Setpoints Units group: - Unit selection: -
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended set)
Min Max Factory setting
- - 0
Description: Sets the signal source to accept the setting value for the motorized potentiometer.
Dependency: Refer to: p1044
Note: The setting value (CI: p1044) becomes effective for a 0/1 edge of the setting command (BI: p1043).

p1044[0...n] CI: Motorized potentiometer setting value / Mop set val

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Extended set), Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 3020
SERVO_S110-DP
(Extended set), P-Group: Setpoints Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Extended set)
Min Max Factory setting
- - 0
Description: Sets the signal source for the setting value for the motorized potentiometer.
Dependency: Refer to: p1043
Note: The setting value (CI: p1044) becomes effective for a 0/1 edge of the setting command (BI: p1043).

r1045 CO: Mot. potentiometer speed setp. in front of ramp-fct. gen. / Mop n_set bef RFG
SERVO_S110-CAN Can be changed: - Calculated: - Access level: 3
(Extended set), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 3020
SERVO_S110-DP
P-Group: Setpoints Units group: 3_1 Unit selection: p0505
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Extended set)
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Sets the effective setpoint in front of the internal motorized potentiometer ramp-function generator.

© Siemens AG 2012 All Rights Reserved 1-195

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p1047[0...n] Motorized potentiometer ramp-up time / Mop ramp-up time

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Extended set), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3020
SERVO_S110-DP
P-Group: Setpoints Units group: - Unit selection: -
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended set)
Min Max Factory setting
0.000 [s] 1000.000 [s] 10.000 [s]
Description: Sets the ramp-up time for the internal ramp-function generator for the motorized potentiometer.
The setpoint is changed from zero up to the speed/velocity limit (p1082) within this time (if no initial rounding-off has
been activated).
Dependency: Refer to: p1030, p1048, p1082
Note: When the initial rounding-off is activated (p1030.2) the ramp-up time is correspondingly extended.

p1048[0...n] Motorized potentiometer ramp-down time / Mop ramp-down time

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Extended set), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3020
SERVO_S110-DP
(Extended set), P-Group: Setpoints Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended set)
Min Max Factory setting
0.000 [s] 1000.000 [s] 10.000 [s]
Description: Sets the ramp-down time for the internal ramp-function generator for the motorized potentiometer.
The setpoint is changed from the speed/velocity limit (p1082) to zero within this time (if no initial rounding-off has
been activated).
Dependency: Refer to: p1030, p1047, p1082
Note: The deceleration time is extended corresponding to the activated initial rounding-off (p1030.2).

r1050 CO: Motor. potentiometer setpoint after the ramp-function generator /

Mop setp after RFG
SERVO_S110-CAN Can be changed: - Calculated: - Access level: 3
(Extended set), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 1550, 3020
SERVO_S110-DP
P-Group: Setpoints Units group: 3_1 Unit selection: p0505
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Extended set)
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Sets the effective setpoint after the internal motorized potentiometer ramp-function generator.
This setpoint is the output value of the motorized potentiometer and must be appropriately interconnected onwards
(e.g. with the main setpoint).
Recommend.: Interconnect the signal with main setpoint (p1070).
Dependency: Refer to: p1070
Note: For "With ramp-function generator", after an OFF1, OFF2, OFF3 or for a 0 signal via BI: p0852 (inhibit operation,
cancel pulses) the ramp-function generator output (r1050) is set to the starting value (configuration via p1030.0).

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 Parameter
List of parameters

p1051[0...n] CI: Speed limit RFG positive direction of rotation / n_limit RFG pos
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Extended set), Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 3050
SERVO_S110-DP
P-Group: Setpoints Units group: - Unit selection: -
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Extended set)
Min Max Factory setting
- - 1083[0]
Description: Sets the signal source for the speed limit of the positive direction on the ramp-function generator input.

p1052[0...n] CI: Speed limit RFG negative direction of rotation / n_limit RFG neg
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Extended set), Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 3050
SERVO_S110-DP
P-Group: Setpoints Units group: - Unit selection: -
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Extended set)
Min Max Factory setting
- - 1086[0]
Description: Sets the signal source for the speed limit of the negative direction on the ramp-function generator input.

p1055[0...n] BI: Jog bit 0 / Jog bit 0

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Extended set), Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 2501, 3030
SERVO_S110-DP
(Extended set), P-Group: Setpoints Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended set)
Min Max Factory setting
- - 0
Description: Sets the signal source for jog 1.
Recommend.: When the setting for this binector input is changed, the motor can only be switched on by means of an appropriate
signal change of the source.
Dependency: Refer to: p0840, p1058
Notice: The drive is enabled for jogging using BI: p1055 or BI: p1056.
The command "ON/OFF1" can be issued using BI: p0840 or using BI: p1055/p1056.
Only the signal source that was used to power up can also be used to power down again.

p1056[0...n] BI: Jog bit 1 / Jog bit 1

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Extended set), Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 2501, 3030
SERVO_S110-DP
P-Group: Setpoints Units group: - Unit selection: -
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended set)
Min Max Factory setting
- - 0
Description: Sets the signal source for jog 2.
Recommend.: When the setting for this binector input is changed, the motor can only be switched on by means of an appropriate
signal change of the source.
Dependency: Refer to: p0840, p1059
Notice: The drive is enabled for jogging using BI: p1055 or BI: p1056.
The command "ON/OFF1" can be issued using BI: p0840 or using BI: p1055/p1056.
Only the signal source that was used to power up can also be used to power down again.

© Siemens AG 2012 All Rights Reserved 1-197

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 Parameter
List of parameters

p1058[0...n] Jog 1 speed setpoint / Jog 1 n_set

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 2
(Extended set), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 1550, 3030
SERVO_S110-DP
P-Group: Setpoints Units group: 3_1 Unit selection: p0505
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended set)
Min Max Factory setting
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
Description: Sets the speed/velocity for jog 1. Jogging is level-triggered and allows the motor to be incrementally moved.
Dependency: Refer to: p1055, p1056

p1059[0...n] Jog 2 speed setpoint / Jog 2 n_set

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 2
(Extended set), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 1550, 3030
SERVO_S110-DP
P-Group: Setpoints Units group: 3_1 Unit selection: p0505
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended set)
Min Max Factory setting
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
Description: Sets the speed/velocity for jog 2. Jogging is level-triggered and allows the motor to be incrementally moved.
Dependency: Refer to: p1055, p1056

p1063[0...n] Speed limit setpoint channel / n_limit setp

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(Extended set), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3040
SERVO_S110-DP
(Extended set), P-Group: Setpoints Units group: 3_1 Unit selection: p0505
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended set)
Min Max Factory setting
0.000 [rpm] 210000.000 [rpm] 210000.000 [rpm]
Description: Sets the speed limit/velocity limit effective in the setpoint channel.
Dependency: Refer to: p1082, p1083, p1085, p1086, p1088

p1070[0...n] CI: Main setpoint / Main setpoint

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Extended set), Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 1550, 3030
SERVO_S110-DP
P-Group: Setpoints Units group: - Unit selection: -
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Extended set)
Min Max Factory setting
- - 1024[0]
Description: Sets the signal source for the main setpoint.
Examples:
r1024: Fixed speed setpoint effective
r1050: Motor. potentiometer setpoint after the ramp-function generator
Dependency: Refer to: p1071, r1073, r1078
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.

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 Parameter
List of parameters

p1071[0...n] CI: Main setpoint scaling / Main setp scal

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Extended set), Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 1550, 3030
SERVO_S110-DP
P-Group: Setpoints Units group: - Unit selection: -
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Extended set)
Min Max Factory setting
- - 1
Description: Sets the signal source for scaling the main setpoint.

r1073 CO: Main setpoint effective / Main setpoint eff

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 3
(Extended set), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 3030
SERVO_S110-DP
P-Group: Setpoints Units group: 3_1 Unit selection: p0505
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Extended set)
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Displays the effective main setpoint. The value shown is the main setpoint after scaling.

p1075[0...n] CI: Suppl setpoint / Suppl setpoint

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Extended set), Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 1550, 3030
SERVO_S110-DP
(Extended set), P-Group: Setpoints Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Extended set)
Min Max Factory setting
- - 0
Description: Sets the signal source for the supplementary setpoint.
Dependency: Refer to: p1076, r1077, r1078

p1076[0...n] CI: Supplementary setpoint scaling / Suppl setp scal

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Extended set), Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 1550, 3030
SERVO_S110-DP
P-Group: Setpoints Units group: - Unit selection: -
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Extended set)
Min Max Factory setting
- - 1
Description: Sets the signal source for scaling the supplementary setpoint.

r1077 CO: Supplementary setpoint effective / Suppl setpoint eff

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 3
(Extended set), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 3030
SERVO_S110-DP
P-Group: Setpoints Units group: 3_1 Unit selection: p0505
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Extended set)
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Displays the effective supplementary setpoint. The value shown is the additional setpoint after scaling.

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 Parameter
List of parameters

r1078 CO: Total setpoint effective / Total setpoint eff

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 3
(Extended set), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 3030
SERVO_S110-DP
P-Group: Setpoints Units group: 3_1 Unit selection: p0505
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Extended set)
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Displays the total effective setpoint. The value indicates the sum of the effective main setpoint and supplementary
setpoint.

p1080[0...n] Minimum speed / n_min

SERVO_S110-CAN Can be changed: C2(1), T Calculated: - Access level: 1
(Extended set), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3050
SERVO_S110-DP
(Extended set), P-Group: Setpoints Units group: 3_1 Unit selection: p0505
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended set)
Min Max Factory setting
0.000 [rpm] 19500.000 [rpm] 0.000 [rpm]
Description: Sets the lowest possible motor speed.
This value is not undershot in operation.
Note: The parameter value applies for both motor directions.
In exceptional cases, the motor can operate below this value (e.g. when reversing).

p1082[0...n] Maximum speed / n_max

SERVO_S110-CAN, Can be changed: C2(1), T Calculated: CALC_MOD_ALL Access level: 1
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3020, 3050,
SERVO_S110-PN 3060, 3070, 3095, 5300
P-Group: Setpoints Units group: 3_1 Unit selection: p0505
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.000 [rpm] 210000.000 [rpm] 1500.000 [rpm]
Description: Sets the highest possible speed.
Dependency: Refer to: p0322, p0324, p0532
Notice: After the value has been modified, no further parameter modifications can be made and the status is shown in
r3996. Modifications can be made again when r3996 = 0.
Note: The parameter applies for both motor directions. The parameter has a limiting effect and is the reference quantity
for all ramp-up and ramp-down times (e.g. down ramps, ramp-function generator, motor potentiometer).
Since the parameter is part of quick commissioning (p0010 = 1), it is defined appropriately when p0310, p0311,
p0322, p0324, p0530, p0531, and p0532 are changed.
The following limits are always effective for p1082:
p1082 <= min(p0324, p0532) if p0324 > 0 and p0532 > 0
p1082 <= p0322 if p0324 = 0 or p0532 = 0 and p0322 > 0
p1082 <= 60 / (10.0 * p0115[0] * r0313)
p1082 <= 60 * Maximum power unit pulse frequency / (5.0 * r0313)
For the automatic calculation (p0340 = 1) the value of the parameter is pre-assigned the maximum motor speed
(p0322). If p0322 = 0, the rated motor speed (p0311) is used as default (pre-assignment) value. For induction
motors that are not catalog motors (p0301 = 0), the synchronous no-load speed is used as default (pre-assignment)
value (p0310 * 60 / r0313).

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 Parameter
List of parameters

For synchronous motors, the following additionally applies:

In the automatic calculation (p0340 = 1), p1082 is limited to speeds for which the rated current of the power unit (S1
continuous operation r0207[3]) is not sufficient as field current: p1082 < p0348 / (1 - r0207 / r0331), valid for
r0207[3]<r0331.
On the other hand, an additional limit is effective, which prevents the EMF from exceeding the maximum DC link
voltage (see p0643 and p1231).
The effective assignment of the motor data set parameter (e.g. p0311) to the drive data set parameter p1082 when
pre-assigning should be taken from p0186.
p1082 is also available in the quick commissioning (p0010 = 1); this means that when exiting via p3900 > 0, the
value is not changed.

p1083[0...n] CO: Speed limit in positive direction of rotation / n_limit pos

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3050, 3095
SERVO_S110-PN
P-Group: Setpoints Units group: 3_1 Unit selection: p0505
Not for motor type: - Scaling: p2000 Expert list: 1
Min Max Factory setting
0.000 [rpm] 210000.000 [rpm] 210000.000 [rpm]
Description: Sets the maximum speed for the positive direction.
Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.

r1084 CO: Speed limit positive effective / n_limit pos eff

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 3050, 3095
SERVO_S110-PN
P-Group: Setpoints Units group: 3_1 Unit selection: p0505
Not for motor type: - Scaling: p2000 Expert list: 1
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Displays the effective positive speed limit.
Dependency: Refer to: p1082, p1083, p1085

p1085[0...n] CI: Speed limit in positive direction of rotation / n_limit pos

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Extended set), Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 3050
SERVO_S110-DP
P-Group: Setpoints Units group: - Unit selection: -
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Extended set)
Min Max Factory setting
- - 1083[0]
Description: Sets the signal source for the speed limit of the positive direction.

p1086[0...n] CO: Speed limit in negative direction of rotation / n_limit neg

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3050, 3095
SERVO_S110-PN
P-Group: Setpoints Units group: 3_1 Unit selection: p0505
Not for motor type: - Scaling: p2000 Expert list: 1
Min Max Factory setting
-210000.000 [rpm] 0.000 [rpm] -210000.000 [rpm]
Description: Sets the speed limit for the negative direction.
Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.

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 Parameter
List of parameters

r1087 CO: Speed limit negative effective / n_limit neg eff

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 3050, 3095
SERVO_S110-PN
P-Group: Setpoints Units group: 3_1 Unit selection: p0505
Not for motor type: - Scaling: p2000 Expert list: 1
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Displays the effective negative speed limit.
Dependency: Refer to: p1082, p1086, p1088

p1088[0...n] CI: Speed limit in negative direction of rotation / n_limit neg

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Extended set), Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 3050
SERVO_S110-DP
(Extended set), P-Group: Setpoints Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Extended set)
Min Max Factory setting
- - 1086[0]
Description: Sets the signal source for the speed/velocity limit of the negative direction.

p1091[0...n] Skip speed 1 / n_skip 1

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 3
(Extended set), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3050
SERVO_S110-DP
P-Group: Setpoints Units group: 3_1 Unit selection: p0505
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Extended set)
Min Max Factory setting
0.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
Description: Sets skip speed 1.
Dependency: Refer to: p1092, p1093, p1094, p1101
Notice: Skip bandwidths can also become ineffective as a result of the downstream limits in the setpoint channel.
Note: The skip (suppression) speeds can be used to prevent the effects of mechanical resonance.

p1092[0...n] Skip speed 2 / n_skip 2

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 3
(Extended set), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3050
SERVO_S110-DP
P-Group: Setpoints Units group: 3_1 Unit selection: p0505
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Extended set)
Min Max Factory setting
0.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
Description: Sets skip speed 2.
Dependency: Refer to: p1091, p1093, p1094, p1101
Notice: Skip bandwidths can also become ineffective as a result of the downstream limits in the setpoint channel.

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 Parameter
List of parameters

p1093[0...n] Skip speed 3 / n_skip 3

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 3
(Extended set), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3050
SERVO_S110-DP
P-Group: Setpoints Units group: 3_1 Unit selection: p0505
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Extended set)
Min Max Factory setting
0.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
Description: Sets skip speed 3.
Dependency: Refer to: p1091, p1092, p1094, p1101
Notice: Skip bandwidths can also become ineffective as a result of the downstream limits in the setpoint channel.

p1094[0...n] Skip speed 4 / n_skip 4

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 3
(Extended set), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3050
SERVO_S110-DP
P-Group: Setpoints Units group: 3_1 Unit selection: p0505
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Extended set)
Min Max Factory setting
0.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
Description: Sets skip speed 4.
Dependency: Refer to: p1091, p1092, p1093, p1101
Notice: Skip bandwidths can also become ineffective as a result of the downstream limits in the setpoint channel.

p1101[0...n] Skip speed bandwidth / n_skip bandwidth

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 3
(Extended set), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3050
SERVO_S110-DP
(Extended set), P-Group: Setpoints Units group: 3_1 Unit selection: p0505
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Extended set)
Min Max Factory setting
0.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
Description: Sets the bandwidth for the skip speeds/velocities 1 to 4.
Dependency: Refer to: p1091, p1092, p1093, p1094
Note: The setpoint (reference) speeds are skipped (suppressed) in the range of the skip speed +/-p1101.
Steady-state operation is not possible in the skipped (suppressed) speed range. The skip (suppression) range is
skipped.
Example:
p1091 = 600 and p1101 = 20
--> setpoint speeds between 580 and 620 [rpm] are skipped.
For the skip bandwidths, the following hysteresis behavior applies:
For a setpoint speed coming from below, the following applies:
r1170 < 580 [rpm] and 580 [rpm] <= r1114 <= 620 [rpm] --> r1119 = 580 [rpm]
For a setpoint speed coming from above, the following applies:
r1170 > 620 [rpm] and 580 [rpm] <= r1114 <= 620 [rpm] --> r1119 = 620 [rpm]

© Siemens AG 2012 All Rights Reserved 1-203

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 Parameter
List of parameters

p1110[0...n] BI: Inhibit negative direction / Inhib neg dir

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Extended set), Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 2505, 3040
SERVO_S110-DP
P-Group: Setpoints Units group: - Unit selection: -
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended set)
Min Max Factory setting
- - 0
Description: Sets the signal source to disable the negative direction.
Dependency: Refer to: p1111

p1111[0...n] BI: Inhibit positive direction / Inhib pos dir

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Extended set), Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 2505, 3040
SERVO_S110-DP
P-Group: Setpoints Units group: - Unit selection: -
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended set)
Min Max Factory setting
- - 0
Description: Sets the signal source to disable the positive direction.
Dependency: Refer to: p1110

r1112 CO: Speed setpoint after minimum limiting / n_set n. min_lim

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 3
(Extended set), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 3050
SERVO_S110-DP
(Extended set), P-Group: Setpoints Units group: 3_1 Unit selection: p0505
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Extended set)
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Displays the speed setpoint after the minimum limiting.
Dependency: Refer to: p1091, p1092, p1093, p1094, p1101

p1113[0...n] BI: Setpoint inversion / Setp inv

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Extended set), Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 2441, 2442,
SERVO_S110-DP 2505, 3040
(Extended set),
P-Group: Setpoints Units group: - Unit selection: -
SERVO_S110-PN
(Extended set) Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source to invert the setpoint.
Dependency: Refer to: r1198
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.

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 Parameter
List of parameters

r1114 CO: Setpoint after the direction limiting / Setp after limit
SERVO_S110-CAN Can be changed: - Calculated: - Access level: 3
(Extended set), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 1550, 3040,
SERVO_S110-DP 3050
(Extended set),
P-Group: Setpoints Units group: 3_1 Unit selection: p0505
SERVO_S110-PN
(Extended set) Not for motor type: - Scaling: p2000 Expert list: 1
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Displays the speed/velocity setpoint after the changeover and limiting the direction.

p1115 Ramp-function generator selection / RFG selection

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Extended set), Data type: Integer16 Dynamic index: - Func. diagram: 1550, 3080
SERVO_S110-DP
P-Group: Setpoints Units group: - Unit selection: -
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended set)
Min Max Factory setting
0 1 0
Description: Sets the ramp-function generator type.
Value: 0: Basic ramp-function generator
1: Extended ramp-function generator
Note: Another ramp-function generator type can only be selected when the motor is at a standstill.

r1119 CO: Ramp-function generator setpoint at the input / RFG setp at inp
SERVO_S110-CAN Can be changed: - Calculated: - Access level: 3
(Extended set), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 1550, 1690,
SERVO_S110-DP 3050, 3060, 3070
(Extended set),
P-Group: Setpoints Units group: 3_1 Unit selection: p0505
SERVO_S110-PN
(Extended set) Not for motor type: - Scaling: p2000 Expert list: 1
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Displays the setpoint at the input of the ramp-function generator.
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: The setpoint is influenced by other functions, e.g. skip (suppressed) speeds, minimum and maximum limits.

p1120[0...n] Ramp-function generator ramp-up time / RFG ramp-up time

SERVO_S110-CAN Can be changed: C2(1), U, T Calculated: - Access level: 1
(Extended set), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3060, 3070
SERVO_S110-DP
P-Group: Setpoints Units group: - Unit selection: -
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended set)
Min Max Factory setting
0.000 [s] 999999.000 [s] 10.000 [s]
Description: The ramp-function generator ramps-up the speed setpoint from standstill (setpoint = 0) up to the maximum speed
(p1082) in this time.
Dependency: Refer to: p1082

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 Parameter
List of parameters

p1121[0...n] Ramp-function generator ramp-down time / RFG ramp-down time

SERVO_S110-CAN, Can be changed: C2(1), U, T Calculated: - Access level: 1
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3060, 3070
SERVO_S110-PN
P-Group: Setpoints Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.000 [s] 999999.000 [s] 10.000 [s]
Description: The ramp-function generator ramps-down the speed setpoint from the maximum speed (p1082) down to standstill
(setpoint = 0) in this time.
Further, the ramp-down time is always effective for OFF1.
Dependency: Refer to: p1082
Note: The following applies for SERVO:
The ramp-function generator is only available when the function module "extended setpoint channel" is active
(r0108.8 = 1).

p1122[0...n] BI: Bypass ramp-function generator / Bypass RFG

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 3
(Extended set), Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 2505
SERVO_S110-DP
P-Group: Setpoints Units group: - Unit selection: -
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended set)
Min Max Factory setting
- - 0
Description: Sets the signal source for bypassing the ramp generator (ramp-up and ramp-down times = 0).
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: For VECTOR in encoderless operation, it is not permissible that the ramp-function generator is bypassed.

p1130[0...n] Ramp-function generator initial rounding-off time / RFG t_start_round

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Extended set), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3070
SERVO_S110-DP
(Extended set), P-Group: Setpoints Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended set)
Min Max Factory setting
0.000 [s] 30.000 [s] 0.000 [s]
Description: Sets the initial rounding-off time for the extended ramp generator. The value applies to ramp-up and ramp-down.
Note: Rounding-off times avoid an abrupt response and prevent damage to the mechanical system.

p1131[0...n] Ramp-function generator final rounding-off time / RFG t_end_delay

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Extended set), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3070
SERVO_S110-DP
P-Group: Setpoints Units group: - Unit selection: -
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended set)
Min Max Factory setting
0.000 [s] 30.000 [s] 0.000 [s]
Description: Sets the final rounding-off time for the extended ramp generator. The value applies to ramp-up and ramp-down.
Note: Rounding-off times avoid an abrupt response and prevent damage to the mechanical system.

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 Parameter
List of parameters

p1134[0...n] Ramp-function generator rounding-off type / RFG round-off type

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Extended set), Data type: Integer16 Dynamic index: DDS, p0180 Func. diagram: 3070
SERVO_S110-DP
P-Group: Setpoints Units group: - Unit selection: -
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended set)
Min Max Factory setting
0 1 0
Description: Sets the smoothed response to the OFF1 command or the reduced setpoint for the extended ramp-function gener-
ator.
Value: 0: Cont. smoothing
1: Discont smoothing
Dependency: No effect up to initial rounding-off time (p1130) > 0 s.
Note: p1134 = 0 (continuous smoothing)
If the setpoint is reduced while ramping-up, initially a final rounding-off is carried out and then the ramp-up com-
pleted. During the final rounding-off, the output of the ramp-function generator continues to go in the direction of the
previous setpoint (overshoot). After the final rounding-off has been completed, the output goes toward the new set-
point.
p1134 = 1 (discontinuous smoothing)
If the setpoint is reduced while ramping-up, then the output goes immediately in the direction of the new setpoint.
For the setpoint change there is no rounding-off.

p1135[0...n] OFF3 ramp-down time / OFF3 t_RD

SERVO_S110-CAN, Can be changed: C2(1), U, T Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3060, 3070
SERVO_S110-PN
P-Group: Setpoints Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.000 [s] 600.000 [s] 0.000 [s]
Description: Sets the ramp-down time from the maximum speed down to zero speed for the OFF3 command.
Note: This time can be exceeded if the DC link voltage reaches its maximum value.

p1136[0...n] OFF3 initial rounding-off time / RFGOFF3 t_strt_rnd

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Extended set), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3070
SERVO_S110-DP
P-Group: Setpoints Units group: - Unit selection: -
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended set)
Min Max Factory setting
0.000 [s] 30.000 [s] 0.000 [s]
Description: Sets the initial rounding-off time for OFF3 for the extended ramp generator.

p1137[0...n] OFF3 final rounding-off time / RFG OFF3 t_end_del

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Extended set), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3070
SERVO_S110-DP
P-Group: Setpoints Units group: - Unit selection: -
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended set)
Min Max Factory setting
0.000 [s] 30.000 [s] 0.000 [s]
Description: Sets the final rounding-off time for OFF3 for the extended ramp generator.

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 Parameter
List of parameters

p1140[0...n] BI: Enable ramp-function generator/inhibit ramp-function generator / RFG enable

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 2501
SERVO_S110-PN
P-Group: Setpoints Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 1
Description: Sets the signal source for the command "enable ramp-function generator/inhibit ramp-function generator".
For the PROFIdrive profile, this command corresponds to control word 1 bit 4 (STW1.4).
BI: p1140 = 0 signal:
Inhibits the ramp-function generator (the ramp-function generator output is set to zero).
BI: p1140 = 1 signal:
Enables the ramp-function generator.
Dependency: Refer to: p1141, p1142
Caution: When "master control from PC" is activated, this binector input is ineffective.

Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.

p1141[0...n] BI: Continue ramp-function generator/freeze ramp-function generator / Continue RFG

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 2501
SERVO_S110-PN
P-Group: Setpoints Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 1
Description: Sets the signal source for the command "continue ramp-function generator/freeze ramp-function generator".
For the PROFIdrive profile, this command corresponds to control word 1 bit 5 (STW1.5).
BI: p1141 = 0 signal:
Freezes the ramp-function generator.
BI: p1141 = 1 signal:
Continues the ramp-function generator.
Dependency: Refer to: p1140, p1142
Caution: When "master control from PC" is activated, this binector input is ineffective.

Notice: The ramp-function generator is, independent of the state of the signal source, active in the following cases:
- OFF1/OFF3.
- ramp-function generator output within the suppression bandwidth.
- ramp-function generator output below the minimum speed.

p1142[0...n] BI: Enable setpoint/inhibit setpoint / Setpoint enable

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 2501
SERVO_S110-PN
P-Group: Setpoints Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 1
Description: Sets the signal source for the command "enable setpoint/inhibit setpoint".
For the PROFIdrive profile, this command corresponds to control word 1 bit 6 (STW1.6).

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 Parameter
List of parameters

BI: p1142 = 0 signal

Inhibits the setpoint (the ramp-function generator input is set to zero).
BI: p1142 = 1 signal
Enables the setpoint.
Dependency: Refer to: p1140, p1141
Caution: When "master control from PC" is activated, this binector input is ineffective.

Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.

p1143[0...n] BI: Ramp-function generator, accept setting value / RFG accept set v
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Extended set), Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 3060, 3070
SERVO_S110-DP
P-Group: Setpoints Units group: - Unit selection: -
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended set)
Min Max Factory setting
- - 0
Description: Sets the signal source for accepting the setting value of the ramp-function generator.
Dependency: The signal source for the ramp-function generator setting value is set using parameters.
Refer to: p1144
Note: 0/1 signal:
The ramp-function generator output is immediately (without delay) set to the setting value of the ramp-function gen-
erator.
1 signal:
The setting value of the ramp-function generator is effective.
1/0 signal:
The input value of the ramp-function generator is effective. The ramp-function generator output is adapted to the
input value using the ramp-up time or the ramp-down time.
0 signal:
The input value of the ramp-function generator is effective.

p1144[0...n] CI: Ramp-function generator setting value / RFG setting value

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 3
(Extended set), Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 3060, 3070
SERVO_S110-DP
P-Group: Setpoints Units group: - Unit selection: -
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Extended set)
Min Max Factory setting
- - 0
Description: Sets the signal source for the ramp-function generator setting value.
Dependency: The signal source for accepting the setting value is set using parameters.
Refer to: p1143

p1145[0...n] Ramp-function generator tracking intensity. / RFG track intens

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 3
(Extended set), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3080
SERVO_S110-DP
P-Group: Setpoints Units group: - Unit selection: -
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended set)
Min Max Factory setting
0.0 50.0 1.3
Description: Sets the ramp-function generator tracking.

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 Parameter
List of parameters

The output value of the ramp-function generator is tracked (corrected) corresponding to the maximum possible
drive acceleration. The reference value is the deviation at the speed/velocity controller input that is necessary to
ensure that the motor accelerates at the torque/force limit.
Recommend.: p1145 = 0.0:
This value de-activates the ramp-function generator tracking.
p1145 = 0.0 ... 1.0:
Generally, these values are not practical. They cause the motor to accelerate below its torque limit. The lower the
selected value, the greater the margin between the controller and torque limit when accelerating.
p1145 > 1.0:
The greater the value, the higher the permissible deviation between the speed setpoint and speed actual value.
Notice: If ramp-function generator tracking is activated and the ramp time is set too short, this can cause unsteady acceler-
ation.
Remedy:
- switch off ramp-function generator tracking (p1145 = 0).
- increase the ramp-up/ramp-down time (p1120, p1121).
Note: In the U/f mode, ramp-function generator tracking is not active.
For SERVO with U/f operation, the following applies:
The complete ramp-function generator is not active, i.e. ramp-up and ramp-down time = 0.

p1148[0...n] Ramp-function gen., tolerance for ramp-up and ramp-down active / RFG tol HL/RL act
SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 3
(Extended set), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3060, 3070
SERVO_S110-DP
P-Group: Setpoints Units group: 3_1 Unit selection: p0505
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended set)
Min Max Factory setting
0.000 [rpm] 1000.000 [rpm] 19.800 [rpm]
Description: Sets the tolerance value for the status of the ramp-function generator (ramp-up active, ramp-down active).
If the input of the ramp-function generator does not change in comparison to the output by more than the entered
tolerance time, then the status bits "ramp-up active" and "ramp-down active" are not influenced.
Dependency: Refer to: r1199

r1149 CO: Ramp-function generator, acceleration / RFG acceleration

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 3
(Extended set), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 3060, 3070
SERVO_S110-DP
P-Group: Setpoints Units group: 39_1 Unit selection: p0505
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: p2007 Expert list: 1
(Extended set)
Min Max Factory setting
- [rev/s²] - [rev/s²] - [rev/s²]
Description: Displays the acceleration of the ramp-function generator.
Dependency: Refer to: p1145

r1150 CO: Ramp-function generator speed setpoint at the output / RFG n_set at outp
SERVO_S110-CAN Can be changed: - Calculated: - Access level: 3
(Extended set), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 1550, 3080
SERVO_S110-DP
P-Group: Setpoints Units group: 3_1 Unit selection: p0505
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Extended set)
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Displays the setpoint at the output of the ramp-function generator.

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 Parameter
List of parameters

p1151[0...n] Ramp-function generator configuration / RFG config

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Extended set), Data type: Unsigned16 Dynamic index: DDS, p0180 Func. diagram: 3070
SERVO_S110-DP
P-Group: Setpoints Units group: - Unit selection: -
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended set)
Min Max Factory setting
- - 0000 bin
Description: Sets the configuration for the extended ramp-function generator.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Disable rounding-off at the zero cross-over Yes No 3070
Caution: Re bit 00 = 1:
If the ramp-up time is longer than the ramp-down time (p1120 > p1121), then there is an acceleration step at the
zero crossover. This can have a negative impact on the mechanical system.
Note: Re bit 00 = 1:
When the direction change is changed there is no rounding-off before and after the zero crossover.

p1152 BI: Setpoint 2 enable / Setp 2 enab

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Extended brk), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 2711, 4015
SERVO_S110-DP
P-Group: Commands Units group: - Unit selection: -
(Extended brk),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended brk)
Min Max Factory setting
- - 899.15
Description: Sets the signal source for "setpoint 2 enable".

p1155[0...n] CI: Speed controller speed setpoint 1 / n_ctrl n_set 1

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 1550, 3080,
SERVO_S110-PN 5030, 6031
P-Group: Setpoints Units group: - Unit selection: -
Not for motor type: - Scaling: p2000 Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for speed setpoint 1 of the speed controller.
Dependency: The effectiveness of this setpoint depends on, e.g. STW1.4 and STW1.6.
Refer to: r0002, p0840, p0844, p0848, p0852, p0854, r0898, p1140, p1142, p1160, r1170, p1189, p1414, p1417,
p1418
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.

p1160[0...n] CI: Speed controller speed setpoint 2 / n_ctrl n_set 2

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 1550, 3080
SERVO_S110-PN
P-Group: Setpoints Units group: - Unit selection: -
Not for motor type: - Scaling: p2000 Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for speed setpoint 2 of the speed controller.
Dependency: Refer to: p1155, r1170

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 Parameter
List of parameters

Note: For OFF1/OFF3, the ramp-function generator ramp is effective.

The ramp-function generator is set (SERVO: to the actual value, VECTOR: To the setpoint (r1170)) and stops the
drive corresponding to the ramp-downtime (p1121 or p1135). While stopping via the ramp-function generator,
STW1.4 is effective (enable ramp-function generator).
When the function module "position control" (r0108.3 = 1) is activated, this connector input is interconnected as fol-
lows as standard:
CI: p1160 = r2562

r1169 CO: Speed controller, speed setpoints 1 and 2 / n_ctrl n_set 1/2
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 3080
SERVO_S110-PN
P-Group: Setpoints Units group: 3_1 Unit selection: p0505
Not for motor type: - Scaling: p2000 Expert list: 1
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Displays the speed setpoint after the addition of the speed setpoint 1 (p1155) and speed setpoint 2 (p1160).
Dependency: Refer to: p1155, p1160
Note: The value is only correctly displayed at r0899.2 = 1 (operation enabled).

r1170 CO: Speed controller, setpoint sum / n_ctrl setp sum

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 1550, 1590,
SERVO_S110-PN 1690, 1700, 1750, 3080, 5020,
6030
P-Group: Setpoints Units group: 3_1 Unit selection: p0505
Not for motor type: - Scaling: p2000 Expert list: 1
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Displays the speed setpoint after selecting the ramp-function generator and adding the speed setpoint 1 (p1155)
and speed setpoint 2 (p1160).
Dependency: Refer to: r1150, p1155, p1160

p1189[0...n] Speed setpoint configuration / n_ctrl config

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: DDS, p0180 Func. diagram: 3080
SERVO_S110-PN
P-Group: Setpoints Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0011 bin
Description: Sets the configuration for the speed setpoint.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Interpolation ramp-fct gen/speed controller Yes No 3080
active
01 Interpol. op-loop ctrl /speed controller active Yes No 3080
Note: Re bit 01:
The interpolator is only effective in following cases:
- isochronous PROFIBUS operation with a sign-of-life received from the master (STW2.12 ... STW2.15).
- speed setpoint 1 and/or 2 is supplied from the technology controller (CI: p1155 = r2294, CI: p1160 = r2294).

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 Parameter
List of parameters

p1190 CI: DSC position deviation XERR / DSC XERR

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Integer32 Dynamic index: - Func. diagram: 1550
SERVO_S110-PN
P-Group: Setpoints Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for the position deviation XERR for DSC (position controller output of the higher-level con-
trol).
Dependency: Clock cycle synchronous operation must be activated for DSC.
The position controller gain factor (KPC), the position deviation (XERR) and the speed setpoint (N_SOLL_B) must
be included in the setpoint telegram.
At least the encoder interface (Gx_XIST1) must be included in the actual value telegram.
The position actual value used for the internal position controller can be selected using p1192.
Refer to: p1191, p1192
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
The parameter can only be interconnected to a signal source with Integer32 data type.
Note: DSC: Dynamic Servo Control

p1191 CI: DSC position controller gain KPC / DSC KPC

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: - Func. diagram: 1550
SERVO_S110-PN
P-Group: Setpoints Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for the position controller gain KPC for DSC.
Dependency: Clock cycle synchronous operation must be activated for DSC.
Refer to: p1190
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: DSC: Dynamic Servo Control

p1192[0...n] DSC enc selection / DSC enc selection

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: DDS, p0180 Func. diagram: -
SERVO_S110-PN
P-Group: Setpoints Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
1 3 1
Description: Sets the number of the encoder used for DSC.
Value: 1: Encoder 1 (motor encoder)
2: Encoder 2
3: Reserved
Note: DSC: Dynamic Servo Control
Value 1 corresponds to encoder 1 (motor encoder); the encoder data set is assigned via p0187.
Value 2 corresponds to encoder 2; the encoder data set is assigned via p0188.

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 Parameter
List of parameters

p1193[0...n] DSC encoder adaptation factor / DSC encodAdaptFact

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: -
SERVO_S110-PN
P-Group: Setpoints Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.000 1000000.000 1.000
Description: Sets the factor to adapt the encoder when using either encoder 2 or 3 for DSC.
The factor sets the ratio of the pulse difference between the motor encoder and the selected encoder for the same
distance moved through.
This factor takes into account e.g. gear ratios, differences in the number of encoder pulses.
Dependency: Refer to: p1192
Note: DSC: Dynamic Servo Control
Example:
Encoder 1: Motor encoder with 2048 pulses/revolution, ballscrew with 10 mm/revolution pitch
Encoder 2: Linear scale with 20 µm grid division as direct measuring system
p1193 = number of pulses, encoder 1 per motor revolution / number of pulses, encoder 2 per motor revolution
p1193 = 2048 / (10 mm / 20 µm) = 4.096

r1197 Fixed speed setpoint number actual / n_set_fixed No act

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 3
(Extended set), Data type: Unsigned32 Dynamic index: - Func. diagram: 3010
SERVO_S110-DP
P-Group: Setpoints Units group: - Unit selection: -
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended set)
Min Max Factory setting
- - -
Description: Displays the number of the selected fixed speed/velocity setpoint.
Dependency: Refer to: p1020, p1021, p1022, p1023
Note: If a fixed speed setpoint has not been selected (p1020 ... p1023 = 0, r1197 = 0), then r1024 = 0 (setpoint = 0).

r1198.0...15 CO/BO: Control word setpoint channel / STW setpoint chan

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 3
(Extended set), Data type: Unsigned16 Dynamic index: - Func. diagram: 1530, 2505
SERVO_S110-DP
P-Group: Setpoints Units group: - Unit selection: -
(Extended set),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended set)
Min Max Factory setting
- - -
Description: Displays the control word for the setpoint channel.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Fixed setp bit 0 Yes No 3010
01 Fixed setp bit 1 Yes No 3010
02 Fixed setp bit 2 Yes No 3010
03 Fixed setp bit 3 Yes No 3010
05 Inhibit negative direction Yes No 3040
06 Inhibit positive direction Yes No 3040
11 Setpoint inversion Yes No 3040
13 Motorized potentiometer raise Yes No 3020
14 Motorized potentiometer lower Yes No 3020
15 Bypass ramp-function generator Yes No 3060,
3070

1-214 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r1199.0...6 CO/BO: Ramp-function generator status word / RFG ZSW

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 3
(Extended set), Data type: Unsigned16 Dynamic index: - Func. diagram: 1550, 3080,
SERVO_S110-DP 8010
(Extended set),
P-Group: Setpoints Units group: - Unit selection: -
SERVO_S110-PN
(Extended set) Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the status word for the ramp-function generator (RFG).
Bit field: Bit Signal name 1 signal 0 signal FP
00 Ramp-up active Yes No -
01 Ramp-down active Yes No -
02 RFG active Yes No -
03 Ramp-function generator set Yes No -
04 Ramp-function generator held Yes No -
05 Ramp-function generator tracking active Yes No -
06 Maximum limit active Yes No -
Note: Re bit 02:
The bit is an OR logic operation - bit 00 and bit 01.

p1206[0...9] Set the fault number without automatic restart / Fault_No w/o AR
SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Functions Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 65535 0
Description: Selects the faults for which automatic restart should not be effective.
Dependency: The setting is only effective for p1210 = 6, 16.
Refer to: p1210

p1208[0...1] BI: AR modification infeed / AR modification

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Functions Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source to modify the automatic restart (AR).
Interconnections between the automatic restart and infeed:
With the following interconnection in the mode p1210 = 6, the automatic restart can respond to infeed faults:
BI: p1208[0] = r2139.3
With the following interconnection, in the mode p1210 = 4, the automatic restart can respond to line supply failure of
the infeed:
BI: p1208[1] = r0863.2
Index: [0] = Infeed fault
[1] = Infeed line supply failure
Dependency: Refer to: r0863, r2139

© Siemens AG 2012 All Rights Reserved 1-215

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p1210 Automatic restart, mode / AR mode

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Functions Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 16 0
Description: Sets the automatic restart mode (AR).
Value: 0: Inhibit automatic restart
1: Acknowledge all faults without restarting
4: Restart after line supply failure w/o additional start attempts
6: Restart after fault with additional start attempts
14: Restart after line supply failure following man. acknowledgment
16: Restart after fault following manual acknowledgment
Dependency: The automatic restart requires an active ON command (e.g., via a digital input). If, for p1210 > 1, there is no active
ON command, then the automatic restart is interrupted.
When using an Operator Panel in the LOCAL mode, then there is no automatic start.
For p1210 = 14, 16, a manual acknowledgement is required for an automatic restart.
Refer to: p0840, p0857
Refer to: F30003
Danger: If the automatic restart is activated (p1210 > 1) if there is an ON command (refer to p0840), the drive is powered up
as soon as any fault messages that are present can be acknowledged. This also occurs after the line supply returns
or the Control Unit boots if the DC link voltage is again present or the feedback of the line supply infeed (refer to
p0864) is again available. This automatic power-up sequence can only be interrupted by withdrawing the ON com-
mand.
Caution: A change is only accepted and made in the state "initialization" (r1214.0) and "wait for alarm" (r1214.1). When faults
are present, therefore, the parameter cannot be changed.
For p1210 > 1, the motor is automatically started.
Note: Re p1210 = 1:
Faults that are present are automatically acknowledged. If new faults occur after a successful fault acknowledg-
ment, then these are also automatically acknowledged again. p1211 has no influence on the number of acknowl-
edgment attempts.
Re p1210 = 4:
An automatic restart is only carried out if fault F30003 occurred at the Motor Module or a 1 signal is present at
binector input p1208[1]. If additional faults are present, then these faults are also acknowledged and when success-
ful, starting continues. If the 24 V Control Unit power supply fails, then this is interpreted as a line supply failure.
Re p1210 = 6:
An automatic restart is carried out if any fault has occurred or there is a 1 signal at binector input p1208[0].
Re p1210 = 14:
As for p1210 = 4. However, faults that are present must be manually acknowledged.
Re p1210 = 16:
As for p1210 = 6. However, faults that are present must be manually acknowledged.

p1211 Automatic restart, start attempts / AR start attempts

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Functions Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 10 3
Description: Sets the start attempts of the automatic restart function for p1210 = 4, 6.
Dependency: Refer to: p1210, r1214
Refer to: F07320
Caution: A change is only accepted and made in the state "initialization" (r1214.0) and "wait for alarm" (r1214.1).

1-216 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Notice: After fault F07320 occurs, the power-on command must be withdrawn and all of the faults acknowledged so that the
automatic restart function is re-activated.
After a complete power failure the start counter always starts with the counter value that applied before the power
failure, and decrements this start attempt by 1. If a further attempt to acknowledge is started by the automatic
restart function prior to power failure, e.g. when the CU remains active on power failure longer than the time p1212
/ 2, the fault counter will already have been decremented once. In this case, the start counter is thus decreased by
the value 2.
Note: A start attempt starts immediately when a fault occurs. The start attempt is considered to been completed if the
motor was magnetized (r0056.4 = 1) and an additional delay time of 1 s has expired.
As long as a fault is present, an acknowledge command is generated in the time intervals of p1212 / 2. When suc-
cessfully acknowledged, the start counter is decremented. If, after this, a fault re-occurs before a restart has been
completed, then acknowledgement starts again from the beginning.
Fault F07320 is output if, after several faults occur, the number of parameterized start attempts has been reached.
After a successful start attempt, i.e. a fault/error has no longer occurred up to the end of the magnetizing phase, the
start counter is again reset to the parameter value after 1 s. If a fault re-occurs - the parameterized number of start
attempts is again available.
At least one start attempt is always carried out.
After a line supply failure, acknowledgement is immediate and when the line supply returns, the system is powered
up. If, between successfully acknowledging the line fault and the line supply returning, another fault occurs, then its
acknowledgement also causes the start counter to be decremented.

p1212 Automatic restart, delay time start attempts / AR t_wait start

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Functions Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.1 [s] 1000.0 [s] 1.0 [s]
Description: Sets the delay time up to restart.
Dependency: This parameter setting is active for p1210 = 4, 6.
For p1210 = 1, the following applies: Faults are only automatically acknowledged in half of the delay time, no
restart.
Refer to: p1210, r1214
Caution: A change is only accepted and made in the state "initialization" (r1214.0) and "wait for alarm" (r1214.1).
Note: The faults are automatically acknowledged after half of the delay time has expired and the full delay time.
If the cause of a fault is not removed in the first half of the delay time, then it is no longer possible to acknowledge in
the delay time.

p1213[0...1] Automatic restart, monitoring time / AR t_monitoring

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Functions Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.0 [s] 10000.0 [s] 0.0 [s]
Description: Sets the monitoring time of the automatic restart (AR).
Index: [0] = For restart
[1] = To reset the start counter
Dependency: Refer to: p1210, r1214
Caution: A change is only accepted and made in the state "initialization" (r1214.0) and "wait for alarm" (r1214.1).
Notice: After fault F07320 occurs, the power-on command must be withdrawn and all of the faults acknowledged so that the
automatic restart function is re-activated.

© Siemens AG 2012 All Rights Reserved 1-217

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Note: Index 0:
The monitoring time starts when the faults are detected. If the automatic acknowledgements are not successful, the
monitoring time runs again. If, after the monitoring time has expired, the drive has still not successfully started again
(flying restart and magnetizing of the motor must have been completed: r0056.4 = 1), then fault F07320 is output.
The monitoring is de-activated with p1213 = 0. If p1213 is set lower than the sum of p1212, the magnetizing time
p0346 and the additional delay time due to the flying restart, then fault F07320 is generated at each restart. If, for
p1210 = 1, the time in p1213 is set lower than in p1212, then fault F07320 is also generated at each restart.
The monitoring time must be extended if the faults that occur cannot be immediately and successfully acknowl-
edged (e.g. for faults that are permanently present).
In the case of p1210 = 14, 16, the faults which are present must be acknowledged manually within the time in
p1213 index 0. Otherwise, fault F07320 is generated after the set time.
Index 1:
The start counter (refer to r1214) is only set back to the starting value p1211 if, after successful restart, the time in
p1213 index 1 has expired. The delay time is not effective for fault acknowledgement without automatic restart
(p1210 = 1). After a power failure (blackout) the delay time only starts after the line supply returns and the Control
Unit boots. The start counter is set to p1211, if F07320 occurred, the power-on command is withdrawn and the fault
is acknowledged.
The start counter is immediately updated if the starting value p1211 or the mode p1210 is changed.

r1214.0...15 CO/BO: Automatic restart, status / AR status

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Functions Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the status of the automatic restart (AR).
Bit field: Bit Signal name 1 signal 0 signal FP
00 Initialization Yes No -
01 Wait for alarm Yes No -
02 Auto restart act Yes No -
03 Setting the acknowledgement command Yes No -
04 Acknowledge alarms Yes No -
05 Restart Yes No -
06 Delay time running after automatic power- Yes No -
up
07 Fault Yes No -
10 Effective fault Yes No -
12 Start count. bit 0 ON OFF -
13 Start count. bit 1 ON OFF -
14 Start count. bit 2 ON OFF -
15 Start count. bit 3 ON OFF -
Note: Re bit 00:
State to display the single initialization after POWER ON.
Re bit 01:
State in which the automatic restart function waits for faults (initial state).
Re bit 02:
General display that a fault has been identified and that the restart or acknowledgement has been initiated.
Re bit 03:
Displays the acknowledge command within the "acknowledge alarms" state (bit 4 = 1). For bit 5 = 1 or bit 6 = 1, the
acknowledge command is continually displayed.
Re bit 04:
State in which the faults that are present are acknowledged. The state is exited again after successful acknowl-
edgement. A change is only made into the next state if it is signaled that a fault is no longer present after an
acknowledgement command (bit 3 = 1).
Re bit 05:
State in which the drive is automatically powered up (only for p1210 = 4, 6).

1-218 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Re bit 06:
State in which the system waits after having been powered up, to the end of the start attempt (to the end of the
magnetizing process).
For p1210 = 1, this signal is directly set after the faults have been successfully acknowledged.
Re bit 07:
State which is assumed after a fault occurs within the automatic restart function. This is only reset after acknowl-
edging the fault and withdrawing the power-on command.
Re bit 10:
When the automatic restart function is active, r1214 bit 7 is displayed, otherwise the effective fault r2139 bit 3.
Re bits 12 ... 15:
Actual state of the start counter (binary coded).

p1215 Motor holding brake configuration / Brake config

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 2
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 2701, 2707,
SERVO_S110-PN 2711
P-Group: Functions Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 3 0
Description: Sets the holding brake configuration.
Value: 0: No motor holding brake being used
1: Motor holding brake acc. to sequence control
2: Motor holding brake always open
3: Motor holding brake like sequence control, connection via BICO
Dependency: Refer to: p1216, p1217, p1226, p1227, p1228, p1278
Caution: For the setting p1215 = 0, if a brake is used, it remains closed. If the motor moves, this will destroy the brake.
Notice: If p1215 was set to 1 or if p1215 was set to 3, then when the pulses are suppressed, the brake is closed even if the
motor is still rotating. Pulse suppression can either be caused by a 0 signal at p0844, p0845 or p0852 or as a result
of a fault with OFF2 response. If this is not desirable (e.g. for a flying restart), then the brake can be kept open using
a 1 signal at p0855.
Note: If the configuration is set to "no holding brake present" when booting, then the motor holding brake will be automat-
ically identified. If a motor holding brake is detected, the configuration is set to "motor holding brake as for sequence
control".
If a holding brake integrated in the motor is used, then it is not permissible that p1215 is set to 3.
if an external motor holding brake is being used, then p1215 should be set to 3 and r0899.12 should be intercon-
nected as control signal.
When the function module "extended brake control" is activated (r0108.14 = 1), r1229.1 should be interconnected
as control signal.
The parameter can only be set to zero when the pulses are inhibited.
The parameterization "no motor holding brake available" and "Safe Brake Control" enabled (p1215 = 0, p9602 = 1,
p9802 = 1) is not practical if there is no motor holding brake.
The parameterization "motor holding brake the same as sequence control, connection via BICO" and "Safe Brake
Control" enabled (p1215 = 3, p9602 = 1, p9802 = 1) is not practical.

p1216 Motor holding brake, opening time / Brake t_open

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2701, 2711
SERVO_S110-PN
P-Group: Functions Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 [ms] 10000 [ms] 100 [ms]
Description: Sets the time to open the motor holding brake.
After controlling the holding brake (opens), the speed/velocity setpoint remains at zero for this time. After this, the
speed/velocity setpoint is enabled.

© Siemens AG 2012 All Rights Reserved 1-219

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Recommend.: This time should be set longer than the actual opening time of the brake. This ensures that the drive cannot accel-
erate when the brake is applied.
Dependency: Refer to: p1215, p1217

p1217 Motor holding brake closing time / Brake t_close

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2701, 2711
SERVO_S110-PN
P-Group: Functions Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 [ms] 10000 [ms] 100 [ms]
Description: Sets the time to apply the motor holding brake.
After OFF1 or OFF3 and the holding brake is controlled (the brake closes), then the drive remains closed-loop con-
trolled for this time stationary with a speed setpoint/velocity setpoint of zero. The pulses are suppressed when the
time expires.
Recommend.: This time should be set longer than the actual closing time of the brake. This ensures that the pulses are only sup-
pressed after the brake has closed.
Dependency: Refer to: p1215, p1216
Notice: If the selected closing time is too short with respect to the actual closing time of the brake, then the load can sag.
If the closing time is selected to be too long with respect to the actual closing time of the brake, the control works
against the brake and therefore reduces its lifetime.

p1218[0...1] BI: Open motor holding brake / Open brake

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 2
(Extended brk), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 2707
SERVO_S110-DP
P-Group: Functions Units group: - Unit selection: -
(Extended brk),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended brk)
Min Max Factory setting
- - 1
Description: Sets the signal source for a conditional opening of the motor holding brake.
Dependency: Refer to: p1215
Note: [0]: Signal, open brake, AND logic operation, input 1
[1]: Signal, open brake, AND logic operation, input 2

p1219[0...3] BI: Immediately close motor holding brake / Close brake

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 2
(Extended brk), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 2707
SERVO_S110-DP
(Extended brk), P-Group: Functions Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended brk)
Min Max Factory setting
- - [0] 0
[1] 0
[2] 0
[3] 1229.9
Description: Sets the signal source for an unconditional (immediate) closing of the motor holding brake.
Dependency: Refer to: p1215, p1275
Note: [0]: Signal, immediately close brake, inversion via p1275.0
[1]: Signal, immediately close brake, inversion via p1275.1
[2]: Signal, immediately close brake
[3]: Signal, immediately close brake - refer to the factory setting
These four signals form an OR logic operation.

1-220 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p1220 CI: Open motor holding brake, signal source, threshold / Open brake thresh
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 2
(Extended brk), Data type: Unsigned32 / FloatingPoint32 Dynamic index: - Func. diagram: 2707
SERVO_S110-DP
P-Group: Functions Units group: - Unit selection: -
(Extended brk),
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Extended brk)
Min Max Factory setting
- - 1
Description: Sets the signal source for the command "open brake".
Dependency: Refer to: p1215, p1221, r1229, p1277

p1221 Open motor holding brake, threshold / Open brake thresh

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Extended brk), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2707
SERVO_S110-DP
P-Group: Functions Units group: - Unit selection: -
(Extended brk),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended brk)
Min Max Factory setting
0.00 [%] 200.00 [%] 0.00 [%]
Description: Sets the threshold value for the command "open brake".
Dependency: Refer to: p1220, r1229, p1277

p1222 BI: Motor holding brake feedback signal brake closed / Brake feedb closed
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 2
(Extended brk), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 2711
SERVO_S110-DP
(Extended brk), P-Group: Functions Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended brk)
Min Max Factory setting
- - 0
Description: Sets the signal source for the feedback signal "brake closed".
For motor holding brakes with feedback signal, the signal "brake closed" can be activated using p1275.5 = 1.
Dependency: Refer to: p1223, p1275
Note: 1 signal: Brake closed.
When braking with 1 feedback signal, the inverted feedback signal is connected to the BICO input for the second
feedback signal (p1223).
For r1229.5 = 1, OFF1/OFF3 are suppressed to prevent the drive accelerating by a load that drives the motor -
whereby OFF2 remains effective.

p1223 BI: Motor holding brake feedback signal brake open / Brake feedb open
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 2
(Extended brk), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 2711
SERVO_S110-DP
(Extended brk), P-Group: Functions Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended brk)
Min Max Factory setting
- - 1
Description: Sets the signal source for the feedback signal "brake open".
For motor holding brakes with feedback signal, the signal "brake open" can be activated using p1275.5 = 1.
Dependency: Refer to: p1222, p1275

© Siemens AG 2012 All Rights Reserved 1-221

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Note: 1 signal: Brake open.

When braking with 1 feedback signal, the inverted feedback signal is connected to the BICO input for the second
feedback signal (p1222).

p1224[0...3] BI: Close motor holding brake at standstill / Brk close standst
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 2
(Extended brk), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 2704
SERVO_S110-DP
P-Group: Functions Units group: - Unit selection: -
(Extended brk),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended brk)
Min Max Factory setting
- - 0
Description: Sets the signal source for close brake at standstill.
Dependency: Refer to: p1275
Note: [0]: Signal, close brake at standstill, inversion via p1275.2
[1]: Signal, close brake at standstill, inversion via p1275.3
[2]: Signal, close brake at standstill
[3]: Signal, close brake at standstill
These four signals form an OR logic operation.

p1225 CI: Standstill detection, threshold value / Standstill thresh

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 2
(Extended brk), Data type: Unsigned32 / FloatingPoint32 Dynamic index: - Func. diagram: 2704
SERVO_S110-DP
(Extended brk), P-Group: Functions Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Extended brk)
Min Max Factory setting
- - 63[0]
Description: Sets the signal source "threshold value" for the standstill identification.
Dependency: Refer to: p1226, p1228, r1229

p1226[0...n] Threshold for zero speed detection / n_standst n_thresh

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 2701, 2704
SERVO_S110-PN
P-Group: Functions Units group: 3_1 Unit selection: p0505
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [rpm] 210000.00 [rpm] 20.00 [rpm]
Description: Sets the speed threshold for the standstill identification.
Acts on the actual value and setpoint monitoring.
When braking with OFF1 or OFF3, when the threshold is undershot, standstill is identified.
The following applies when the brake control is activated:
When the threshold is undershot, the brake control is started and the system waits for the brake closing time in
p1217. The pulses are then suppressed.
if the brake control is not activated, the following applies:
When the threshold is undershot, the pulses are suppressed and the drive coasts down.
Dependency: Refer to: p1215, p1216, p1217, p1227
Notice: For reasons relating to the compatibility to earlier firmware versions, a parameter value of zero in indices 1 to 31 is
overwritten with the parameter value in index 0 when the Control Unit boots.

1-222 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Note: Standstill is identified in the following cases:

- the speed actual value falls below the speed threshold in p1226 and the time started after this in p1228 has
expired.
- the speed setpoint falls below the speed threshold in p1226 and the time started after this in p1227 has expired.
The actual value sensing is subject to measuring noise. For this reason, standstill cannot be detected if the speed
threshold is too low.

p1227 Zero speed detection monitoring time / n_standst t_monit

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2701, 2704
SERVO_S110-PN
P-Group: Functions Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.000 [s] 300.000 [s] 4.000 [s]
Description: Sets the monitoring time for the standstill identification.
When braking with OFF1 or OFF3, standstill is identified after this time has expired, after the setpoint speed has
fallen below p1226 (also refer to p1145).
After this, the brake control is started, the system waits for the closing time in p1217 and then the pulses are sup-
pressed.
Dependency: Refer to: p1215, p1216, p1217, p1226
Notice: For p1145 > 0.0 (RFG tracking) the setpoint is not equal to zero dependent on the selected value. This can there-
fore cause the monitoring time in p1227 to be exceeded. In this case, for a driven motor, the pulses are not sup-
pressed.
Note: Standstill is identified in the following cases:
- the speed actual value falls below the speed threshold in p1226 and the time started after this in p1228 has
expired.
- the speed setpoint falls below the speed threshold in p1226 and the time started after this in p1227 has expired.
For p1227 = 300.000 s, the following applies:
Monitoring is de-activated.
For p1227 = 0.000 s, the following applies:
With OFF1 or OFF3 and a ramp-down time = 0, the pulses are immediately suppressed and the motor "coasts"
down.

p1228 Pulse suppression delay time / Pulse suppr t_del

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2701, 2704
SERVO_S110-PN
P-Group: Functions Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.000 [s] 299.000 [s] 0.000 [s]
Description: Sets the delay time for pulse suppression.
After OFF1 or OFF3 and zero speed detection, the system waits for this time to expire and the pulses are then sup-
pressed.
Dependency: Refer to: p1226, p1227
Notice: If the motor holding brake is activated, the pulse suppression is only conducted if this delay time (p1228) and then
the closing time for the brake (p1217) have elapsed.
Note: Standstill is identified in the following cases:
- the speed actual value falls below the speed threshold in p1226 and the time started after this in p1228 has
expired.
- the speed setpoint falls below the speed threshold in p1226 and the time started after this in p1227 has expired.

© Siemens AG 2012 All Rights Reserved 1-223

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r1229.1...11 CO/BO: Motor holding brake status word / Brake ZSW

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 2
(Extended brk), Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-DP
P-Group: Functions Units group: - Unit selection: -
(Extended brk),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended brk)
Min Max Factory setting
- - -
Description: Displays the status word for the motor holding brake.
Bit field: Bit Signal name 1 signal 0 signal FP
01 Command open brake (continuous signal) Yes No 2711
03 Pulse enable, extended brake control Yes No 2711
04 Brake does not open Yes No 2711
05 Brake does not close Yes No 2711
06 Brake threshold exceeded Yes No 2707
07 Brake threshold undershot Yes No 2704
08 Brake monitoring time expired Yes No 2704
09 Pulse enable request missing/n_ctrl inhib- Yes No 2707
ited
10 Brake OR logic operation result Yes No 2707
11 Brake AND logic operation result Yes No 2707

p1230[0...n] BI: Armature short-circuit / DC braking activation / ASC/DCBRK act

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 1
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 7014, 7016,
SERVO_S110-PN 7017
P-Group: Functions Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source to activate the armature short-circuit or DC braking.
Dependency: Refer to: p1231, p1232, p1233, p1234, p1235, p1236, p1237, r1238, r1239, p1345, p1346
Note: 1 signal: Armature short-circuit/DC braking activated.
0 signal: Armature short-circuit/DC braking de-activated.

p1231[0...n] Armature short-circuit / DC braking configuration / ASC/DCBRK config

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 1
SERVO_S110-DP, Data type: Integer16 Dynamic index: MDS, p0130 Func. diagram: 7014, 7016,
SERVO_S110-PN 7017
P-Group: Functions Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 14 0
Description: Setting to activate the various types for armature short-circuit / DC braking.
Value: 0: No function
1: External armature short-circuit with contactor feedback signal
2: Ext. armature short circuit without contactor feedback signal
4: DC braking
5: DC braking for OFF1/OFF3
14: DC braking below starting speed
Dependency: Refer to: p0300, p1230, p1232, p1233, p1234, p1235, p1236, p1237, r1238, r1239, p1345, p1346
Danger: Re p1231 = 1, 2:
- only short-circuit-proof motors may be used, or suitable resistors must be used to short-circuit the motor

1-224 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Note: Re p1231 = 1, 2:
The external armature short circuit can only be selected for synchronous motors (p0300). In this case, control bit
BO: r1239.0 must be interconnected (e.g. to a digital input) to control the external contactor.
The external armature short circuit cannot be set as a fault response. It can be triggered via binector input p1230. It
is also always activated in the case of pulse suppression.
Re p1231 = 4:
The function is activated as soon as the activation criterion is fulfilled.
- the function can be initiated by OFF2
a) This function is not supported for synchronous motors (p0300 = 2xx, 4xx).
b) For induction motors (p0300 = 1xx), the DC braking is initiated.
Activation criterion (one of the following criteria is fulfilled):
- binector input p1230 = 1 signal (DC braking activation).
- the drive is not in the state "S4: Operation" or in S5x (refer to function diagram 2610).
- the internal pulse enable is missing (r0046.19 = 0).
Re p1231 = 5:
DC braking can only be set for induction motors.
DC braking is activated if the OFF1 or OFF3 command is present. Binector input p1230 is ineffective. If the drive
speed still lies above the speed threshold p1234, then initially, the drive is ramped-down to this threshold, demag-
netized (see p0347) and is then switched into DC braking for the time set in p1233. After this, the drive is switched-
off. If, at OFF1/OFF3, the drive speed is below p1234, then it is immediately demagnetized and switched into DC
braking. A change is made into normal operation if the OFF1 command is withdrawn prematurely.
DC braking by means of fault response continues to be possible.
Re p1231 = 14:
DC braking can only be set for induction motors.
DC braking is initiated if binector input p1230 = 1 during operation and the actual speed is below the starting speed
p1234 (before this, the drive must have operated above p1234 plus the hysteresis). Then, following upstream de-
magnetization (see p0347), the braking current p1232 is injected for the time set in p1233. The drive then changes
into normal operation. During braking the command for DC braking can be withdrawn. If the time p1233 is
exceeded, then DC braking is inhibited and the drive changes into normal operation.
For OFF1 and OFF3, DC braking is only executed, if binector input p1230 = 1 signal.
DC braking by means of fault response continues to be possible.
Re p1231 = 4, 5, 14:
The value can only be changed to values not equal to 4 or 14 if p0491 is not equal to 4 and p2101 is not equal to 6
(armature short circuit/DC braking not set).
Note:
ASC: Armature Short Circuit
DCBRK: DC Braking

p1232[0...n] DC braking, braking current / DCBRK I_brake

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 1
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: 7017
SERVO_S110-PN
P-Group: Functions Units group: - Unit selection: -
Not for motor type: PEM, REL, FEM Scaling: - Expert list: 1
Min Max Factory setting
0.00 [Arms] 10000.00 [Arms] 0.00 [Arms]
Description: Sets the braking current for DC braking.
Dependency: Refer to: p1230, p1231, p1233, p1234, r1239, p1345, p1346
Note: A change to the braking current becomes effective the next time that DC braking is switched-on.
The value for p1232 is specified as an rms value in the 3-phase system. The magnitude of the braking current is the
same as that of an identical output current at frequency zero (see r0067, r0068, p0640). The braking current is
internally limited to r0067.

© Siemens AG 2012 All Rights Reserved 1-225

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p1233[0...n] DC braking time / DCBRK time

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 1
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: 7017
SERVO_S110-PN
P-Group: Functions Units group: - Unit selection: -
Not for motor type: PEM, REL, FEM Scaling: - Expert list: 1
Min Max Factory setting
0.0 [s] 3600.0 [s] 1.0 [s]
Description: Sets the DC braking time (as fault response).
Dependency: Refer to: p1230, p1231, p1232, p1234, r1239
Note: The time set is also effective when parameterizing DC braking as fault response.
If a speed encoder is being used, DC braking is ended as soon as the drive falls below the standstill threshold
(p1226).

p1234[0...n] Speed at the start of DC braking / DCBRK n_start

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 1
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: 7017
SERVO_S110-PN
P-Group: Functions Units group: - Unit selection: -
Not for motor type: PEM, REL, FEM Scaling: - Expert list: 1
Min Max Factory setting
0.00 [rpm] 210000.00 [rpm] 210000.00 [rpm]
Description: Sets the starting speed for DC braking.
If the actual speed falls below this threshold, then DC braking is activated.
Dependency: Refer to: p1230, p1231, p1232, p1233, r1239
Caution: If an encoder fault occurs during closed-loop operation with an encoder, controlled deceleration of the drive down to
the start speed p1234 can no longer take place. In this case, DC braking is activated immediately and injects the
braking current p1232 for the braking time p1233 after de-magnetizing. The braking current and braking duration
must, therefore, be dimensioned accordingly for this situation so that the drive can be decelerated to standstill.
In the case of operation with an encoder, this speed may not be set too low so as ensure that the oscillation move-
ment induced by the residual flux/remanence of the motor does not cause DC braking to be de-activated again.

p1235[0...n] BI: External armature short-circuit, contactor feedback signal / ASC ext feedback
SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 1
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: -
SERVO_S110-PN
P-Group: Functions Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for the contactor feedback signal for external armature short-circuit.
Dependency: Refer to: p1230, p1231, p1236, p1237, r1239
Notice: In order that the pulses are not enabled when the contactor is closed, the contactor feedback signal must lag by a
sufficiently long time when opening the contactor.
Note: 1 signal: The contactor is closed.
0 signal: The contactor is open.

p1236[0...n] Ext. armature short-cct., contactor feedback signal monit. time / ASC ext t_monit
SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 1
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Functions Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 [ms] 1000 [ms] 200 [ms]
Description: Sets the monitoring time of the contactor feedback signal for the external armature short-circuit configuration.

1-226 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

If the contactor feedback signal (p1235) is parameterized, then the appropriate feedback signal (r1239.1) is
expected within this monitoring time after either opening or closing the contactor.
Dependency: Refer to: p1230, p1231, p1235, p1237, r1239
Refer to: A07904, F07905

p1237[0...n] External armature short-circuit, delay time when opening / ASC ext t_wait
SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 1
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Functions Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 [ms] 1000 [ms] 200 [ms]
Description: Sets the delay time when opening the contactor of the external armature short-circuit.
If no contactor feedback signal has been selected (p1235), then the system waits for this time before the pulses are
switched in.
Dependency: Refer to: p1230, p1231, p1235, p1236, r1239
Notice: This delay time must be at least long enough so that the contactor contacts reliably open before the pulses are
switched in. The delay time must be greater than the contactor response time. The Motor Module can be damaged
if the delay time is too short.

r1238 CO: Armature short-circuit, external state / EASC state

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 1
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 2610
SERVO_S110-PN
P-Group: Functions Units group: - Unit selection: -
Not for motor type: ASM Scaling: - Expert list: 1
Min Max Factory setting
0 6 -
Description: Displays the state for the external armature short-circuit.
Value: 0: Switched off
1: Ready
2: Active
3: Active - feedback signal "Closed" OK
4: Active - feedback signal "Closed" missing
5: Prompt to remove the armature short-circuit
6: Active - feedback signal "Open" missing
Dependency: Refer to: p1230, p1231, p1235, p1236, p1237, r1239
Refer to: A07904, F07905
Note: Activation criterion (one of the following criteria is fulfilled):
- the signal at BI: p1230 (armature short-circuit activation) is 0.
- the drive is not in the state "S4: Operation" or in S5x (refer to function diagram 2610).
- the internal pulse enable is missing (r0046.19 = 0).
Re state "switched out" (r1238 = 0):
- the external armature short-circuit can be selected with p1231 = 1.
Re state "ready" (r1238 = 1):
- as soon as the activation criterion is fulfilled, then a transition is made into the state "active" (r1238 = 2).
Regarding the state "active" (r1238 = 2), "active - feedback signal "Closed" OK" (r1238 = 3)", "active - feedback sig-
nal "Closed" missing" (r1238 = 4)":
- the control signal to close contactor r1239.0 is set to "1" (closed) and the pulses are suppressed.
- if a contactor feedback signal is not connected (BI: p1235 = 0 signal), then a transition is immediately made into
state 3.
- if a contactor feedback signal is connected, then a transition is made into state 3 if the feedback signal at BI:
p1235 goes to "1" (closed) within the monitoring time (p1236).
- otherwise, a transition is made into state 4.

© Siemens AG 2012 All Rights Reserved 1-227

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Re state "prompt to remove the armature short-circuit" (r1238 = 5):

- the activation criterion is no longer fulfilled. An attempt is made to again remove the armature short circuit.
- the control signal to close the contactor r1239.0 is set to "0" (open) and the pulses remain suppressed.
- if a contactor feedback signal is not connected (BI: p1235 = 0 signal), the system waits for the delay time (p1237)
to expire until a transition is made into state 1.
- if a contactor feedback signal is connected, the system waits until the feedback signal at BI:p1235 goes to "0"
(open) until a transition is made into state 1. If this does not occur within the monitoring time (p1236), then a transi-
tion is made into state 6.
Re state "active - feedback signal "Open" missing" (r1238 = 6):
- this error state can be exited by de-selecting the external armature short-circuit (p1231 = 0).

r1239.0...13 CO/BO: Armature short-circuit / DC braking status word / ASC/DCBRK ZSW

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 1
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Functions Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the status word for armature short-circuit.
Bit field: Bit Signal name 1 signal 0 signal FP
00 External armature short-circuit Active Inactive -
01 External armature short-circuit, contactor Closed Open -
feedback signal
02 External armature short-circuit ready Yes No -
03 External armature short-circuit with contac- Yes No -
tor feedback signal
04 Internal armature short-circuit Active Inactive -
05 Internal armature short circuit, feedback sig- Active Inactive -
nal from power unit
06 Internal armature short-circuit ready Yes No -
08 DC braking active Yes No 7017
10 DC braking ready Yes No 7017
11 Armature short circuit/DC braking selected Yes No -
12 DC braking selection internally inhibited Yes No -
13 DC braking for OFF1/OFF3 Yes No -
Dependency: Refer to: p1230, p1231, p1232, p1233, p1234, p1235, p1236, p1237
Note: External armature short-circuit (bits 0 ... 3):
Re bit 00:
Using this signal, the motor is short-circuited through an external contactor circuit. This means that this BO:
p1239.0 must be interconnected e.g. to a digital output.
Re bit 01:
This signal indicates the state of the contactor to establish the armature short-circuit. To do this, BI: p1235 must be
interconnected to a digital input.
Re bit 02:
The external armature short-circuit configuration is ready and is activated as soon as the activation criterion is ful-
filled.
Re bit 03:
1: A feedback signal from an external contactor was parameterized in BI: p1235.
Internal voltage protection / internal armature short-circuit (bits 4 ... 6):
Re bit 04:
a) Internal voltage protection (p1231 = 3) was selected and the Motor Module does not support the autonomous
internal voltage protection (r0192.10 = 0).
The Control Unit issues the command to the Motor Module to short-circuit the motor through the power semicon-
ductors.
a) Internal voltage protection (p1231 = 3) was selected and the Motor Module supports the autonomous internal
voltage protection (r0192.10 = 1).

1-228 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

The Motor Module decides autonomously whether the armature short-circuit is activated. In this case, the following
applies: r1239.4 = r1239.5.
c) Internal armature short-circuit (p1231 = 4) was selected.
The Control Unit issues the command to the Motor Module to short-circuit the motor through the power semicon-
ductors.
Re bit 05:
The Motor Module signals that the motor is short-circuited in the Motor Module through the power semiconductors.
Re bit 06:
a) Internal voltage protection (p1231 = 3) was selected and the Motor Module does not support the autonomous
internal voltage protection (r0192.10 = 0).
The internal voltage protection is ready and is activated as soon as the activation criterion is fulfilled.
a) Internal voltage protection (p1231 = 3) was selected and the Motor Module supports the autonomous internal
voltage protection (r0192.10 = 1).
The internal voltage protection is ready and the Motor Module decides autonomously - using the DC link voltage -
whether the short-circuit is activated. In this case, protection is also provided even if the DRIVE-CLiQ connection
between the Control Unit and Motor Module was interrupted. The short-circuit is activated if the DC link voltage
exceeds 800 V. If the DC link voltage falls below 450 V, then the short-circuit is withdrawn.
c) Internal armature short-circuit (p1231 = 4) was selected.
The internal armature short-circuit is ready and is activated as soon as the activation criterion is fulfilled.
Activation criterion (one of the following criteria is fulfilled):
- the signal at BI: p1230 (armature short-circuit activation) is 1.
- the drive is not in the state "S4: Operation" or in S5x (refer to function diagram 2610).
- the internal pulse enable is missing (r0046.19 = 0).
Re bit 12, 13:
Only effective for p1231 = 14.

p1240[0...n] Vdc controller or Vdc monitoring configuration / Vdc_ctrl config

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: DDS, p0180 Func. diagram: 3082, 5650
SERVO_S110-PN
P-Group: Functions Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0 9 0
Description: Sets the configuration of the controller or monitoring for the DC link voltage (Vdc).
Value: 0: Inhib Vdc ctrl
1: Vdc_max controller enable
2: Vdc_min controller (kinetic buffering) enable
3: Vdc_min controller and Vdc_max controller enable
4: Activates Vdc_max monitoring
5: Activates Vdc_min monitoring
6: Activates Vdc_min monitoring and Vdc_max monitoring
7: Vdc_max controller without accelerating enable
8: Vdc_min controller without braking enable
9: Vdc_min and Vdc_max controller w/o braking/accelerating enable
Dependency: Refer to: p1244, p1248, p1250, p1532
Notice: During a few steps of the rotating measurement (p1960 = 1) the Vdc_min controller and/or Vdc_max controller is
disabled.
Note: p1240 = 1, 3:
When the upper DC link voltage threshold is reached (p1244), then the following applies:
- the Vdc_max controller limits the regenerative energy in order that the DC link voltage is kept below the maximum
DC link voltage when braking.
- when other drives regenerate into the DC link, then the Vdc_max controller causes the motor to accelerate.

© Siemens AG 2012 All Rights Reserved 1-229

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p1240 = 2, 3:
When the lower DC link voltage threshold is reached (p1248), the following applies:
- the Vdc_min controller limits the energy taken from the DC link in order to keep the DC link voltage above the min-
imum DC link voltage when accelerating.
- the motor is braked in order to use its kinetic energy to buffer the DC link.
p1240 = 4, 5, 6:
When the threshold in p1244 or p1248 is reached, the DC link voltage monitoring initiates a fault with a response
and therefore reduces additional negative effects on the DC link voltage.
p1240 = 7, 9:
As for p1240 = 1, 3. However, the motor is prevented from accelerating due to the fact that other drives are regen-
erating. The effective lower torque limit cannot exceed the offset of the torque limit (p1532).
p1240 = 8, 9:
As for p1240 = 2, 3. However, the motor is prevented from braking due to the fact that the DC link voltage has been
lowered. The effective upper torque limit cannot be less than the offset of the torque limit (p1532).

p1244[0...n] DC link voltage threshold upper / Vdc upper thresh

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_CON Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5650
SERVO_S110-PN
P-Group: Functions Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
165 [V] 1200 [V] 750 [V]
Description: Sets the upper threshold for the DC link voltage.
For p1240 = 1, 3, 7, 9, this threshold is used as limit setpoint for the Vdc_max controller.
For p1240 = 4, 6, for DC link voltages above this threshold, an appropriate fault is output.
Dependency: Refer to: p1240, p1248, p1250
Note: For p1244 < 1.07 * "parameterized DC link voltage" input of values is rejected.
For p0204.0 = 1, the following applies:
"Parameterized DC link voltage" = p0210
For p0204.0 = 0, the following applies:
"Parameterized DC link voltage" = p0210 * 1.4142

p1248[0...n] DC link voltage threshold lower / Vdc lower thresh

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_CON Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5650
SERVO_S110-PN
P-Group: Functions Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
100 [V] 1000 [V] 450 [V]
Description: Sets the lower threshold for the DC link voltage.
For p1240 = 2, 3, 8, 9, this threshold is used as limit setpoint for the Vdc_min controller.
For p1240 = 5, 6, for DC link voltages below this threshold, an appropriate fault is output.
Dependency: Refer to: p1240, p1244, p1250
Note: For p1248 > 0.93 * "parameterized DC link voltage" input of values is rejected.
For p0204.0 = 1, the following applies:
"Parameterized DC link voltage" = p0210
For p0204.0 = 0, the following applies:
"Parameterized DC link voltage" = p0210 * 1.4142

1-230 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p1250[0...n] Vdc controller proportional gain / Vdc_ctrl Kp

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_CON Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5650
SERVO_S110-PN
P-Group: Functions Units group: 19_1 Unit selection: p0505
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.00 [A/V] 10.00 [A/V] 1.00 [A/V]
Description: Sets the proportional gain for the DC-link voltage controller (Vdc_min controller, Vdc_max controller).
Dependency: Refer to: p1240, p1244, p1248

p1275 Motor holding brake control word / Brake STW

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Extended brk), Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-DP
(Extended brk), P-Group: Functions Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended brk)
Min Max Factory setting
- - 0000 0000 bin
Description: Sets the control word for the motor holding brake.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Inverting BI: 1219[0] Yes No 2707
01 Inverting BI: 1219[1] Yes No 2707
02 Inverting BI: 1224[0] Yes No 2704
03 Inverting BI: 1224[1] Yes No 2704
05 Brake with feedback Yes No 2711

p1276 Motor holding brake, standstill detection, bypass / Brk standst bypass
SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Extended brk), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2704
SERVO_S110-DP
(Extended brk), P-Group: Functions Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended brk)
Min Max Factory setting
0.000 [s] 300.000 [s] 300.000 [s]
Description: Sets the delay time for closing the brake at standstill.
After this time has expired, if the "close brake at standstill" or OFF1/OFF3 is present, the brake is closed and the
pulses are suppressed.
For p1276 = 300.000 s, the timer is de-activated - this means that the timer output is always zero.

p1277 Motor holding brake, braking threshold delay exceeded / Del thresh exceed.
SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Extended brk), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2707
SERVO_S110-DP
P-Group: Functions Units group: - Unit selection: -
(Extended brk),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended brk)
Min Max Factory setting
0.000 [s] 300.000 [s] 0.000 [s]
Description: Sets the delay time for the signal "braking threshold exceeded" (BO: r1229.6).
Dependency: Refer to: p1220, p1221, r1229

© Siemens AG 2012 All Rights Reserved 1-231

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p1278 Brake control, diagnostics evaluation / Brake diagnostics

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Functions Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Sets the brake control type (with or without diagnostics evaluation).
Example for brake control with diagnostics evaluation.
- brake control in the Motor Modules in booksize format
- Safe Brake Relay for AC Drive
Example for brake control without diagnostics evaluation.
- Brake Relay for AC Drive
Value: 0: Brake control with diagnostics evaluation
1: Brake control without diagnostics evaluation
Note: If the configuration of the motor holding brake (p1215) is set to "no holding brake present" when booting, then an
automatic identification of the motor holding brake will be carried out. If a brake control is detected without diagnos-
tics evaluation (e.g. Brake Relay for AC Drive), then the parameter is set to "brake control without diagnostics eval-
uation".
It is not permissible to parameterize "brake control without diagnostics evaluation" and also enable "safe brake con-
trol" (p1278 = 1, p9602 = 1, p9802 = 1).

p1279[0...3] BI: Motor holding brake, OR/AND logic operation / Brake OR AND
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 2
(Extended brk), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 2707
SERVO_S110-DP
P-Group: Functions Units group: - Unit selection: -
(Extended brk),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Extended brk)
Min Max Factory setting
- - 0
Description: Sets the signal source for the OR/AND logic operation.
Dependency: Refer to: r1229
Note: [0]: OR logic operation, input 1 --> the result is displayed in r1229.10.
[1]: OR logic operation, input 2 --> the result is displayed in r1229.10.
[2]: AND logic operation, input 1 --> the result is displayed in r1229.11.
[3]: AND logic operation, input 2 --> the result is displayed in r1229.11.

p1300[0...n] Open-loop/closed-loop control operating mode / Op/cl-lp ctrl_mode

SERVO_S110-CAN, Can be changed: C2(1), T Calculated: - Access level: 2
SERVO_S110-DP, Data type: Integer16 Dynamic index: DDS, p0180 Func. diagram: 1590, 1690,
SERVO_S110-PN 5060, 6300
P-Group: V/f open-loop control Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
20 23 21
Description: Sets the open and closed-loop control mode of a drive.
Value: 20: Speed control (encoderless)
21: Speed control (with encoder)
23: Torque control (with encoder)
Dependency: Closed-loop speed or torque control (with encoder) cannot be selected if the encoder type is not entered (p0400).
Refer to: p0108, r0108, p0300, p0311, p0400, p1501
Notice: General conditions for encoderless operation can be found in the following literature:
SINAMICS S120 Function Manual Drive Functions

1-232 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

Note: The closed-loop torque control can only be changed over in operation (p1300 = 20, 21) by selecting the closed-loop
speed control (p1501). At the changeover, the setting of p1300 does not change. In this case, the actual state is dis-
played in r1407, bit 2 and bit 3.
For encoderless operation (p1404 = 0 or p1300 = 20), the following applies:
- The following condition must be fulfilled: p1800 >= n / (2 * p0115[0]), n = 1, 2, ...
- For motors with a small power rating (< 300 W) we recommend to set n >= 2.

p1317[0...n] U/f control activation / Uf act

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: DDS, p0180 Func. diagram: 1590, 5730
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Setting to activate the U/f control with linear characteristic.
Value: 0: De-activated (p1300 effective)
1: Activated
Dependency: Refer to: p1318, p1319, p1326, p1327
Note: The following applies for firmware version 4.3 and higher:
When U/f control is activated, resonance damping is automatically activated. The resonance damping must be de-
activated (p1338 = 0) in order to obtain pure diagnostics operation without the influence of actual values.
Further, when U/f control is activated, the following functions are active:
- Vdc controller (p1240, p1244, p1248, p1250).
- the up ramp is limited by the set M, P and I limits (p0326, p0341, p0342, p0640, p1520, p1521, p1530, p1531,
p1498).
- the ramp-function generator is held if the current actual value exceeds the current limit set in p0640.

p1318[0...n] U/f control ramp-up/ramp-down time / Uf t_rmp-up_rmp-dn

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5300
SERVO_S110-PN
P-Group: V/f open-loop control Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.000 [s] 999999.000 [s] 10.000 [s]
Description: Sets the ramp-up and ramp-down time for the U/f control.
The ramp-function generator requires this time to reach the maximum speed (p1082) from zero.
Dependency: Refer to: p1317, p1319, p1326, p1327
Note: This ramp is used for stall protection and operates independently of any ramp-function generator that might have
been configured.

p1319[0...n] U/f control voltage at zero frequency / Uf U at f=0 Hz

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_REG Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5300
SERVO_S110-PN
P-Group: V/f open-loop control Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.0 [Vrms] 50.0 [Vrms] 0.0 [Vrms]
Description: The linear characteristic for the U/f control is defined by 0 Hz / p1319 and p1326 / p1327.
This parameter specifies the voltage for a frequency of 0 Hz.
Dependency: The U/f control is activated via p1317 = 1.
Refer to: p1317, p1326, p1327
Note: Linear interpolation is carried out between the points 0 Hz/p1319 and p1326/p1327.

© Siemens AG 2012 All Rights Reserved 1-233

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 Parameter
List of parameters

p1326[0...n] U/f control characteristic frequency / Uf char f4

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_REG Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5300
SERVO_S110-PN
P-Group: V/f open-loop control Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [Hz] 10000.00 [Hz] 0.00 [Hz]
Description: The linear characteristic for the U/f control is defined by 0 Hz / p1319 and p1326 / p1327.
This parameter specifies the frequency of the fourth point along the characteristic.
Dependency: The U/f control is activated via p1317 = 1.
Refer to: p1317, p1319, p1327
Note: Linear interpolation is carried out between the points 0 Hz/p1319 and p1326/p1327.

p1327[0...n] U/f control characteristic voltage / Uf char U4

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_REG Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5300
SERVO_S110-PN
P-Group: V/f open-loop control Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.0 [Vrms] 10000.0 [Vrms] 0.0 [Vrms]
Description: The linear characteristic for the U/f control is defined by 0 Hz / p1319 and p1326 / p1327.
This parameter specifies the voltage of the fourth point along the characteristic.
Dependency: The U/f control is activated via p1317 = 1.
Refer to: p1317, p1319, p1326
Note: Linear interpolation is carried out between the points 0 Hz/p1319 and p1326/p1327.

p1338[0...n] U/f mode resonance damping gain / Uf Res_damp gain

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_CON Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: -
SERVO_S110-PN
P-Group: V/f open-loop control Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 100.00 1.00
Description: Sets the gain for resonance damping for U/f control.
In U/f mode, the resonance damping function dampens oscillations that are frequently experienced by induction
motors in certain speed ranges and by synchronous motors above even low speeds.
Dependency: Refer to: p1317, p1339, p1349
Note: Resonance damping is active in the following ranges:
- Active: 3.1 Hz ... p1349
- Build-up (linear): 3.1 ... 4.77 Hz
- Reduction (linear): 0.95 * p1349 ... p1349
Where the value = 1 and at the oscillation amplitude of the rated current, the rated slip frequency is switched in for
induction motors, while a frequency of 10 Hz is switched in for synchronous motors.

p1339[0...n] U/f mode resonance damping filter time constant / Uf Res_damp T

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_CON Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5300
SERVO_S110-PN
P-Group: V/f open-loop control Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
1.00 [ms] 1000.00 [ms] 20.00 [ms]
Description: Sets the filter time constant for resonance damping for U/f control.

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Dependency: Refer to: p1317, p1338, p1349

Note: The filter time constant must be greater than the oscillation period of the oscillation to be dampened.

p1345[0...n] DC braking proportional gain / DCBRK Kp

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_CON Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: -
SERVO_S110-PN
P-Group: V/f open-loop control Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.000 100000.000 0.000
Description: Sets the proportional gain for DC braking (p1230, p1231).
Dependency: Refer to: p1346
Note: Current controller adaptation is not effective for DC braking.

p1346[0...n] DC braking, integral time / DCBRK Tn

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_CON Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: -
SERVO_S110-PN
P-Group: V/f open-loop control Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.000 [ms] 50.000 [ms] 0.030 [ms]
Description: Sets the integral time for DC braking (p1230, p1231).
Dependency: Refer to: p1345
Note: For p1346 = 0, the following applies:
The integral time of DC braking is de-activated.

p1349[0...n] U/f mode resonance damping maximum frequency / Uf res_damp f_max

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_ALL Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: -
SERVO_S110-PN
P-Group: V/f open-loop control Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [Hz] 3000.00 [Hz] 3000.00 [Hz]
Description: Sets the maximum output frequency for resonance damping for U/f control.
Resonance damping is inactive above this output frequency.
Dependency: Refer to: p1338, p1339
Note: Resonance damping is active in the following ranges:
- Active: 3.1 Hz ... p1349
- Build-up (linear): 3.1 ... 4.77 Hz
- Reduction (linear): 0.95 * p1349 ... p1349

p1400[0...n] Speed control configuration / n_ctrl config

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: DDS, p0180 Func. diagram: 1590, 5490
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 0000 0000 0000 0000
0011 1010 0000 bin
Description: Sets the configuration for the closed-loop speed control.

© Siemens AG 2012 All Rights Reserved 1-235

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Bit field: Bit Signal name 1 signal 0 signal FP

03 Reference model speed setpoint, I compo- ON OFF 5030
nent
04 Torque limiting active in motoring/regenera- Yes No -
tive mode
05 Kp/Tn adaptation active Yes No -
07 Interpolation speed pre-control active Yes No -
08 Interpolation torque setpoint active Yes No -
09 Damping for encoderless open-loop con- Yes No -
trolled oper.
10 Speed pre-control For balancing For setp_filter 2 -
11 Encoderless oper. speed actual value start- Setpoint 0.0 -
ing value
12 Encoderless operation changeover Steady-state When accelerating -
13 Motoring/regenerative depending on Speed setpoint Speed actual value -
16 I component for limiting Enable Hold -
18 Moment of inertia estimator active Yes No -
Note: Re bit 07:
The interpolator is only effective for clock-cycle synchronous PROFIBUS operation and when the master receives a
sign-of-life (STW 2.12 ... STW 2.15). Further, for active Dynamic Servo Control (DSC) an additional dead time of
one speed controller clock cycle is obtained.
Re bit 10:
The pre-control signal via connector input p1430 only becomes effective at p1402.4 = 1 (torque-speed pre-control
with encoder) at p1400.10 = 0 (for setp_filter 2).
Re bit 11:
If the motor rotates when the pulses are enabled, then we recommend p1400.11 = 1 (starting value = setpoint) with
the matching sign.
If the motor remains stationary (zero speed) when the pulses are enabled, the we recommend p1400.11 = 0 (start-
ing value = 0.0).
Re bit 12:
If a changeover is made from operation with encoder to encoderless operation while accelerating (with the thresh-
old from p1404), then we recommend p1400.12 = 0.
If the changeover is made from operation with encoder to encoderless at constant speed/velocity (e.g. with a DDS
changeover or if there is an encoder fault via p0491) then we recommend p1400.12 = 1.
Re bit 18:
Only active when the "moment of inertia estimator" function module is active (r0108.10 = 1).
For operation with encoder, in addition, p1402.4 must be set to 1.
The result of the moment of inertia estimator is displayed in r1493 when the function is activated.
The function assumes that speed changes are made without load. If a speed change must be realized under load,
then during this time, the estimated moment of inertia should be frozen using binector input p1502.

p1402[0...n] Closed-loop current control and motor model configuration / I_ctrl config
SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: DDS, p0180 Func. diagram: -
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 0100 bin
Description: Sets the configuration for the closed-loop control and the motor model.
Bit field: Bit Signal name 1 signal 0 signal FP
01 Park encoder for n_act > p1404 Yes No -
02 Current controller adaptation active Yes No -
04 Torque-speed pre-control with encoder Yes No -
Note: Re bit 01:
When the bit is set, the encoder is parked as soon as the actual speed is greater than the changeover speed
(p1404). The encoder state is indicated in r0481.14.

1-236 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Re bit 02:
The current controller adaptation (p0391 ... p0393) is only calculated when the bit is set.

p1404[0...n] Encoderless operation changeover speed / Encoderl op n_chg

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 1590, 5060
SERVO_S110-PN
P-Group: Closed-loop control Units group: 3_1 Unit selection: p0505
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [rpm] 210000.00 [rpm] 210000.00 [rpm]
Description: Sets the speed to change over between operation with and without an encoder.
Above this speed, the drive system is automatically operated in encoderless mode.
Notice: General conditions for encoderless operation can be found in the following literature:
SINAMICS S120 Function Manual Drive Functions
Note: The changeover speed applies when changing over between operation with and without encoder.
With p1404 > 0, the effective changeover speed is limited to values greater than or equal to p1755 in order to avoid
controlled operation.
Separate speed controllers should be set when operating with and without encoder.
- Operation with encoder: p1460 (Kp), p1462 (Tn), p1461, p1463, p1457, p1458 (speed controller adaptation)
- Operation without encoder: p1470 (Kp), p1472 (Tn)
For encoderless operation (p1404 = 0 or p1300 = 20), the following applies:
- The condition must be fulfilled: p1800 >= n / (2 * p0115[0]), n = 1, 2, ...
- For motors with a small power rating (< 300 W) we recommend to set n >= 2.

r1406.8...12 CO/BO: Control word speed controller / STW n_ctrl

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 1530, 2520
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the control word of the speed controller.
Bit field: Bit Signal name 1 signal 0 signal FP
08 Travel to fixed stop active Yes No -
12 Torque control active Yes No -

r1407.0...13 CO/BO: Status word speed controller / ZSW n_ctrl

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 1530, 2522
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the status word of the speed controller.
Bit field: Bit Signal name 1 signal 0 signal FP
00 U/f control active Yes No -
01 Encoderless operation active Yes No -
02 Torque control active Yes No 8010
04 Speed setpoint from DSC Yes No 2522
05 Speed controller I component frozen Yes No -
06 Speed controller I component set Yes No -
07 Torque limit reached Yes No 5610
08 Upper torque limit active Yes No 5610
09 Lower torque limit active Yes No 5610

© Siemens AG 2012 All Rights Reserved 1-237

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

11 Speed setpoint limited Yes No -

13 Encoderless operation due to a fault Yes No -
Note: Re bit 04:
The following conditions must be fulfilled to set to 1:
- CI: p1190 and CI: p1191 must be interconnected with a signal source that is not equal to zero.
- it is not permissible that OFF1, OFF3 or STOP2 are active.
- it is not permissible that the motor data identification is active.
- Master control must not be active.
The following conditions can mean that the DSC function is not active in spite of the fact that the bit is set:
- clock-cycle synchronous operation is not selected (r2054 not equal to 4).
- the PROFIBUS is not clock-cycle synchronous (r2064[0] not equal to 1).
- DSC is not switched on at the control side; this means that KPC = 0 is transferred as the value at CI: p1191.

r1408.0...9 CO/BO: Status word current controller / ZSW I_ctrl

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 2530, 5040
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the current controller status word.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Closed-loop current control Active Not active -
04 Limit Ud Active Not active -
05 Limit Vq Active Not active -
06 Positive limiting Iq Active Not active -
07 Negative limiting Iq Active Not active -
08 Limit iq_set Active Not active -
09 Limit id_set Active Not active -
Note: The set current limit is taken into account in upstream torque limiting. Bits 6, 7, and 8 are, therefore, only set in the
event of overshoots on account of the current setpoint filter.

p1414[0...n] Speed setpoint filter activation / n_set_filt act

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: DDS, p0180 Func. diagram: 5020
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 bin
Description: Setting for activating/de-activating the speed setpoint filter.
Recommend.: If only one filter is required, filter 1 should be activated and filter 2 de-activated, to avoid excessive processing time.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Activate filter 1 Yes No -
Dependency: The individual speed setpoint filters are parameterized as of p1415.

p1415[0...n] Speed setpoint filter 1 type / n_set_filt 1 typ

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: DDS, p0180 Func. diagram: 5020
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0 2 0
Description: Sets the type for speed setpoint filter 1.

1-238 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Value: 0: Low pass: PT1

1: Low pass: PT2
2: General 2nd-order filter
Dependency: PT1 low pass: p1416
PT2 low pass: p1417, p1418
General filter: p1417 ... p1420

p1416[0...n] Speed setpoint filter 1 time constant / n_set_filt 1 T

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5020
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.00 [ms] 5000.00 [ms] 0.00 [ms]
Description: Sets the time constant for the speed setpoint filter 1 (PT1).
Dependency: Refer to: p1414, p1415
Note: This parameter is only effective if the filter is set as a PT1 low pass.

p1417[0...n] Speed setpoint filter 1 denominator natural frequency / n_set_filt 1 fn_d

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5020
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
Description: Sets the denominator natural frequency for speed setpoint filter 1 (PT2, general filter).
Dependency: Refer to: p1414, p1415
Note: This parameter is only effective if the speed filter is parameterized as a PT2 low pass or as general filter.
The filter is only effective if the natural frequency is less than half of the sampling frequency.

p1418[0...n] Speed setpoint filter 1 denominator damping / n_set_filt 1 D_d

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5020
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.001 10.000 0.700
Description: Sets the denominator damping for speed setpoint filter 1 (PT2, general filter).
Dependency: Refer to: p1414, p1415
Note: This parameter is only effective if the speed filter is parameterized as a PT2 low pass or as general filter.

p1419[0...n] Speed setpoint filter 1 numerator natural frequency / n_set_filt 1 fn_n

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5020
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
Description: Sets the numerator natural frequency for speed setpoint filter 1 (general filter).
Dependency: Refer to: p1414, p1415
Note: This parameter is only effective if the speed filter is set as a general filter.
The filter is only effective if the natural frequency is less than half of the sampling frequency.

© Siemens AG 2012 All Rights Reserved 1-239

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p1420[0...n] Speed setpoint filter 1 numerator damping / n_set_filt 1 D_n

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5020
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.000 10.000 0.700
Description: Sets the numerator damping for speed setpoint filter 1 (general filter).
Dependency: Refer to: p1414, p1415
Note: This parameter is only effective if the speed filter is set as a general filter.

p1428[0...n] Speed pre-control balancing dead time / n_prectrBal t_dead

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5030, 5042,
SERVO_S110-PN 5210
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.0 2.0 0.0
Description: Sets the dead time to symmetrize the speed setpoint for active torque pre-control.
The selected multiplier refers to the speed controller clock cycle (dead time= p1428 * p0115[1]).
Dependency: In conjunction with p1429, this parameter can emulate the characteristics of how the torque is established (dynamic
response of closed current control loop).
Refer to: p1429, p1511

p1429[0...n] Speed pre-control balancing time constant / n_prectr bal T

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5030, 5042,
SERVO_S110-PN 5210, 6031
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.00 [ms] 10000.00 [ms] 0.00 [ms]
Description: Sets the time constant (PT1) for symmetrizing the speed setpoint for active torque pre-control.
Dependency: In conjunction with p1428, this parameter can emulate the characteristics of how torque is established (dynamic
response of the closed current control loop).
For VECTOR (r0107) the following applies:
The parameter is only effective if the acceleration model is supplied using external acceleration signals (p1400.2 =
1). For p1400.2 = 0, time constant p1442 (or p1452 for sensorless vector control) is used.
Refer to: p1428, p1511

p1430[0...n] CI: Speed pre-control / n_prectrl

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 1550, 1590,
SERVO_S110-PN 5020
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: p2000 Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for speed pre-control channel (speed pre-control or torque pre-control).
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: The pre-control signal via connector input p1430 only becomes effective at p1402.4 = 1 (torque-speed pre-control
with encoder) at p1400.10 = 0 (for setp_filter 2).

1-240 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r1432 CO: Speed pre-control after symmetrizing / n_prectr after sym

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5030
SERVO_S110-PN
P-Group: Closed-loop control Units group: 3_1 Unit selection: p0505
Not for motor type: REL Scaling: p2000 Expert list: 1
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Displays the speed pre-control value after symmetrizing for the torque build-up (emulates the closed current control
loop).
Dependency: Symmetrizing can be parameterized with p1428 and/or p1429.

p1433[0...n] Speed controller reference model natural frequency / n_ctrl RefMod fn

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5030, 6031
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.0 [Hz] 8000.0 [Hz] 0.0 [Hz]
Description: Sets the natural frequency of a PT2 element for the reference model of the speed controller.
Recommend.: The reference model is correctly set when the characteristics of p1439 (reference model output) and p1445 (actual
speed value) are virtually identical when the I component of the speed controller is disabled.
Dependency: Together with p1434 and p1435, the characteristics (in the time domain) of the closed-loop speed control (P) can be
emulated.
For VECTOR (r0107) the following applies:
The reference model is activated with p1400.3 = 1. For sensorless vector control (p1300 = 20) the reference model
is disabled in open-loop speed controlled operation (refer to p1755).
Refer to: p1434, p1435

p1434[0...n] Speed controller reference model damping / n_ctrl RefMod D

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5030, 6031
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.000 5.000 1.000
Description: Sets the damping of a PT2 element for the reference model of the speed controller.
Recommend.: The reference model is correctly set when the characteristics of p1439 (reference model output) and p1445 (actual
speed value) are virtually identical when the I component of the speed controller is disabled.
Dependency: In conjunction with p1433 and p1435, the characteristics (in time) of the P-controlled speed control loop can be
emulated.
For VECTOR (r0107) the following applies:
The reference model is activated with p1400.3 = 1.
Refer to: p1433, p1435

p1435[0...n] Speed controller reference model dead time / n_ctrRefMod t_dead

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5030, 6031
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.00 2.00 0.00
Description: Sets the "fractional" dead time for the reference model of the speed controller.

© Siemens AG 2012 All Rights Reserved 1-241

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

This parameter emulates the computing dead time of the proportionally controlled speed control loop.
The selected multiplier refers to the speed controller clock cycle (dead time= p1435 * p0115[1]).
Recommend.: The reference model is correctly set when the characteristics of p1439 (reference model output) and p1445 (actual
speed value) are virtually identical when the I component of the speed controller is disabled.
Dependency: In conjunction with p1433 and p1434, the characteristics (in time) of the P-controlled speed control loop can be
emulated.
For VECTOR (r0107) the following applies:
The reference model is activated with p1400.3 = 1.
Refer to: p1433, p1434

r1436 CO: Speed controller reference model speed setpoint output / RefMod n_set outp
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5030, 6031
SERVO_S110-PN
P-Group: Closed-loop control Units group: 3_1 Unit selection: p0505
Not for motor type: REL Scaling: p2000 Expert list: 1
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Displays the speed setpoint at the output of the reference model.
Dependency: For VECTOR (r0107) the following applies:
The reference model is activated with p1400.3 = 1.

r1438 CO: Speed controller, speed setpoint / n_ctrl n_set

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 1550, 1590,
SERVO_S110-PN 1700, 5030, 5040, 5042, 5210,
5300, 5620, 6031, 6040
P-Group: Closed-loop control Units group: 3_1 Unit selection: p0505
Not for motor type: REL Scaling: p2000 Expert list: 1
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Displays the speed setpoint after setpoint limiting for the P component of the speed controller.
For U/f operation, the value that is displayed is of no relevance.
Dependency: Refer to: r1439
Note: In the standard state (the reference model is de-activated), r1438 = r1439.

r1439 Speed setpoint, I component / n_set I_comp

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5030, 5040,
SERVO_S110-PN 6031
P-Group: Closed-loop control Units group: 3_1 Unit selection: p0505
Not for motor type: REL Scaling: p2000 Expert list: 1
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Displays the speed setpoint for the I component of the speed controller (output of the reference model after the set-
point limiting).
Dependency: Refer to: r1438
Note: In the standard state (the reference model is de-activated), r1438 = r1439.

1-242 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p1441[0...n] Actual speed smoothing time / n_act T_smooth

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_CON Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 4710, 4715
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.00 [ms] 50.00 [ms] 0.00 [ms]
Description: Sets the smoothing time constant (PT1) for the speed actual value.
Dependency: Refer to: r0063, p1451
Note: The speed actual value should be smoothed for encoders with a low pulse number or for resolvers.
After this parameter has been changed, we recommend that the speed controller is adapted and/or the speed con-
troller settings checked Kp (p1460) and Tn (p1462).

r1444 Speed controller, speed setpoint steady-state (static) / n_ctrl n_set stat
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5030
SERVO_S110-PN
P-Group: Closed-loop control Units group: 3_1 Unit selection: p0505
Not for motor type: REL Scaling: p2000 Expert list: 1
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Displays the sum of all speed setpoints that are present.
The following sources are available for the displayed setpoint:
- setpoint at the ramp-function generator input (r1119).
- speed setpoint 1 (p1155).
- speed setpoint 2 (p1160).
- speed setpoint for the speed pre-control (p1430).
- setpoint from DSC (for DSC active).
- setpoint via PC (for master control active).
Dependency: Refer to: r1119, p1155, p1160, p1430

p1451[0...n] Speed actual value smoothing time sensorless / n_act t_sm SL

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: -
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0 [ms] 100 [ms] 0 [ms]
Description: Sets the smoothing time for the calculated speed actual value in sensorless operation.
Dependency: Refer to: p1441

r1454 CO: Speed controller system deviation I component / n_ctrl sys dev Tn
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5040
SERVO_S110-PN
P-Group: Closed-loop control Units group: 3_1 Unit selection: p0505
Not for motor type: REL Scaling: p2000 Expert list: 1
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Displays the system deviation of the I component of the speed controller.
When the reference model is inactive (p1433 = 0 Hz), this parameter corresponds to the system deviation of the
complete PI controller (r1454 = r0064).

© Siemens AG 2012 All Rights Reserved 1-243

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p1455[0...n] CI: Speed controller P gain adaptation signal / n_ctrl Adpt_sig Kp

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 5050
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: PERCENT Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the source for the adaptation signal to additionally adapt the P gain of the speed controller.
Dependency: Refer to: p1456, p1457, p1458, p1459

p1456[0...n] Speed controller P gain adaptation lower starting point / n_ctrl AdaptKpLow
SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5050
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.00 [%] 400.00 [%] 0.00 [%]
Description: Sets the lower starting point of the adaptation range for the additional adaptation of the P gain of the speed control-
ler.
The values are in % and refer to the set source of the adaptation signal.
Dependency: Refer to: p1455, p1457, p1458, p1459

p1457[0...n] Speed controller P gain adaptation upper starting point / n_ctrl AdaptKp up
SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5050
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.00 [%] 400.00 [%] 0.00 [%]
Description: Sets the upper starting point of the adaptation range for the additional adaptation of the P gain of the speed control-
ler.
The values are in % and refer to the set source of the adaptation signal.
Dependency: Refer to: p1455, p1456, p1458, p1459

p1458[0...n] Adaptation factor, lower / Adapt_factor lower

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5050
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.0 [%] 200000.0 [%] 100.0 [%]
Description: Sets the adaptation factor before the adaptation range (0 % ... p1456) to additionally adapt the P gain of the
speed/velocity controller.
Dependency: Refer to: p1455, p1456, p1457, p1459

1-244 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p1459[0...n] Adaptation factor, upper / Adapt_factor upper

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5050
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.0 [%] 200000.0 [%] 100.0 [%]
Description: Sets the adaptation factor after the adaptation range (> p1457) to additionally adapt the P gain of the speed/velocity
controller.
Dependency: Refer to: p1455, p1456, p1457, p1458

p1460[0...n] Speed controller P gain adaptation speed, lower / n_ctrl Kp n lower

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_CON Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5040, 5042
SERVO_S110-PN
P-Group: Closed-loop control Units group: 17_1 Unit selection: p0505
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.000 [Nms/rad] 999999.000 [Nms/rad] 0.300 [Nms/rad]
Description: Sets the P gain of the speed controller before the adaptation speed range (0 ... p1464). This value corresponds to
the basic setting of the P gain of the speed controller without adaptation (p1461 = 100 %).
Dependency: Refer to: p1461, p1464, p1465
Note: When automatically calculating the speed controller, only the motor moment of inertia is taken into account (p0341).
For higher load moments of inertia (p0342 > 1 or p1498 > 0), you are advised to check the speed controller gain.

p1461[0...n] Speed controller Kp adaptation speed, upper scaling / n_ctrl Kp n upper

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_CON Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5050
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.0 [%] 200000.0 [%] 100.0 [%]
Description: Sets the P gain of the speed controller for the upper adaptation speed range (> p1465). The entry is made referred
to the P gain for the lower adaptation speed range of the speed controller (% referred to p1460).
Dependency: Refer to: p1460, p1464, p1465
Note: When automatically calculating the speed controller, only the motor moment of inertia is taken into account (p0341).
For higher load moments of inertia (p0342 > 1 or p1498 > 0), you are advised to check the speed controller gain.

p1462[0...n] Speed controller integral time adaptation speed lower / n_ctrl Tn n lower
SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_CON Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 1700, 5040,
SERVO_S110-PN 5042, 6040
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.00 [ms] 100000.00 [ms] 20.00 [ms]
Description: Sets the integration time of the speed controller before the adaptation speed range (0 ... p1464).
This value corresponds to the basic setting of the integral time of the speed controller without adaptation (p1461 =
100 %).
Dependency: Refer to: p1463, p1464, p1465

© Siemens AG 2012 All Rights Reserved 1-245

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p1463[0...n] Speed controller Tn adaptation speed, upper scaling / n_ctrl Tn n upper

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_CON Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5050
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.0 [%] 200000.0 [%] 100.0 [%]
Description: Sets the integral time of the speed controller after the adaptation speed range (> p1465). The entry is made referred
to the integral time for the lower adaptation speed range of the speed controller (% referred to p1462).
Dependency: Refer to: p1462, p1464, p1465

p1464[0...n] Speed controller adaptation speed, lower / n_ctrl n lower

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_CON Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5050
SERVO_S110-PN
P-Group: Closed-loop control Units group: 3_1 Unit selection: p0505
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.00 [rpm] 210000.00 [rpm] 0.00 [rpm]
Description: Sets the lower adaptation speed of the speed controller.
No adaptation is effective below this speed.
Dependency: Refer to: p1460, p1461, p1462, p1463, p1465

p1465[0...n] Speed controller adaptation speed, upper / n_ctrl n upper

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_CON Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5050
SERVO_S110-PN
P-Group: Closed-loop control Units group: 3_1 Unit selection: p0505
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.00 [rpm] 210000.00 [rpm] 210000.00 [rpm]
Description: Sets the upper adaptation speed of the speed controller.
No adaptation is effective above this speed.
For P gain, p1460 x p1461 is effective. For the integral time, p1462 x p1463 is effective.
Dependency: Refer to: p1460, p1461, p1462, p1463, p1464

p1466[0...n] CI: Speed controller P-gain scaling / n_ctrl Kp scal

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 5050
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: PERCENT Expert list: 1
Min Max Factory setting
- - 1
Description: Sets the signal source for the scaling of the P gain of the speed controller. This also makes the effective P gain
(including adaptations) scalable.

1-246 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r1468 Speed controller P-gain effective / n_ctr Kp eff

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5040, 5042,
SERVO_S110-PN 5210
P-Group: Closed-loop control Units group: 17_1 Unit selection: p0505
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
- [Nms/rad] - [Nms/rad] - [Nms/rad]
Description: Displays the effective P gain of the speed controller.

r1469 Speed controller integral time effective / n_ctr Tn eff

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5040, 5042,
SERVO_S110-PN 6040
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
- [ms] - [ms] - [ms]
Description: Displays the effective integral time of the speed controller.

p1470[0...n] Speed controller encoderless operation P-gain / n_ctrl SLVC Kp

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_CON Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5210
SERVO_S110-PN
P-Group: Closed-loop control Units group: 17_1 Unit selection: p0505
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.000 [Nms/rad] 999999.000 [Nms/rad] 0.300 [Nms/rad]
Description: Sets the P gain for encoderless operation for the speed controller.
Note: When automatically calculating the speed controller, only the motor moment of inertia is taken into account (p0341).
For higher load moments of inertia (p0342 > 1 or p1498 > 0), you are advised to check the speed controller gain.

p1472[0...n] Speed controller encoderless operation integral time / n_ctrl SLVC Tn

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_CON Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5210
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.0 [ms] 100000.0 [ms] 20.0 [ms]
Description: Set the integral time for encoderless operation for the speed controller.

p1476[0...n] BI: Speed controller hold integrator / n_ctrl integ stop

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 2520, 5040,
SERVO_S110-PN 5042, 5210, 6040
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source to hold the integrator for the speed controller.

© Siemens AG 2012 All Rights Reserved 1-247

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p1477[0...n] BI: Speed controller set integrator value / n_ctrl integ set
SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 2520, 5040,
SERVO_S110-PN 5042, 5210, 6040
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source to set the integrator setting value (p1478).
Dependency: Refer to: p1478
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: For the interface mode "SIMODRIVE 611 universal" (p2038 = 1), p1477 and p1478 are used for the signal STW2.6
(integrator inhibit, speed controller).

p1478[0...n] CI: Speed controller integrator setting value / n_ctr integ_setVal

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 5040, 5042,
SERVO_S110-PN 5210
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: p2003 Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for the integrator setting value for the velocity controller.
The signal to set this integrator setting value is interconnected via p1477.
Dependency: Refer to: p1477
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: For the interface mode "SIMODRIVE 611 universal" (p2038 = 1), p1477 and p1478 are used for the signal STW2.6
(integrator inhibit, speed controller).

r1480 CO: Speed controller PI torque output / n_ctrl PI-M_output

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 1590, 5040,
SERVO_S110-PN 5042, 5060, 5210, 6060
P-Group: Closed-loop control Units group: 7_1 Unit selection: p0505
Not for motor type: REL Scaling: p2003 Expert list: 1
Min Max Factory setting
- [Nm] - [Nm] - [Nm]
Description: Displays the torque setpoint at the output of the PI speed controller.

r1481 CO: Speed controller P torque output / n_ctrl P-M_output

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5040, 5042,
SERVO_S110-PN 5210, 6040
P-Group: Closed-loop control Units group: 7_1 Unit selection: p0505
Not for motor type: REL Scaling: p2003 Expert list: 1
Min Max Factory setting
- [Nm] - [Nm] - [Nm]
Description: Displays the torque setpoint at the output of the P speed controller.

1-248 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r1482 CO: Speed controller I torque output / n_ctrl I-M_output

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5040, 5042,
SERVO_S110-PN 5210, 6030, 6040
P-Group: Closed-loop control Units group: 7_1 Unit selection: p0505
Not for motor type: REL Scaling: p2003 Expert list: 1
Min Max Factory setting
- [Nm] - [Nm] - [Nm]
Description: Displays the torque setpoint at the output of the I speed controller.

r1493 CO: Moment of inertia, total / M_inertia total

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5042, 5210
SERVO_S110-PN
P-Group: Closed-loop control Units group: 25_1 Unit selection: p0100
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
- [kgm²] - [kgm²] - [kgm²]
Description: Displays the parameterized total moment of inertia ((p0341 * p0342) + p1498) without evaluation by the scaling via
p1497.
Dependency: Refer to: p1300, p1402, p1404, p1497
Note: The parameterized total moment of inertia, taking into account p1497, influences the torque pre-control.
In encoderless operation or when the torque-speed pre-control with encoder (p1402.4 = 1) is activated, then torque-
speed pre-control is activated.

p1494[0...n] Speed controller integrator feedback time constant / n_ctr integ_fdbk T

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5040, 5042,
SERVO_S110-PN 5210
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.00 [ms] 1000.00 [ms] 0.00 [ms]
Description: Sets the time constant of the PT1 filter for integrator feedback.
The integrator of the speed controller is re-parameterized to become a PT1 filter through a feedback element (1st
Order low pass filter characteristics).
The following applies:
p1494 < 0.25 (2 x p0115[1]) --> the PT1 filter is not active - the pure integrator is effective.
p1494 >= 0.25 (2 x p0115[1]) --> the PT1 filter is active and has replaced the pure integrator.
Note: Applications:
Motion at zero setpoint and dominant stiction can be suppressed but this has a negative impact on the remaining
setpoint-actual value difference. This can be used, for example, to avoid oscillation of a position-controlled axis at
standstill (stick-slip effect) or overshoot when traversing (moving) in micrometer steps.
Also prevents tension/stressing for axes that are mechanically and rigidly coupled with one another (e.g. for syn-
chronous spindles, master - slave axes).

© Siemens AG 2012 All Rights Reserved 1-249

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p1497[0...n] CI: Moment of inertia, scaling / M_mom inert scal

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 5042, 5210,
SERVO_S110-PN 6030, 6031
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: PERCENT Expert list: 1
Min Max Factory setting
- - 1
Description: Sets the signal source for scaling the moment of inertia.
Notice: This parameter has no effect when the "moment of inertia estimator" function is active (r0108.10 = 1, p1400.18 = 1).

p1498[0...n] Load moment of inertia / Load mom of inert

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5042, 5210
SERVO_S110-PN
P-Group: Closed-loop control Units group: 25_1 Unit selection: p0100
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00000 [kgm²] 100000.00000 [kgm²] 0.00000 [kgm²]
Description: Sets the load moment of inertia.
Note: (p0341 * p0342) + p1498 influence the speed/torque pre-control in encoderless operation.

p1501[0...n] BI: Change over between closed-loop speed/torque control / Changeov n/M_ctrl
SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 1700, 2520,
SERVO_S110-PN 5060, 6060
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for toggling between speed and torque control.
Dependency: The input connectors to enter the torque are provided using p1511, p1512 and p1513.
Refer to: p1300
Caution: If the closed-loop torque control is not activated (p1300) and a change is made to closed-loop torque control
(p1501), OFF1 (p0840) does not have its own braking response but pulse suppression when standstill is detected
(p1226, p1227).
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: 0 signal: Closed-loop speed control
1 signal: Closed-loop torque control

p1502[0...n] BI: Freeze moment of inertia estimator / J_estim freeze

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: -
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source to freeze the estimated moment of inertia.
0 signal:
Moment of inertia estimator active
1 signal:
Determined moment of inertia frozen.
Dependency: Refer to: p1300

1-250 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Note: Only active when the "moment of inertia estimator" function module is active (r0108.10 = 1) and p1400.18 =1.
For operation with encoder, in addition, p1402.4 must be set to 1.

r1509 CO: Torque setpoint before torque limiting / M_set before M_lim
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 1590, 5060,
SERVO_S110-PN 5610
P-Group: Closed-loop control Units group: 7_1 Unit selection: p0505
Not for motor type: REL Scaling: p2003 Expert list: 1
Min Max Factory setting
- [Nm] - [Nm] - [Nm]
Description: Displays the total torque setpoint before the torque limiting (total of the controller output, supplementary torque and
if required, the pre-control torque, encoderless operation).

p1511[0...n] CI: Supplementary torque 1 / M_suppl 1

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 5060, 6060
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: p2003 Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for supplementary torque 1.

p1512[0...n] CI: Supplementary torque 1 scaling / M_suppl 1 scal

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 5060, 6060
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: PERCENT Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for scaling the supplementary torque 1.

p1513[0...n] CI: Supplementary torque 2 / M_suppl 2

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 5060, 6060
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: p2003 Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for supplementary torque 2.

r1515 Supplementary torque total / M_suppl total

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5040, 5060
SERVO_S110-PN
P-Group: Closed-loop control Units group: 7_1 Unit selection: p0505
Not for motor type: REL Scaling: p2003 Expert list: 1
Min Max Factory setting
- [Nm] - [Nm] - [Nm]
Description: Displays the total supplementary torque.
The displayed value is the total of supplementary torque values 1 and 2 (p1511, p1512, p1513, p1514).

© Siemens AG 2012 All Rights Reserved 1-251

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p1517[0...n] Accelerating torque smoothing time constant / M_accel T_smooth

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5042, 5210,
SERVO_S110-PN 6060
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.00 [ms] 100.00 [ms] 4.00 [ms]
Description: Sets the smoothing time constant of the accelerating torque.
Note: For servo drives, the parameter is only effective in encoderless operation.
For vector drives, the acceleration pre-control is inhibited if the smoothing is set to the maximum value.

r1518[0...1] CO: Accelerating torque / M_accel

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5042, 5210
SERVO_S110-PN
P-Group: Closed-loop control Units group: 7_1 Unit selection: p0505
Not for motor type: REL Scaling: p2003 Expert list: 1
Min Max Factory setting
- [Nm] - [Nm] - [Nm]
Description: Displays the accelerating torque to pre-control the speed controller for torque-speed pre-control (p1402.4 = 1) or in
encoderless operation.
Index: [0] = Unsmoothed
[1] = Smoothed
Dependency: Refer to: p0341, p0342, p1300, p1402, r1493, p1497, p1498

p1520[0...n] CO: Torque limit upper/motoring / M_max upper/mot

SERVO_S110-CAN, Can be changed: U, T Calculated: Access level: 2
SERVO_S110-DP, CALC_MOD_LIM_REF
SERVO_S110-PN Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5620, 5630
P-Group: Closed-loop control Units group: 7_1 Unit selection: p0505
Not for motor type: REL Scaling: p2003 Expert list: 1
Min Max Factory setting
-1000000.00 [Nm] 20000000.00 [Nm] 0.00 [Nm]
Description: Sets the fixed upper torque limit or the torque limit when motoring.
Dependency: p1400.4 = 0: upper/lower
p1400.4 = 1: motoring / regenerating
Refer to: p0500, p1521, p1522, p1523, p1532, r1538, r1539
Danger: For p1400.4 = 0 (torque limiting, upper/lower) the following applies:
Negative values when setting the upper torque limit (p1520 < 0) can result in the motor accelerating in an uncontrol-
lable fashion.

Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.

p1521[0...n] CO: Torque limit lower/regenerative / M_max lower/regen

SERVO_S110-CAN, Can be changed: U, T Calculated: Access level: 2
SERVO_S110-DP, CALC_MOD_LIM_REF
SERVO_S110-PN Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5620, 5630
P-Group: Closed-loop control Units group: 7_1 Unit selection: p0505
Not for motor type: REL Scaling: p2003 Expert list: 1
Min Max Factory setting
-20000000.00 [Nm] 1000000.00 [Nm] 0.00 [Nm]
Description: Sets the fixed lower torque limit or the torque limit when regenerating.

1-252 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Dependency: p1400.4 = 0: upper/lower

p1400.4 = 1: motoring / regenerating
Refer to: p0500, p1520, p1522, p1523, p1532
Danger: For p1400.4 = 0 (torque limiting, upper/lower) the following applies:
Positive values when setting the lower torque limit (p1521 > 0) can result in the motor accelerating in an uncontrol-
lable fashion.

Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.

p1522[0...n] CI: Torque limit upper/motoring / M_max upper/mot

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 1610, 5620,
SERVO_S110-PN 5630, 6630
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: p2003 Expert list: 1
Min Max Factory setting
- - 1520[0]
Description: Sets the signal source for the upper or torque/force limit when motoring.
Dependency: p1400.4 = 0: upper/lower
p1400.4 = 1: motoring / regenerating
Refer to: p1520, p1521, p1523, p1532
Danger: For p1400.4 = 0 (torque limiting, upper/lower) the following applies:
Negative values resulting from the signal source and scaling can cause the motor to accelerate in an uncontrolled
manner.

p1523[0...n] CI: Torque limit lower/regenerative / M_max lower/regen

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 1610, 5620,
SERVO_S110-PN 5630
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: p2003 Expert list: 1
Min Max Factory setting
- - 1521[0]
Description: Sets the signal source for the lower or torque/force limit when regenerating.
Dependency: p1400.4 = 0: upper/lower
p1400.4 = 1: motoring / regenerating
Refer to: p1520, p1521, p1522, p1532
Danger: For p1400.4 = 0 (torque limiting, upper/lower) the following applies:
Positive values resulting from the signal source and scaling can cause the motor to accelerate in an uncontrolled
manner.

p1524[0...n] CO: Torque limit upper/motoring scaling / M_max up/mot scal

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5620, 5630
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: PERCENT Expert list: 1
Min Max Factory setting
-2000.0 [%] 2000.0 [%] 100.0 [%]
Description: Sets the scaling for the upper torque limit or the torque limit when motoring.
Dependency: p1400.4 = 0: upper/lower
p1400.4 = 1: motoring / regenerating
Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.

© Siemens AG 2012 All Rights Reserved 1-253

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Note: This parameter can be freely interconnected.

The value has the meaning stated above if it is interconnected from connector input p1528.

p1525[0...n] CO: Torque limit lower/regenerative scaling / M_max low/gen scal

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5620, 5630
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: PERCENT Expert list: 1
Min Max Factory setting
-2000.0 [%] 2000.0 [%] 100.0 [%]
Description: Sets the scaling for the lower torque limit or the torque limit when regenerating.
Dependency: p1400.4 = 0: upper/lower
p1400.4 = 1: motoring / regenerating
Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.
Note: This parameter can be freely interconnected.
The value has the meaning stated above if it is interconnected from connector input p1528.

r1526 CO: Torque limit upper/motoring without offset / M_max up w/o offs
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5620, 5630
SERVO_S110-PN
P-Group: Closed-loop control Units group: 7_1 Unit selection: p0505
Not for motor type: REL Scaling: p2003 Expert list: 1
Min Max Factory setting
- [Nm] - [Nm] - [Nm]
Description: Displays the upper torque limit of all torque limits without offset.
Dependency: p1400.4 = 0: upper/lower
p1400.4 = 1: motoring / regenerating
Refer to: p1520, p1521, p1522, p1523, p1528, p1529

r1527 CO: Torque limit lower/regenerative without offset / M_max low w/o offs
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5620, 5630
SERVO_S110-PN
P-Group: Closed-loop control Units group: 7_1 Unit selection: p0505
Not for motor type: REL Scaling: p2003 Expert list: 1
Min Max Factory setting
- [Nm] - [Nm] - [Nm]
Description: Displays the lower torque limit of all torque limits without offset.
Dependency: p1400.4 = 0: upper/lower
p1400.4 = 1: motoring / regenerating
Refer to: p1520, p1521, p1522, p1523, p1528, p1529

p1528[0...n] CI: Torque limit upper/motoring scaling / M_max up/mot scal

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 1610, 3617,
SERVO_S110-PN 5620, 5630
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: PERCENT Expert list: 1
Min Max Factory setting
- - 1524[0]
Description: Sets the signal source for the scaling of the upper or motoring torque limit in p1522.
Dependency: p1400.4 = 0: upper/lower
p1400.4 = 1: motoring / regenerating

1-254 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Danger: For p1400.4 = 0 (torque limiting, upper/lower) the following applies:

Negative values resulting from the signal source and scaling can cause the motor to accelerate in an uncontrolled
manner.

Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.

p1529[0...n] CI: Torque limit lower/regenerative scaling / M_max low/gen scal

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 1610, 3617,
SERVO_S110-PN 5620, 5630
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: PERCENT Expert list: 1
Min Max Factory setting
- - 1525[0]
Description: Sets the signal source for the scaling of the lower torque limit or the regenerative torque limit in p1523.
Dependency: p1400.4 = 0: upper/lower
p1400.4 = 1: motoring / regenerating
Danger: For p1400.4 = 0 (torque limiting, upper/lower) the following applies:
Positive values resulting from the signal source and scaling can cause the motor to accelerate in an uncontrolled
manner.

Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.

p1530[0...n] Power limit motoring / P_max mot

SERVO_S110-CAN, Can be changed: U, T Calculated: Access level: 2
SERVO_S110-DP, CALC_MOD_LIM_REF
SERVO_S110-PN Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5640
P-Group: Closed-loop control Units group: 14_5 Unit selection: p0505
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.00 [kW] 100000.00 [kW] 0.00 [kW]
Description: Sets the power limit when motoring.
Dependency: Refer to: p0500, p1531

p1531[0...n] Power limit regenerative / P_max gen

SERVO_S110-CAN, Can be changed: U, T Calculated: Access level: 2
SERVO_S110-DP, CALC_MOD_LIM_REF
SERVO_S110-PN Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5640
P-Group: Closed-loop control Units group: 14_5 Unit selection: p0505
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
-100000.00 [kW] -0.01 [kW] -0.01 [kW]
Description: Sets the regenerative power limit.
Dependency: Refer to: p0500, p1530

p1532[0...n] CO: Torque limit offset / M_max offset

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5620, 5630,
SERVO_S110-PN 5650, 7010, 8012
P-Group: Closed-loop control Units group: 7_1 Unit selection: p0505
Not for motor type: REL Scaling: p2003 Expert list: 1
Min Max Factory setting
-100000.00 [Nm] 100000.00 [Nm] 0.00 [Nm]
Description: Sets the torque offset for the torque limit.
Dependency: Refer to: p1520, p1521, p1522, p1523, p1528, p1529

© Siemens AG 2012 All Rights Reserved 1-255

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.

r1533 Current limit torque-generating total / Iq_max total

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5640, 5722,
SERVO_S110-PN 6640
P-Group: Displays, signals Units group: 6_2 Unit selection: p0505
Not for motor type: - Scaling: p2002 Expert list: 1
Min Max Factory setting
- [Arms] - [Arms] - [Arms]
Description: Displays the maximum torque/force generating current as a result if all current limits.

r1534 CO: Torque limit upper total / M_max upper total

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 1610, 5620,
SERVO_S110-PN 5630, 5640
P-Group: Closed-loop control Units group: 7_1 Unit selection: p0505
Not for motor type: REL Scaling: p2003 Expert list: 1
Min Max Factory setting
- [Nm] - [Nm] - [Nm]
Description: Displays the upper torque limit of all torque limits.
Dependency: Refer to: p1520, p1521, p1522, p1523, p1528, p1529, p1532

r1535 CO: Torque limit lower total / M_max lower total

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 1610, 5620,
SERVO_S110-PN 5630, 5640
P-Group: Closed-loop control Units group: 7_1 Unit selection: p0505
Not for motor type: REL Scaling: p2003 Expert list: 1
Min Max Factory setting
- [Nm] - [Nm] - [Nm]
Description: Displays the lower torque limit of all torque limits.
Dependency: Refer to: p1520, p1521, p1522, p1523, p1528, p1529, p1532

r1538 CO: Upper effective torque limit / M_max upper eff

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 1590, 1610,
SERVO_S110-PN 5610, 5650
P-Group: Closed-loop control Units group: 7_1 Unit selection: p0505
Not for motor type: REL Scaling: p2003 Expert list: 1
Min Max Factory setting
- [Nm] - [Nm] - [Nm]
Description: Displays the currently effective upper torque limit.
Note: The effective upper torque limit is reduced with respect to the selected upper torque limit p1520, if the current limit
p0640 is reduced or the rated magnetizing current of the induction motor p0320 is increased.
The torque limit p1520 can be re-calculated using p0340 = 1, 3 or 5.

1-256 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r1539 CO: Lower effective torque limit / M_max lower eff

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 1590, 1610,
SERVO_S110-PN 5610, 5650
P-Group: Closed-loop control Units group: 7_1 Unit selection: p0505
Not for motor type: REL Scaling: p2003 Expert list: 1
Min Max Factory setting
- [Nm] - [Nm] - [Nm]
Description: Displays the currently effective lower torque limit.
Note: The effective lower torque limit is reduced with respect to the selected lower torque limit p1521, if the current limit
p0640 is reduced or the rated magnetizing current of the induction motor p0320 is increased.
The torque limit p1520 can be re-calculated using p0340 = 1, 3 or 5.

p1542[0...n] CI: Travel to fixed stop torque reduction / TfS M_red

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 5610
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: - Scaling: PERCENT Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for the torque/force reduction when traversing to a fixed stop. This value is converted into a
factor and is interconnected to the scaling of the torque/force limits.
Dependency: Refer to: p1528, p1529, r1543, p1544, p1545
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.

r1543 CO: Travel to fixed stop torque scaling / TfS M scal

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5610
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: - Scaling: PERCENT Expert list: 1
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the internally converted factor to interconnect to the scaling of the torque/force limits.
Dependency: Refer to: p1528, p1529, p1542, p1544, p1545

p1544 Travel to fixed stop evaluation torque reduction / TfS M_red eval
SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5610
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 [%] 65535 [%] 100 [%]
Description: Sets the evaluation for the torque/force reduction when traversing to a fixed stop.
Dependency: Refer to: p1528, p1529, p1542, r1543, p1545
Note: 4000 hex (16384 dec) in the MOMRED control word corresponds to a reduction by the percentage specified in this
parameter.

© Siemens AG 2012 All Rights Reserved 1-257

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p1545[0...n] BI: Activates travel to a fixed stop / TfS activation

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 2520, 3617,
SERVO_S110-PN 8012
P-Group: Commands Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source to activate/de-activate the "travel to fixed stop" function
1: Travel to fixed stop is active
0: Travel to fixed stop is inactive
Dependency: Refer to: p1542, r1543, p1544
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.

p1546 Speed threshold motoring/regenerating / n_thresh mot/regen

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Closed-loop control Units group: 3_1 Unit selection: p0505
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [rpm] 210000.00 [rpm] 20.00 [rpm]
Description: Sets the speed threshold for the motoring/regenerative limit.
For speeds where the absolute value is less than p1546, then the following applies:
- For p1400.13 = 0: Motoring limit (speed threshold is compared to the speed actual value).
- For p1400.13 = 1: Regenerative limiting (speed threshold is compared to the speed setpoint).

r1549 CO: Stall power actual value / P_stall

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5640
SERVO_S110-PN
P-Group: Displays, signals Units group: 14_5 Unit selection: p0505
Not for motor type: - Scaling: r2004 Expert list: 1
Min Max Factory setting
- [kW] - [kW] - [kW]
Description: Displays the instantaneous stall power.
Dependency: Refer to: p0326
Note: The stall power is influenced by p0326, p0353, p0354 and p0356.

p1550[0...n] BI: Transfer actual torque as torque offset / Accept act torque
SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: -
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 9718.23
Description: For a positive edge, the actual torque (r0079[0]) at this instant in time is used instead of the torque offset from
p1532 as long as p1550 remains at 1.

1-258 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p1551[0...n] BI: Torque limit variable/fixed signal source / M_lim var/fixS_src

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 5620, 5630,
SERVO_S110-PN 6060, 6630
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
- - 1
Description: Sets the signal source to change over the torque limits between variable and fixed torque limit.
1 signal from BI: p1551:
The variable torque limit applies (fixed torque limit + scaling).
0 signal from BI: p1551:
The fixed torque limit applies.
Example:
In order that for a Quick Stop (OFF3) the fixed torque limit is effective, BI: p1551 must be interconnected to r0899.5.

p1552[0...n] CI: Torque limit upper scaling without offset / M_max up w/o offs
SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 5060
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: PERCENT Expert list: 1
Min Max Factory setting
- - 1
Description: Sets the signal source for the scaling of the upper torque limiting to limit the speed controller output without taking
into account the current and power limits.
Notice: Speed controller limiting is only active if a BICO interconnection is set for connector input p1552 or p1554, (different
than the factory setting).

p1554[0...n] CI: Torque limit lower scaling without offset / M_max low w/o offs
SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 5060
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: PERCENT Expert list: 1
Min Max Factory setting
- - 1
Description: Sets the signal source for the scaling of the lower torque limiting to limit the speed controller output without taking
into account the current and power limits.
Notice: Speed controller limiting is only active if a BICO interconnection is set for connector input p1552 or p1554, (different
than the factory setting).

p1569[0...n] CI: Supplementary torque 3 / M_suppl 3

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 7010
SERVO_S110-PN
P-Group: Functions Units group: - Unit selection: -
Not for motor type: REL Scaling: p2003 Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for supplementary torque 3.
Notice: The signal input is after the torque limit (r1538, r1539). For vector drives, the signals that are entered are only lim-
ited by the current and power limits.
Note: The signal input is preferably used to enter the friction characteristic. The friction compensation is also effective if
the speed controller output reaches its torque limits, but the current limits have still not been reached (this only
applies to vector drives).

© Siemens AG 2012 All Rights Reserved 1-259

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p1578[0...n] Flux reduction flux decrease smoothing time / Flux red dec t_sm
SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_REG Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5722
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: PEM, REL, FEM Scaling: - Expert list: 1
Min Max Factory setting
20 [ms] 5000 [ms] 200 [ms]
Description: Sets the smoothing time for the flux setpoint when decreasing the flux due to flux reduction (p1581 < 100 %).
Dependency: Refer to: p1579, p1581

p1579[0...n] Flux reduction flux build-up smoothing time / Flux red up t_sm
SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_REG Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5722
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: PEM, REL, FEM Scaling: - Expert list: 1
Min Max Factory setting
0 [ms] 5000 [ms] 4 [ms]
Description: Sets the smoothing time for the flux setpoint for the flux build-up due to flux reduction (p1581 < 100 %).
Dependency: Refer to: p1578, p1581
Note: An excessively long smoothing time extends the time until the maximum torque is reached from the no-load phase.

p1581[0...n] Flux reduction factor / Flux red factor

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5722
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: PEM, REL, FEM Scaling: - Expert list: 1
Min Max Factory setting
20 [%] 100 [%] 100 [%]
Description: Sets the factor to which the flux is reduced under no-load conditions.
For a value of 100%, the flux reduction is switched out.
This parameter refers to the flux saved in the field weakening characteristic.
By reducing the flux, the losses in induction motors can be reduced under no-load conditions or at low torques.
However, the time it takes to reach the maximum torque is extended.
Recommend.: For induction motors with closed rotor slots, we recommend that the integral time of the current controller (p1717) is
e.g. increased to three times the value.
For stable operation, the maximum field-weakening factor in operation with an encoder must be less than 16 and in
operation without an encoder must be less than 4. Lower field weakening factors are recommended. The field
weakening factor is calculated as follows:
(p1082 * 100 % * 600 V) / (p0348 * p1581 * p0070)
In order to reduce losses due to magnetizing and de-magnetizing, we recommend that the smoothing times are
adapted for flux decrease (p1578) and flux build-up (p1579).
In order to reduce the losses as a result of building-up and reducing the torque, we recommend that the torque set-
point is smoothed (current setpoint filter (p1656 ...) or speed actual value filter (p1441)).
Dependency: Refer to: p1578, p1579
Note: It only makes sense to activate this function if there are low dynamic requirements placed on the speed controller
and there are frequent phases with a low load.
In order to avoid oscillations, if required, the speed controller parameters should be adapted (decrease Kp (p1460,
p1470), increase Tn (p1462, p1472)).
When used without an encoder, flux reduction is not possible for induction motors with closed rotor slots.

1-260 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p1585[0...n] Flux actual value, smoothing time / Flux actVal T_smth

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_CON Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: -
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: PEM, REL Scaling: - Expert list: 1
Min Max Factory setting
0 [ms] 1000 [ms] 0 [ms]
Description: Sets the smoothing time for the flux actual value.

p1590[0...n] Flux controller P gain / Flux controller Kp

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_CON Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5722
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: PEM, REL Scaling: - Expert list: 1
Min Max Factory setting
0.0 [A/Vs] 999999.0 [A/Vs] 10.0 [A/Vs]
Description: Sets the proportional gain for the flux controller.
Note: For synchronous motors, this parameters has no effect.
The value is automatically pre-assigned dependent on the motor when the drive system is first commissioned.
When calculating controller parameters (p0340 = 4), this value is re-calculated.

p1592[0...n] Flux controller integral time / Flux controller Tn

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_CON Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5722
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: PEM, REL Scaling: - Expert list: 1
Min Max Factory setting
0 [ms] 10000 [ms] 30 [ms]
Description: Sets the integral time for the flux controller.
Note: For synchronous motors, this parameters has no effect.
The value is automatically pre-assigned dependent on the motor when the drive system is first commissioned.
When calculating controller parameters (p0340 = 4), this value is re-calculated.

p1612[0...n] Current setpoint, open-loop control, encoderless / I_setCtrEncoderl

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_REG Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: -
SERVO_S110-PN
P-Group: Closed-loop control Units group: 6_2 Unit selection: p0505
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [Arms] 10000.00 [Arms] 0.00 [Arms]
Description: Sets the current setpoint for controlled (open-loop) encoderless operation.
Note: The value is effective at speeds less than p1755 and represents a reserve for a possibly existing load torque or
torque error in the moment of inertia.

© Siemens AG 2012 All Rights Reserved 1-261

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r1650 Current setpoint torque-generating before filter / Iq_set before filt

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5710
SERVO_S110-PN
P-Group: Closed-loop control Units group: 6_2 Unit selection: p0505
Not for motor type: REL Scaling: p2002 Expert list: 1
Min Max Factory setting
- [Arms] - [Arms] - [Arms]
Description: Displays the torque generating current setpoint Iqset after the torque limits and the clock cycle interpolation is
ahead of the current setpoint filters.

r1651 CO: Torque setpoint, function generator / M_set FG

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Closed-loop control Units group: 7_1 Unit selection: p0505
Not for motor type: REL Scaling: p2003 Expert list: 1
Min Max Factory setting
- [Nm] - [Nm] - [Nm]
Description: Displays the torque setpoint of the function generator.

p1656[0...n] Activates current setpoint filter / I_setp_filt act

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_CON Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: DDS, p0180 Func. diagram: 5710
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0001 bin
Description: Setting for activating/de-activating the current setpoint filter.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Filter 1 Active Inactive -
01 Filter 2 Active Inactive -
Dependency: The individual current setpoint filters are parameterized as of p1657.
Note: If not all of the filters are required, then the filters should be used consecutively starting from filter 1.

p1657[0...n] Current setpoint filter 1 type / I_set_filt 1 Typ

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_CON Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: DDS, p0180 Func. diagram: 5710, 6710
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
1 2 1
Description: Sets the current setpoint filter 1 as low pass (PT2) or as extended general 2nd-order filter.
Value: 1: Low pass: PT2
2: General 2nd-order filter
Dependency: Current setpoint filter 1 is activated via p1656.0 and parameterized via p1657 ... p1661.
Note: For an extended general 2nd-order filter, by inserting the same natural frequency in both the numerator and in the
denominator, i.e. bandstop frequency, a bandstop filter is implemented. If the numerator damping of zero is
selected, the bandstop frequency is completely suppressed.
The denominator damping can be determined from the equation for the 3 dB bandwidth:
f_3dB bandwidth = 2 * D_denominator * f_bandstop frequency

1-262 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p1658[0...n] Current setpoint filter 1 denominator natural frequency / I_set_filt 1 fn_n

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_CON Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5710, 6710
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.5 [Hz] 16000.0 [Hz] 1999.0 [Hz]
Description: Sets the denominator natural frequency for current setpoint filter 1 (PT2, general filter).
Dependency: Current setpoint filter 1 is activated via p1656.0 and parameterized via p1657 ... p1661.

p1659[0...n] Current setpoint filter 1 denominator damping / I_set_filt 1 D_n

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_CON Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5710, 6710
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.001 10.000 0.700
Description: Sets the denominator damping for current setpoint filter 1.
Dependency: Current setpoint filter 1 is activated via p1656.0 and parameterized via p1657 ... p1661.

p1660[0...n] Current setpoint filter 1 numerator natural frequency / I_set_filt 1 fn_z

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5710, 6710
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.5 [Hz] 16000.0 [Hz] 1999.0 [Hz]
Description: Sets the numerator natural frequency for current setpoint filter 1 (general filter).
Dependency: Current setpoint filter 1 is activated via p1656.0 and parameterized via p1657 ... p1661.

p1661[0...n] Current setpoint filter 1 numerator damping / I_set_filt 1 D_z

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5710, 6710
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.000 10.000 0.700
Description: Sets the numerator damping for current setpoint filter 1.
Dependency: Current setpoint filter 1 is activated via p1656.0 and parameterized via p1657 ... p1661.

p1662[0...n] Current setpoint filter 2 type / I_set_filt 2 Typ

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: DDS, p0180 Func. diagram: 5710, 6710
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
1 2 1
Description: Sets the current setpoint filter 2 as low pass (PT2) or as extended general 2nd-order filter.
Value: 1: Low pass: PT2
2: General 2nd-order filter
Dependency: Current setpoint filter 2 is activated via p1656.1 and parameterized via p1662 ... p1666.

© Siemens AG 2012 All Rights Reserved 1-263

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Note: For an extended general 2nd-order filter, by inserting the same natural frequency in both the numerator and in the
denominator, i.e. bandstop frequency, a bandstop filter is implemented. If the numerator damping of zero is
selected, the bandstop frequency is completely suppressed.
The denominator damping can be determined from the equation for the 3 dB bandwidth:
f_3dB bandwidth = 2 * D_denominator * f_bandstop frequency

p1663[0...n] Current setpoint filter 2 denominator natural frequency / I_set_filt 2 fn_n

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5710, 6710
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.5 [Hz] 16000.0 [Hz] 1999.0 [Hz]
Description: Sets the denominator natural frequency for current setpoint filter 2 (PT2, general filter).
Dependency: Current setpoint filter 2 is activated via p1656.1 and parameterized via p1662 ... p1666.

p1664[0...n] Current setpoint filter 2 denominator damping / I_set_filt 2 D_n

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5710, 6710
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.001 10.000 0.700
Description: Sets the denominator damping for current setpoint filter 2.
Dependency: Current setpoint filter 2 is activated via p1656.1 and parameterized via p1662 ... p1666.

p1665[0...n] Current setpoint filter 2 numerator natural frequency / I_set_filt 2 fn_z

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5710, 6710
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.5 [Hz] 16000.0 [Hz] 1999.0 [Hz]
Description: Sets the numerator natural frequency for current setpoint filter 2 (general filter).
Dependency: Current setpoint filter 2 is activated via p1656.1 and parameterized via p1662 ... p1666.

p1666[0...n] Current setpoint filter 2 numerator damping / I_set_filt 2 D_z

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5710, 6710
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.000 10.000 0.700
Description: Sets the numerator damping for current setpoint filter 2.
Dependency: Current setpoint filter 2 is activated via p1656.1 and parameterized via p1662 ... p1666.

1-264 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p1699 Filter data acceptance / Filt data accept

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Activates data acceptance for parameter changes for the filter.
p1699 = 0:
The new filter data are immediately accepted.
p1699 = 1:
The new filter data are only accepted when this parameter is reset.
Dependency: Refer to: p1414, p1415, p1416, p1417, p1418, p1419, p1420, p1656, p1657, p1658, p1659, p1660, p1661, p1662,
p1663, p1664, p1665, p1666

p1701[0...n] Current controller reference model dead time / I_ctrRefMod t_dead

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5714
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.0 1.0 1.0
Description: Sets the fractional dead time for the current controller reference model.
This parameter emulates the computing dead time of the proportionally controlled current control loop.
Note: Dead time = p1701 * p0115[0]

p1715[0...n] Current controller P gain / I_ctrl Kp

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_CON Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5714, 7017
SERVO_S110-PN
P-Group: Closed-loop control Units group: 18_1 Unit selection: p0505
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.000 [V/A] 100000.000 [V/A] 0.000 [V/A]
Description: Sets the proportional gain of the current controller for the lower adaptation current range.
This value is automatically pre-set using p3900 or p0340 when commissioning has been completed.
Dependency: Refer to: p0391, p0392, p0393
Note: For p0393 = 100 %, the current controller adaptation is disabled and p1715 is effective over the entire range.

p1717[0...n] Current controller integral-action time / I_ctrl Tn

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_CON Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 1710, 5714,
SERVO_S110-PN 6714, 7017
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.00 [ms] 1000.00 [ms] 2.00 [ms]
Description: Sets the integral-action time of the current controller.
Dependency: Refer to: p1715

© Siemens AG 2012 All Rights Reserved 1-265

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r1732 CO: Direct-axis voltage setpoint / Direct U set

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 1630, 5714,
SERVO_S110-PN 6714, 5718
P-Group: Closed-loop control Units group: 5_1 Unit selection: p0505
Not for motor type: REL Scaling: p2001 Expert list: 1
Min Max Factory setting
- [Vrms] - [Vrms] - [Vrms]
Description: Displays the direct-axis voltage setpoint Ud.

r1733 CO: Quadrature-axis voltage setpoint / Quad U set

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 1630, 5714,
SERVO_S110-PN 5718, 6714, 6719
P-Group: Closed-loop control Units group: 5_1 Unit selection: p0505
Not for motor type: REL Scaling: p2001 Expert list: 1
Min Max Factory setting
- [Vrms] - [Vrms] - [Vrms]
Description: Displays the quadrature-axis component of voltage setpoint Uq.

p1752[0...n] Motor model changeover speed operation with encoder / MotMod n_chgov enc
SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_REG Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: -
SERVO_S110-PN
P-Group: Closed-loop control Units group: 3_1 Unit selection: p0505
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.00 [rpm] 210000.00 [rpm] 210000.00 [rpm]
Description: Sets the speed to change over the motor model for operation with encoder.
Dependency: Refer to: p1756
Note: Induction motor (ASM):
The motor model is influenced for speeds/velocities greater than p1752.
Synchronous motor (SRM):
A monitoring (F07412) is activated for speeds/velocities greater than p1752.
The motor model is additionally influenced when kT adaptation is activated (p1780.3 = 1).

p1755[0...n] Motor model changeover speed encoderless operation / MotMod n_chgSnsorl

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_REG Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: -
SERVO_S110-PN
P-Group: Closed-loop control Units group: 3_1 Unit selection: p0505
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.00 [rpm] 210000.00 [rpm] 210000.00 [rpm]
Description: Sets the speed to change over the motor model to encoderless operation.
Dependency: Refer to: p1756
Note: The changeover speed applies for the changeover between open-loop and closed-loop control mode.

1-266 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p1756 Motor model changeover speed hysteresis / MotMod n_chgov hys

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_CON Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.0 [%] 90.0 [%] 5.0 [%]
Description: Sets the hysteresis for the changeover speed/velocity of the motor model.
Dependency: Refer to: p1752, p1755
Note: The value is entered relative to p1404, p1752 or p1755.

r1778 Motor model flux angle difference / MotMod ang. diff.

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Closed-loop control Units group: - Unit selection: -
Not for motor type: REL Scaling: p2005 Expert list: 1
Min Max Factory setting
- [°] - [°] - [°]
Description: Induction motor (ASM):
Displays the difference between the motor model flux angle and the transformation angle.
Permanent-magnet synchronous motor (PESM):
Displays the angular difference between motor model and encoder.
Dependency: A setting for smoothing the display can be made using p1754.
Notice: The display only makes sense for corrected actual value inversion, encoder pulse number and pole pair number.
Example:
Moving in encoderless operation at a speed not equal to zero and without load.
--> Check the sign of r0061 and r0063. If the sign is not equal, then change p0410.0.
--> Check the stationary value of r0061 and r0063. If the value is not equal, change the encoder pulse number
(p0408) or pole pair number (p0314).

p1800[0...n] Pulse frequency setpoint / Pulse freq setp

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_ALL Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: -
SERVO_S110-PN
P-Group: Modulation Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
1.000 [kHz] 32.000 [kHz] 4.000 [kHz]
Description: Sets the pulse frequency for the converter.
This parameter is pre-set to the rated converter value when the drive is first commissioned.
Dependency: The pulse frequency can, depending on the current controller sampling time (p0115[0]) assume the following val-
ues:
a) p1800 = 1000 / (p0115[0] * n) mit n = 2, 3, 4, 5
b) p1800 = 1000 * n / p0115[0] with n = 1, 2, 3, 4, ...
Example:
p0115[0] = 125 µs -> p1800 = 1.6, 2, 2.6, 4 kHz (from equation a)
p0115[0] = 125 µs -> p1800 = 8, 16 kHz (from equation b)
Possible setting values can be taken from r0114 (if p0009 = p0010 = 0).
Note: The maximum possible pulse frequency is also determined by the power unit being used.
When the pulse frequency is increased, depending on the particular power unit, the maximum output current can be
reduced (derating, refer to r0067).

© Siemens AG 2012 All Rights Reserved 1-267

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

If p1800 is changed while commissioning (p0009, p0010 > 0), then it is possible that the old value will no longer be
able to be set. The reason for this is that the dynamic limits of p1800 have been changed by a parameter that was
set when the drive was commissioned (e.g. p1082).
For encoderless operation (p1404 = 0 or p1300 = 20), the following conditions apply:
p1800 = 1 / (2 * p0115[0])
or
p1800 >= n / p0115[0], n = 1, 2, ...
For motors with a low power rating (< 300 W) we recommend that p1800 is set acc. to the second condition.

p1810 Modulator configuration / Modulator config

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Modulation Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 0000 0000 0000 bin
Description: Sets the configuration for the modulator.
Bit field: Bit Signal name 1 signal 0 signal FP
11 Current controller dynamics higher Yes No -
Note: Re bit 11:
Precondition:
- firmware version 4.4 or higher for the Control Unit and power unit.
- booksize power unit (r0192.27 = 1).
- current controller sampling time p0115[0} >= 62.5 µs.
- for a Double Motor Module the two drive controls must be operated with the same current controller sampling time
(p0115[0]). Otherwise, the higher current controller dynamics can only be activated on the drive with the longer
sampling time.
- it is not permissible that the "safety without encoder" is activated (p9306/p9506).
The following changes are necessary after changing bit 11:
- computing dead time (p0118 = 22 µs for bit 11 = 1, p0118 = 0 µs for bit 11 = 0).
- controller gains (p1715, p1460).
- with p0340 = 4 computing dead time and controller gains can be automatically pre-assigned. It may be necessary
to still optimize the speed controller.
Before commissioning for the first time (p3925.0 = 0 for all data sets) this parameter is automatically preassigned to
the optimum value.

p1818 Phase for PWM generation configuration / Ph for PWM config

CU_S110-CAN, Can be changed: T Calculated: - Access level: 3
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Modulation Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 1
Description: Sets the phase shift for offset clocking.
For the first active power unit, it is specified whether clocking is to start at 0° (value = 0) or 180° (value = 1). All other
active power units are clocked alternately according to the setting made here.
Note: A change only becomes effective after a POWER ON.
The parameter is not influenced by setting the factory setting.

1-268 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p1821[0...n] Dir of rot / Dir of rot

SERVO_S110-CAN, Can be changed: C2(3) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: DDS, p0180 Func. diagram: 1580, 4704,
SERVO_S110-PN 4710, 5730
P-Group: Motor Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Setting to change the direction of rotation.
If the parameter is changed, it reverses the direction of rotation of the motor and the encoder actual value without
changing the setpoint.
Value: 0: CW
1: CCW
Dependency: Refer to: F07434
Notice: An appropriate fault is output for a drive data set changeover where the direction of rotation changes and the pulses
are enabled.
Note: For operation with the phase sequence U/V/W, the direction of rotation is defined when viewing the face side of the
motor output shaft.
When changing the direction of rotation, the rotating field direction of the current controller is reversed. The speed
actual value (e.g. r0063) is also reversed so that the control sense is kept and internally causing the direction of
rotation to be reversed with the same setpoint. Further, the position actual values of the actual encoder are
reversed (e.g. r0482[0...2]).

p1909[0...n] Motor data identification control word / MotID STW

SERVO_S110-CAN, Can be changed: T Calculated: CALC_MOD_ALL Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0010 0111 0000 0000 bin
Description: Sets the configuration for the motor data identification.
Recommend.: For the stationary motor data identification, if a motor holding brake is being used it should be opened and the
motor finely synchronized before the measurement. This should only be done if it can be safely carried out and no
external forces can act on the motor. This determines the angular commutation offset (p1909.13, p0431).
Bit field: Bit Signal name 1 signal 0 signal FP
08 Measure D inductance Yes No -
09 Measure Q inductance Yes No -
10 Magnetizing field inductance and measure Yes No -
rotor resistance
13 Measure commutation angle and direction Yes No -
of rotation
14 Determining the voltage emulation error Yes No -
Dependency: Refer to: p1910, r1912, r1913, r1915, r1925, r1927, r1932, r1933, r1934, r1935, r1936, r1950, r1951
Note: For an induction motor (ASM) the following bits: 8, 9, 10, 13 are effective
For a synchronous motor (SRM) the following bits: 8, 9, 13, 14 are effective
Re bit 14:
- after successfully determining the voltage emulation error, the display of the phase voltage actual values r0089
and the active power actual value r0082 and the torque actual value r0080 are significantly more accurate.
- the voltage emulation errors should be identified with the Motor Module in the warm state.
- the motor temperature (r0035) should not change significantly (i.e. it should not be identified immediately after a
load duty cycle).

© Siemens AG 2012 All Rights Reserved 1-269

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p1910 Motor data identification routine, stationary (standstill) / MotID standstill

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 2
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-3 1 0
Description: Setting to control the motor data identification with the motor stationary.
Value: -3: Accept identified parameters
-2: Acknowledge encoder inversion actual value (F07993)
-1: Start motor data identification without acceptance
0: Inactive/inhibit
1: Start motor data identification with acceptance
Recommend.: For motors with brakes, the brake should be opened before carrying out the stationary motor data identification rou-
tine (p1215 = 2) as long as this can be done without incurring any danger. The commutation angle and the direction
of rotation are also determined.
Dependency: Refer to: p1909, r1912, r1913, r1915, r1925, r1927, r1932, r1933, r1934, r1935, r1936, r1950, r1951
Refer to: F07990, A07991, F07993
Caution: For motors without brake or with the brake open (p1215 = 2), for the stationary (zero speed) measurement, the
motor may rotate slightly.

Notice: If there is a motor holding brake, it must be open (p1215 = 2).

To permanently accept the determined settings they must be saved in a non-volatile fashion (p0971, p0977).
Note: Motor data identification can only be selected when the pulses of all of the drive objects of the Control Unit have
been suppressed. After selection, all of the other drive objects of the Control Unit are interlocked so that they can-
not be powered up until the motor data identification has been completed or de-selected.
After a started motor identification is ended, the parameter is automatically reset to 0.
A motor data identification that is presently being carried out can be terminated with p1910 = 0.

r1912 Stator resistance identified / R_stator ident

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [ohm] - [ohm] - [ohm]
Description: Displays the identified stator resistance.
Dependency: Refer to: p1909, p1910, r1913, r1915, r1925, r1927, r1932, r1933, r1934, r1935, r1936, r1950, r1951

r1913 Rotor time constant identified / T_rotor ident

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: PEM Scaling: - Expert list: 1
Min Max Factory setting
- [ms] - [ms] - [ms]
Description: Displays the identified rotor time constant.
Dependency: Refer to: p1909, p1910, r1912, r1915, r1925, r1927, r1932, r1933, r1934, r1935, r1936, r1950, r1951

1-270 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r1915 Stator inductance identified / L_stator ident

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [mH] - [mH] - [mH]
Description: Displays the identified stator inductance.
Dependency: Refer to: p1909, p1910, r1912, r1913, r1925, r1927, r1932, r1933, r1934, r1935, r1936, r1950, r1951

r1925 Threshold voltage identified / U_threshold ident

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 4
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [Vrms] - [Vrms] - [Vrms]
Description: Displays the identified threshold voltage of the power unit.
Dependency: Refer to: p1909, p1910, r1912, r1913, r1915, r1927, r1932, r1933, r1934, r1935, r1936, r1950, r1951

r1927 Rotor resistance identified / R_rotor ident

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [ohm] - [ohm] - [ohm]
Description: Displays the identified rotor resistance.
Dependency: Refer to: p1909, p1910, r1912, r1913, r1915, r1925, r1932, r1933, r1934, r1935, r1936, r1950, r1951

r1932[0...19] d inductance identified / Ld ident

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [mH] - [mH] - [mH]
Description: Displays the identified (differential) d-inductance.
Dependency: Refer to: p1909, p1910, r1912, r1913, r1915, r1925, r1927, r1933, r1934, r1935, r1936, r1950, r1951
Note: The Ld characteristic consists of the value pairs from p1932 and p1933 with the same index.
This value corresponds to the value of the total leakage inductance (r0377).

r1933[0...19] d inductance identification current / Ld I_ident

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [Arms] - [Arms] - [Arms]
Description: Displays the identification current of the d inductance.
Dependency: Refer to: p1909, p1910, r1912, r1913, r1915, r1925, r1927, r1932, r1934, r1935, r1936, r1950, r1951

© Siemens AG 2012 All Rights Reserved 1-271

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Note: The Ld characteristic consists of the value pairs from p1932 and p1933 with the same index.

r1934[0...9] q inductance identified / Lq ident

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [mH] - [mH] - [mH]
Description: Displays the identified (differential) q-inductance.
Dependency: Refer to: p1909, p1910, r1932, r1933
Note: The Lq characteristic consists of the value pairs from p1934 and p1935 with the same index.
This value corresponds to the value of the total leakage inductance (r0377).

r1935[0...20] Identification current / I_ident

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [Arms] - [Arms] - [Arms]
Description: Displays the identification current for the identification of the q-inductance ([0...9]) as well as the torque constant
([10]) and the torque characteristic ([11...20]).
Index: [0] = q inductance identification current measuring point 1
[1] = q inductance identification current measuring point 2
[2] = q inductance identification current measuring point 3
[3] = q inductance identification current measuring point 4
[4] = q inductance identification current measuring point 5
[5] = q inductance identification current measuring point 6
[6] = q inductance identification current measuring point 7
[7] = q inductance identification current measuring point 8
[8] = q inductance identification current measuring point 9
[9] = q inductance identification current measuring point 10
[10] = Torque constant identification current
[11] = Torque characteristic identification current measuring point 1
[12] = Torque characteristic identification current measuring point 2
[13] = Torque characteristic identification current measuring point 3
[14] = Torque characteristic identification current measuring point 4
[15] = Torque characteristic identification current measuring point 5
[16] = Torque characteristic identification current measuring point 6
[17] = Torque characteristic identification current measuring point 7
[18] = Torque characteristic identification current measuring point 8
[19] = Torque characteristic identification current measuring point 9
[20] = Torque characteristic identification current measuring point 10
Dependency: Refer to: p1909, p1910, r1934, p1959, p1960
Note: - the Lq characteristic consists of the value pairs from r1934 and r1935 with the same index.
- the torque constant is identified with the current r1935[10] and displayed in r1937[0]. If the reluctance torque con-
stant is identified (p1959.7 = 1), the torque constant is identified with 150% rated current (p0305), otherwise with
100% rated current.
- the torque characteristic (r1937[1...10]) is identified in the range between the rated current (p0305) and the maxi-
mum current (p0640) (r1935[11...20]).

1-272 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r1936 Magnetizing inductance identified / L_H ident

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [mH] - [mH] - [mH]
Description: Displays the identified magnetizing inductance(gamma equivalent circuit diagram).
Dependency: Refer to: p1909, p1910, r1913, r1915, r1927, p1959, p1960, r1962, r1963
Note: This value corresponds to the value of the transformed magnetizing inductance (r0382).

r1937[0...10] Torque constant identified / kT ident

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: 28_1 Unit selection: p0100
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [Nm/A] - [Nm/A] - [Nm/A]
Description: Displays the identified torque constant/torque characteristic over the q current.
Index: [0] = Torque constant identified
[1] = Torque characteristic identified measuring point 1
[2] = Torque characteristic identified measuring point 2
[3] = Torque characteristic identified measuring point 3
[4] = Torque characteristic identified measuring point 4
[5] = Torque characteristic identified measuring point 5
[6] = Torque characteristic identified measuring point 6
[7] = Torque characteristic identified measuring point 7
[8] = Torque characteristic identified measuring point 8
[9] = Torque characteristic identified measuring point 9
[10] = Torque characteristic identified measuring point 10
Dependency: Refer to: r1938, r1939, p1959, p1960, r1969
Note: - the value in r1937[0] corresponds to the torque constant (p0316) and was identified with the current in r1935[10].
If the reluctance torque is identified (p1959.7 = 1), the torque constant is identified with 150% rated current (p0305),
otherwise with 100% rated current.
- if indices r1937[1...10] are not equal to zero, they show the values of the torque characteristic identified for the cur-
rent in r1935[11...20]. The torque characteristic is identified in the range between rated current (p0305) and maxi-
mum current (p0640).

r1938 Voltage constant identified / kE ident

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [Vrms] - [Vrms] - [Vrms]
Description: Displays the identified voltage constant.
Dependency: Refer to: r1937, r1939, p1959, p1960, r1969
Note: This value corresponds to the voltage constant (p0317).

© Siemens AG 2012 All Rights Reserved 1-273

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r1939 Reluctance torque constant identified / kT_reluct ident

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [mH] - [mH] - [mH]
Description: Displays the identified reluctance torque constant.
Dependency: Refer to: r1937, r1938, p1959, p1960, r1969
Note: This value corresponds to the reluctance torque constant (p0328).

r1947 Optimum load angle identified / phi_load ident

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [°] - [°] - [°]
Description: Displays the identified, optimum load angle.
Note: This value corresponds to the optimum load angle (p0327).

r1948 Magnetizing current identified / I_mag ident

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [Arms] - [Arms] - [Arms]
Description: Displays the identified magnetizing current.
Dependency: Refer to: r1936, p1959, p1960
Note: This value corresponds to the magnetizing current (p0320 / r0331).

r1950[0...19] Voltage emulation error voltage values / U_error U_values

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [V] - [V] - [V]
Description: The identified characteristic of the voltage emulation error is displayed r1950[0...19] and r1951[0...19].
Dependency: Refer to: r1951

r1951[0...19] Voltage emulation error current values / U_error I_error

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [A] - [A] - [A]
Description: The identified characteristic of the voltage emulation error is displayed r1950[0...19] and r1951[0...19].
Dependency: Refer to: r1950

1-274 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p1958[0...n] Rotating measurement ramp-up/ramp-down time / Rot meas t_r up/dn

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-1.00 [s] 999999.00 [s] -1.00 [s]
Description: Sets the ramp-up/ramp-down time for the rotating measurement.
The following applies for negative values:
When the function module "extended setpoint channel" is activated (r0108.8 = 1), the maximum of the ramp-
up/ramp-down time of the setpoint channel becomes effective. When this function module is inactive, then no ramp-
up/ramp-down time is effective.
The following applies for positive values:
The selected ramp-up/ramp-down time becomes effective.
Recommend.: A ramp-up/ramp-down time should not be activated for the motor data identification (p1958 = 0) as long as this can
be safely done without incurring any danger. This means that the identification is complete and more accurate.
When the ramp-up/ramp-down time is activated, the following steps of the rotating motor data identification are not
executed:
- p1959.5 (identifying the q inductance)
- p1959.7 (identifying the reluctance torque constant)
Dependency: Refer to: p1959, p1960

p1959[0...n] Rotating measurement configuration / Rot meas config

SERVO_S110-CAN, Can be changed: T Calculated: CALC_MOD_ALL Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 1110 1110 0111 bin
Description: Sets the configuration of the rotating measurement.
Recommend.: A direction inhibit should not be activated for the rotating measurement (p1959.14 = 1 and p1959.15 = 1) as long as
this can be done without incurring any danger. This means that the identification is complete and more accurate.
When the direction inhibit is activated, the reluctance torque constant (p1959.7) is not identified and the angular
commutation offset (p1959.10, p0431) is inaccurately determined. The reluctance torque constant (p1959.7) is also
not identified in encoderless operation.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Reserved Yes No -
01 Identify the saturation characteristic Yes No -
02 Identify the moment of inertia Yes No -
05 Identify the q inductance Yes No -
06 Identify the torque constant Yes No -
07 Identify the reluctance torque constant Yes No -
08 Identify the q inductance at the test stand Yes No -
09 Identify the magnetizing current / magnetiz- Yes No -
ing inductance
10 Identify the commutation angle and direc- Yes No -
tion of rotation
11 Identify rotor resistance Yes No -
14 Positive direction permitted Yes No -
15 Negative direction permitted Yes No -
Dependency: Refer to: p1958, p1960
Notice: The step p1959.8 (identify q inductance on the test stand) may only be selected if the drive can be kept at zero
speed or at a fixed speed either using a test stand or other mechanical measures.
During steps p1959.2 (identifying the moment of inertia) and p1959.6 (identifying the torque constant) the Vdc_min
controller is disabled (p1240).

© Siemens AG 2012 All Rights Reserved 1-275

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

During step p1959.7 (identifying the reluctance torque constant) the Vdc_min controller and Vdc_max controller are
disabled (p1240).
Note: For an induction motor (ASM), the following bits 1, 2, 5, 8, 9, 10, 14, 15 are effective
For a synchronous motor (SRM), the following bits 2, 5, 6, 7, 8, 10, 14, 15 are effective
Re bit 05:
For "motor holding brake the same as sequence control" (p1215 = 1 or 3), the Lq characteristic is only measured up
to approximately the rated motor current (p0305) instead of up to the current limit (p0640). Before carrying out the
rotation measurement for motors with brake, the brake should be opened (p1215 = 2) - as long as this can be done
without incurring any danger.
Re bit 10:
If the motor holding brake is set just the same as the sequence control (p1215 = 1 or 3), the commutation angle and
the direction of rotation are not measured. Before carrying out the rotation measurement for motors with brake, the
brake should be opened (p1215 = 2) - as long as this can be done without incurring any danger.
Re bit 14, 15:
The following applies for bit 14 and 15 = 0:
When the function module "extended setpoint channel" is activated (r0108.8 = 1), the direction inhibit of the setpoint
channel becomes effective. No direction of inhibit is effective if the function module is inactive.
The following applies for minimum bit 14 = 1 or bit 15 = 1:
The direction inhibit set in p1959 becomes effective.

p1960 Rotating measurement selection / Rot meas sel

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 2
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
-3 1 0
Description: Activates the rotating measurement.
Value: -3: Accept identified parameters
-2: Acknowledge encoder inversion actual value (F07993)
-1: Start motor data identification without acceptance
0: Inactive/inhibit
1: Start motor data identification with acceptance
Recommend.: Before carrying out the rotation measurement for motors with brake, the brake should be opened (p1215 = 2) - as
long as this can be done without incurring any danger. The commutation angle and the direction are also deter-
mined.
Dependency: Refer to: r1934, r1935, r1936, r1937, r1938, r1939, r1947, r1948, p1958, p1959, r1962, r1963, r1969
Refer to: F07990, A07991, F07993
Danger: For the rotating measurement, the motor is accelerated up to the maximum speed. Only the parameterized current
limit (p0640) and the maximum speed (p1082) are effective.
The behavior of the motor can be influenced using the direction inhibit (p1959.14, p1959.15) and the ramp-
up/ramp-down time (p1958).
Notice: If there is a motor holding brake, it must be open (p1215 = 2).
To permanently accept the determined settings they must be saved in a non-volatile fashion (p0971, p0977).
Note: The rotating measurement can only be selected when the pulses of all of the drive objects of the Control Unit have
been suppressed. After selection, all of the other drive objects of the Control Unit are interlocked so that they can-
not be powered up until the rotating measurement has been completed or de-selected.
When the rotating measurement is activated (p1960 = 1), it is not possible to save the parameters (p0971, p0977).

1-276 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r1962[0...9] Saturation characteristic magnetizing current identified / Sat_char I_mag

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: PEM, REL Scaling: - Expert list: 1
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the magnetizing currents of the identified saturation characteristic.
The values are referred to r0331.
Dependency: Refer to: p1959, p1960, r1963
Note: The saturation characteristic consists of the value pairs from p1962 and p1963 with the same index.

r1963[0...9] Saturation characteristic stator flux identified / Sat_char flux

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: PEM, REL Scaling: - Expert list: 1
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the stator flux of the identified saturation characteristic.
The values are referred to the stator flux at the magnetizing current (r0331).
Dependency: Refer to: p1959, p1960, r1962
Note: The saturation characteristic consists of the value pairs from p1962 and p1963 with the same index.

r1969 Moment of inertia identified / M_inertia ident

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: 25_1 Unit selection: p0100
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
- [kgm²] - [kgm²] - [kgm²]
Description: Displays the identified moment of inertia.
Dependency: IEC drives (p0100 = 0): unit kg m^2
NEMA drives (p0100 = 1): unit lb ft^2
Refer to: p0341, p0342, p1498, p1959, p1960

r1973[0...1] Encoder, pulse number identified / Pulse No. ident

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Index 0:
Rotating motors: Displays the identified encoder pulse number (per revolution).
Linear motors: Encoder pulse number per meter. Grid division = 1/p1973 [meter].
Index 1:
Rotating motors: No significance.
Linear motors: Identified grid division in nm.
Index: [0] = Rotating motor encoder pulse number
[1] = Linear motor, grid division in nm

© Siemens AG 2012 All Rights Reserved 1-277

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Notice: Due to the measuring accuracy (approx. 5 %) only the approximate value is shown in p1973 and may not be directly
transferred into p0407 or p0408. An incorrect pole pair number (r0313, p0314) or pole pair width (p0315) results in
an incorrect value in p1973.
Note: A negative signal indicates an incorrect polarity of the encoder signal.

p1980[0...n] PolID technique / PolID technique

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_ALL Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 99 99
Description: Sets the pole position identification technique.
Value: 0: Saturation-based 1st + 2nd harmonics
1: Saturation-based 1st harmonics
4: Saturation based 2-stage
10: Motion-based
99: No technique selected
Dependency: Refer to: p0325, p0329, p1981, p1982, p1983, r1984, r1985, r1986, r1987, p1990, r1992, p1993, p1994, p1995,
p1996, p1997
Refer to: F07995
Notice: If the incorrect technique is applied, this can cause the motor to accelerate in an uncontrolled fashion.
Under the following conditions, the integral time must be disabled (p1996 = 0):
- p1980 = 10 (motion-based)
- motor encoder with track A/B sq-wave (p0404.3 = 1)
- p0430.20 = 0 (flank time measurement)
Once the integral time has been disabled, the motion is increased during the identification (a minimum of 90 ° elec-
trical). As a result of this, the maximum distance (p1981) must also be increased.
Note: PolID: Pole position identification
When commissioning a catalog motor, the technique is automatically selected depending on the motor type being
used.
The following applies for 1FN3 motors:
A technique with 2nd harmonic may not be used (do not use p1980 = 0, 4).
For 1FN7 motors, the following applies:
A two-stage technique may not be used (do not use p1980 = 4).
The automatically set value in p0329 may not be changed.

p1981[0...n] PolID distance max / PolID distance max

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_ALL Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 [°] 180 [°] 10 [°]
Description: Sets the maximum distance (electrical angle) when carrying out the pole position identification routine.
If this distance (travel) is exceeded, an appropriate fault is output.
Dependency: Refer to: p0325, p0329, p1980, p1982, p1983, r1984, r1985, r1986, r1987, p1990, r1992, p1993, p1994, p1995,
p1996, p1997
Refer to: F07995
Notice: Value = 180 °: Monitoring is de-activated.
Note: PolID: Pole position identification

1-278 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p1982[0...n] PolID selection / PolID selection

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 2 0
Description: Activates the pole position identification routine to determine the commutation angle and to carry out a plausibility
check.
Value: 0: Pole position identification off
1: Pole position identification for commutation
2: Pole position identification for plausibility check
Recommend.: Re p1982 = 1:
This is used for synchronous motors with motor encoder without absolute data.
The information/data regarding the absolute commutation angle is supplied via a track C/D, Hall sensors, an abso-
lute encoder or from the pole position identification routine.
Re p1982 = 2:
This is used for synchronous motor with motor encoder with absolute data to check this data.
Dependency: Refer to: p0325, p0329, p1980, p1981, p1983, r1984, r1985, r1986, r1987, p1990, r1992, p1993, p1994, p1995,
p1996, p1997
Note: PolID: Pole position identification

p1983 PolID test / PolID test

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Starts the pole position identification routine for test purposes.
p1983 = 1:
Start of pole position identification. The parameter is set to zero automatically on completion of the identification
process.
Dependency: Refer to: p0325, p0329, p1980, p1981, p1982, r1984, r1985, r1986, r1987, p1990, r1992, p1993, p1994, p1995,
p1996, p1997
Notice: For p1983 = 1 and if the pulses are not enabled, then the function is only executed the next time that the pulses are
enabled.
Note: When this test is executed, it does not influence the commutation angle.

r1984 PolID angular difference / PolID ang diff

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [°] - [°] - [°]
Description: Displays the angular difference between the actual electrical commutation angle and the angle determined by the
pole position identification.
Dependency: Refer to: p0325, p0329, p1980, p1981, p1982, p1983, r1985, r1986, r1987, p1990, r1992, p1993, p1994, p1995,
p1996, p1997
Note: PolID: Pole position identification
When the pole position identification routine is executed several times using p1983, the spread of the measured
values can be determined using this value. At the same position, the spread should be less than 2 degrees electri-
cal.

© Siemens AG 2012 All Rights Reserved 1-279

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r1985 PolID saturation curve / PolID sat_char

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [Arms] - [Arms] - [Arms]
Description: Displays the saturation characteristic of the pole position identification routine (saturation technique).
Displays the current characteristic of the pole position identification routine (elasticity technique).
Dependency: Refer to: p0325, p0329, p1980, p1981, p1982, p1983, r1984, r1986, r1987, p1990, r1992, p1993, p1994, p1995,
p1996, p1997
Note: PolID: Pole position identification
Regarding the saturation technique:
The values for the characteristic of the last saturation-based pole position identification routine are output every 1
ms in order to record signals (e.g. trace).

r1986 PolID saturation characteristic 2 / PoleID sat_curve 2

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the pole position characteristic of the elasticity-based pole position identification routine.
The values for the characteristic of the last pole position identification routine are output every 1 ms in order to
record signals (e.g. trace).
Note: PolID: Pole position identification

r1987 PolID trigger characteristic / PolID trig_char

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the trigger characteristic of the pole position identification routine.
The values for the characteristic of the last pole position identification routine are output every 1 ms in order to
record signals (e.g. trace).
The values for trigger characteristic and saturation characteristic are always output in synchronism from a time per-
spective.
Dependency: Refer to: p0325, p0329, p1980, p1981, p1982, p1983, r1984, r1985, r1986, p1990, r1992, p1993, p1994, p1995,
p1996, p1997
Note: PolID: Pole position identification
The following information and data can be taken from the trigger characteristic.
- the value -100% marks the angle at the start of the measurement.
- the value +100 % marks the commutation angle determined from the pole position identification routine.

1-280 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p1990 Encoder adjustment, determine angular commutation offset / Enc_adj det ang
SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: This function is only required for synchronous motors and can be started when commissioning for the first time or
after replacing an encoder. The function acts on the active motor data set.
When adjusting the encoder, the angular commutation offset is determined and transferred into p0431. Alarm
A07971 is output while the angular commutation offset is being determined. p1990 is automatically set to 0 after the
angular commutation offset has been determined.
p1990 = 0: De-activated
p1990 = 1: Activated with transfer
Dependency: Refer to: p0325, p0329, p0431, p1980, p1981, p1982, p1983, r1984, r1985, r1986, r1987
Refer to: A07971
Caution: In order to prevent an incorrect orientation of the electrical pole position (uncontrolled motor movement), the auto-
matically determined angular commutation offset (p0431) should, for reasons of safety, be checked using one of the
following recommendations:
Recommendation 1:
Set encoderless operation (p1300 = 20 or p1404 = 0), de-select pole position identification (p1982 = 0), operate
under no-load conditions with a speed > p1755, correct the actual value inversion (p0410.0) (e.g. r0061 = r0063),
read the angular error in r1778; the result in r1778 should be approximately 0, for |r1778| > 2 degrees, add the
value to p0431 - taking into account the sign - and enter in p0431.
Recommendation 2:
Set the current limit to 0 (p0640 = 0), activate travel to fixed stop (p1545 = 1), record r0089[0] (phase voltage) and
r0093 (electrically scaled pole position) (e.g. trace) while the motor is externally moved; in this case, the rising zero
crossover of the phase voltage must coincide with the 360 ° --> 0 ° step (jump) from r0093.
Recommendation 3:
Measure the phase voltage U (measure phase U with respect to the virtual star point using 3 resistors) and r0093
(electrically scaled pole position); the rising zero crossover of the phase voltage must coincide with the 360 ° --> 0 °
step (jump) of r0093.
Recommendation 4:
Determine the average value from several results of a pole position identification routine executed as test (p1983)
at various electrical angles and add the value to p0431 - taking into account the sign and enter into p0431.
Notice: For p1990 = 1 and with the pulses not enabled, the function is only executed the next time that the pulses are
enabled.
Note: If fault F07414 is present, the following applies:
First set p1990 to 1, then acknowledge the fault and then issue the enable signals.

p1991[0...n] Motor changeover, angular commutation correction / Ang_com corr

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-180 [°] 180 [°] 0 [°]
Description: Sets the angle that is added to the commutating angle.
Caution: If the angular correction is not correctly set, when changing over and with closed-loop torque control, the motor can
accelerate to high speeds in spite of the fact that a setpoint of zero has been entered.

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 Parameter
List of parameters

r1992 PolID diagnostics / PolID diag

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays diagnostics information for the pole position identification routine (PollD).
Bit field: Bit Signal name 1 signal 0 signal FP
00 Critical encoder fault occurred Yes No -
02 Encoder parking active Yes No -
05 Encoder fault Class 1 Yes No -
06 Encoder fault Class 2 Yes No -
07 Pole position identification for encoder car- Yes No -
ried out
08 Fine synchronization carried out Yes No -
09 Coarse synchronization carried out Yes No -
10 Commutation information available Yes No -
11 Speed information available Yes No -
12 Position information available Yes No -
15 Zero mark passed Yes No -
Dependency: Refer to: p0325, p0329, p1980, p1981, p1982, p1983, r1984, r1985, r1986, r1987, p1990, p1993, p1994, p1995,
p1996, p1997
Note: PolID: Pole position identification

p1993[0...n] PolID motion-based current / PolID I mot_bas

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_EQU Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [Arms] 20000.00 [Arms] 0.00 [Arms]
Description: Sets the current when executing the motion-based pole position identification.
Dependency: Refer to: p1980, p1981, p1982, p1983, r1984, r1985, r1986, r1987, p1990, r1992, p1994, p1995, p1996, p1997
Note: PolID mot: Motion-based pole position identification

p1994[0...n] PolID motion-based rise time / PolID T mot_bas

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 [ms] 2500 [ms] 100 [ms]
Description: Sets the rise time of the current when executing the motion-based pole position identification.
Dependency: Refer to: p1980, p1981, p1982, p1983, r1984, r1985, r1986, r1987, p1990, r1992, p1993, p1995, p1996, p1997
Note: PolID mot: Motion-based pole position identification

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 Parameter
List of parameters

p1995[0...n] PolID motion-based gain / PolID kp mot_bas

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_CON Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: 17_1 Unit selection: p0505
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.000 [Nms/rad] 999999.000 [Nms/rad] 0.300 [Nms/rad]
Description: Sets the gain when executing the motion-based pole position identification.
Dependency: Refer to: p1980, p1981, p1982, p1983, r1984, r1985, r1986, r1987, p1990, r1992, p1993, p1994, p1996, p1997
Note: PolID mot: Motion-based pole position identification

p1996[0...n] PolID motion-based integral time / PolID Tn mot_bas

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_CON Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.0 [ms] 500.0 [ms] 2.0 [ms]
Description: Sets the integral time when executing the motion-based pole position identification.
Dependency: Refer to: p1980, p1981, p1982, p1983, r1984, r1985, r1986, r1987, p1990, r1992, p1993, p1994, p1995, p1997
Note: The value 0 de-activates the I component.
Once the integral time has been disabled, the motion is increased during the identification (a minimum of 90 ° elec-
trical).
PolID mot: Motion-based pole position identification

p1997[0...n] PolID motion-based smoothing time / PolID t_sm mot_bas

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_CON Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.0 [ms] 50.0 [ms] 0.0 [ms]
Description: Sets the smoothing time when executing the motion-based pole position identification.
Dependency: Refer to: p1980, p1981, p1982, p1983, r1984, r1985, r1986, r1987, p1990, r1992, p1993, p1994, p1995, p1996
Note: PolID mot: Motion-based pole position identification

p2000 Reference speed reference frequency / n_ref f_ref

SERVO_S110-CAN, Can be changed: T Calculated: CALC_MOD_ALL Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
6.00 [rpm] 210000.00 [rpm] 3000.00 [rpm]
Description: Sets the reference quantity for speed and frequency.
All speeds or frequencies specified as relative value are referred to this reference quantity.
The reference quantity in this parameter corresponds to 100% or 4000 hex or 4000 0000 hex..
Dependency: Refer to: p0500, p2001, p2002, p2003, r2004
Note: For the automatic calculation (p0340 = 1, p3900 > 0) an appropriate pre-assignment is only made if the parameter
is not inhibited from being overwritten using p0573 = 1.
If a BICO interconnection is established between different physical quantities, then the particular reference quanti-
ties are used as internal conversion factor.

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 Parameter
List of parameters

Example 1:
The signal of an analog input (e.g. r4055[0]) is connected to a speed setpoint (e.g. p1070[0]). The actual percent-
age input value is cyclically converted into the absolute speed setpoint using the reference speed (p2000).
Example 2:
The setpoint from PROFIBUS (r2050[1]) is connected to a speed setpoint (e.g. p1070[0]). The actual input value is
cyclically converted into a percentage value via the pre-specified scaling 4000 hex. This percentage value is con-
verted to the absolute speed setpoint via reference speed (p2000).

p2001 Reference voltage / Reference voltage

SERVO_S110-CAN, Can be changed: T Calculated: CALC_MOD_ALL Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
10 [Vrms] 100000 [Vrms] 1000 [Vrms]
Description: Sets the reference quantity for voltages.
All voltages specified as relative value are referred to this reference quantity. This also applies for direct voltage val-
ues (= rms value) like the DC-link voltage.
The reference quantity in this parameter corresponds to 100% or 4000 hex or 4000 0000 hex.
Note: For the automatic calculation (p0340 = 1, p3900 > 0) an appropriate pre-assignment is only made if the parameter
is not inhibited from being overwritten using p0573 = 1.
If a BICO interconnection is established between different physical quantities, then the particular reference quanti-
ties are used as internal conversion factor.
For infeed units, the parameterized device supply voltage (p0210) is pre-assigned as the reference quantity.
Example:
The actual value of the DC link voltage (r0070) is connected to a test socket (e.g. p0771[0]). The actual voltage
value is cyclically converted into a percentage of the reference voltage (p2001) and output according to the param-
eterized scaling.

p2002 Reference current / I_ref

SERVO_S110-CAN, Can be changed: T Calculated: CALC_MOD_ALL Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.10 [Arms] 100000.00 [Arms] 100.00 [Arms]
Description: Sets the reference quantity for currents.
All currents specified as relative value are referred to this reference quantity.
The reference quantity in this parameter corresponds to 100% or 4000 hex or 4000 0000 hex.
Notice: If various DDS are used with different motor data, then the reference quantities remain the same as these are not
changed over with the DDS. The resulting conversion factor should be taken into account (e.g. for trace records).
Example:
p2002 = 100 A
Reference quantity 100 A corresponds to 100 %
p305[0] = 100 A
Rated motor current 100 A for MDS0 in DDS0 --> 100 % corresponds to 100 % of the rated motor current
p305[1] = 50 A
Rated motor current 50 A for MDS1 in DDS1 --> 100 % corresponds to 200 % of the rated motor current
Note: For the automatic calculation (p0340 = 1, p3900 > 0) an appropriate pre-assignment is only made if the parameter
is not inhibited from being overwritten using p0573 = 1.
If a BICO interconnection is established between different physical quantities, then the particular reference quanti-
ties are used as internal conversion factor.
For infeed units, the rated line current, which is obtained from the rated power and parameterized rated line supply
voltage (p2002 = r0206 / p0210 / 1.73) is pre-assigned as the reference quantity.

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 Parameter
List of parameters

Example:
The actual value of a phase current (r0069[0]) is connected to a test socket (e.g. p0771[0]). The actual current
value is cyclically converted into a percentage of the reference current (p2002) and output according to the param-
eterized scaling.

p2003 Reference torque / M_ref

SERVO_S110-CAN, Can be changed: T Calculated: CALC_MOD_ALL Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Communications Units group: 7_2 Unit selection: p0505
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.01 [Nm] 20000000.00 [Nm] 1.00 [Nm]
Description: Sets the reference quantity for torque.
All torques specified as relative value are referred to this reference quantity.
The reference quantity in this parameter corresponds to 100% or 4000 hex or 4000 0000 hex.
Note: For the automatic calculation (p0340 = 1, p3900 > 0) an appropriate pre-assignment is only made if the parameter
is not inhibited from being overwritten using p0573 = 1.
If a BICO interconnection is established between different physical quantities, then the particular reference quanti-
ties are used as internal conversion factor.
Example:
The actual value of the total torque (r0079) is connected to a test socket (e.g. p0771[0]). The actual torque is cycli-
cally converted into a percentage of the reference torque (p2003) and output according to the parameterized scal-
ing.

r2004 Reference power / P_ref

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Communications Units group: 14_10 Unit selection: p0505
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [kW] - [kW] - [kW]
Description: Displays the reference quantity for power.
All power ratings specified as relative value are referred to this reference quantity.
The reference quantity in this parameter corresponds to 100% or 4000 hex or 4000 0000 hex.
Dependency: This value is calculated as follows:
Infeed: Calculated from voltage times current.
Closed-loop control: Calculated from torque times speed.
Refer to: p2000, p2001, p2002, p2003
Note: If a BICO interconnection is established between different physical quantities, then the particular reference quanti-
ties are used as internal conversion factor.
The reference power is calculated as follows:
- 2 * Pi * reference speed / 60 * reference torque (motor)
- reference voltage * reference current * root(3) (infeed)

p2005 Reference angle / Reference angle

SERVO_S110-CAN, Can be changed: T Calculated: CALC_MOD_ALL Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
90.00 [°] 180.00 [°] 90.00 [°]
Description: Sets the reference quantity for angle.
All angles specified as relative value are referred to this reference quantity.
The reference quantity in this parameter corresponds to 100% or 4000 hex or 4000 0000 hex.

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 Parameter
List of parameters

Note: For the automatic calculation (p0340 = 1, p3900 > 0) an appropriate pre-assignment is only made if the parameter
is not inhibited from being overwritten using p0573 = 1.
If a BICO interconnection is established between different physical quantities, then the particular reference quanti-
ties are used as internal conversion factor.

p2006 Reference temp / Ref temp

SERVO_S110-CAN, Can be changed: T Calculated: CALC_MOD_ALL Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
50.00 [°C] 300.00 [°C] 100.00 [°C]
Description: Sets the reference quantity for temperature.
All temperatures specified as relative value are referred to this reference quantity.
The reference quantity in this parameter corresponds to 100% or 4000 hex or 4000 0000 hex.

p2007 Reference acceleration / a_ref

SERVO_S110-CAN, Can be changed: T Calculated: CALC_MOD_ALL Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.01 [rev/s²] 500000.00 [rev/s²] 0.01 [rev/s²]
Description: Sets the reference quantity for acceleration rates.
All acceleration rates specified as relative value are referred to this reference quantity.
The reference quantity in this parameter corresponds to 100% or 4000 hex or 4000 0000 hex.
Note: For the automatic calculation (p0340 = 1, p3900 > 0) an appropriate pre-assignment is only made if the parameter
is not inhibited from being overwritten using p0573 = 1. If a BICO interconnection is established between different
physical quantities, then the particular reference quantities are used as internal conversion factor.
The reference acceleration is calculated as follows:
Reference speed (p2000) converted from 1/min to 1/s divided by 1 s
--> p2007 = p2000 [rpm] / (60 [s/min] * 1 [s])

p2016[0...3] CI: Comm IF USS PZD send word / Comm USS send word
CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 / Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: 4000H Expert list: 1
Min Max Factory setting
- - 0
Description: Selects the PZD (actual values) to be sent via the commissioning interface USS.
The actual values are displayed on an intelligent operator panel (IOP).
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4

1-286 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

r2019[0...7] Comm int error statistics / Comm err

CU_S110-CAN, Can be changed: - Calculated: - Access level: 4
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the receive errors at the commissioning interface (RS232).
Index: [0] = Number of error-free telegrams
[1] = Number of rejected telegrams
[2] = Number of framing errors
[3] = Number of overrun errors
[4] = Number of parity errors
[5] = Number of starting character errors
[6] = Number of checksum errors
[7] = Number of length errors

p2020 Field bus interface baud rate / Field bus baud

CU_S110-DP Can be changed: T Calculated: - Access level: 2
Data type: Integer16 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
4 13 8
Description: Sets the baud rate for the fieldbus interface USS.
Value: 4: 2400 baud
5: 4800 baud
6: 9600 baud
7: 19200 baud
8: 38400 baud
9: 57600 baud
10: 76800 baud
11: 93750 baud
12: 115200 baud
13: 187500 baud
Note: Fieldbus SS: Fieldbus interface
Changes only become effective after POWER ON.
The parameter is not influenced by setting the factory setting.
The parameter is set to the factory setting when the protocol is reselected.

p2021 Field bus interface address / Field bus address

CU_S110-DP Can be changed: T Calculated: - Access level: 2
Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 31 0
Description: Displays or sets the address for the fieldbus interface USS.
The address can be set as follows:
1) Using the address switch on the Control Unit.
--> p2021 displays the address setting.
--> A change only becomes effective after a POWER ON.

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 Parameter
List of parameters

2) Using p2021
--> Only if an address of 0 or an address which is invalid for the fieldbus selected in p2030 has been set using the
address switch.
--> The address is saved in a non-volatile fashion using the function "copy from RAM to ROM".
--> A change only becomes effective after a POWER ON.
Dependency: Refer to: p2030
Note: Changes only become effective after POWER ON.
The parameter is not influenced by setting the factory setting.
The parameter is set to the factory setting when the protocol is reselected.

p2022 Field bus int USS PZD no. / Field bus USS PZD
CU_S110-DP Can be changed: T Calculated: - Access level: 2
Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 16 2
Description: Sets the number of 16-bit words in the PZD part of the USS telegram for the field bus interface.
Dependency: Refer to: p2030
Note: The parameter is not influenced by setting the factory setting.

p2023 Field bus int USS PKW no. / Field bus USS PKW
CU_S110-DP Can be changed: T Calculated: - Access level: 2
Data type: Integer16 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 127 127
Description: Sets the number of 16-bit words in the PKW part of the USS telegram for the field bus interface.
Value: 0: PKW 0 words
3: PKW 3 words
4: PKW 4 words
127: PKW variable
Dependency: Refer to: p2030
Note: The parameter is not influenced by setting the factory setting.

r2029[0...7] Field bus int error statistics / Field bus error

CU_S110-DP Can be changed: - Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the receive errors on the field bus interface (USS).
Index: [0] = Number of error-free telegrams
[1] = Number of rejected telegrams
[2] = Number of framing errors
[3] = Number of overrun errors
[4] = Number of parity errors
[5] = Number of starting character errors
[6] = Number of checksum errors
[7] = Number of length errors

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 Parameter
List of parameters

p2030 Field bus int protocol selection / Field bus protocol

CU_S110-CAN Can be changed: T Calculated: - Access level: 3
Data type: Integer16 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 4 4
Description: Sets the communication protocol for the field bus interface.
Value: 0: No protocol
4: CAN
Note: Changes only become effective after POWER ON.
The parameter is not influenced by setting the factory setting.

p2030 Field bus int protocol selection / Field bus protocol

CU_S110-DP Can be changed: T Calculated: - Access level: 1
Data type: Integer16 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 3 3
Description: Sets the communication protocol for the field bus interface.
Value: 0: No protocol
1: USS
3: PROFIBUS
Note: Changes only become effective after POWER ON.
The parameter is not influenced by setting the factory setting.

r2032 Master control, control word effective / PcCtrl STW eff

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the effective control word 1 (STW1) of the drive for the master control.
Bit field: Bit Signal name 1 signal 0 signal FP
00 ON/OFF1 Yes No -
01 OC / OFF2 Yes No -
02 OC / OFF3 Yes No -
03 Operation enable Yes No -
04 Ramp-function generator enable Yes No -
05 Start ramp-function generator Yes No -
06 Speed setpoint enable Yes No -
07 Acknowledge fault Yes No -
08 Jog bit 0 Yes No 3030
09 Jog bit 1 Yes No 3030
10 Master ctrl by PLC Yes No -
Notice: The master control only influences control word 1 and speed setpoint 1. Other control words/setpoints can be trans-
ferred from another automation device.
Note: OC: Operating condition

© Siemens AG 2012 All Rights Reserved 1-289

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 Parameter
List of parameters

p2035 Fieldbus interface USS PIV drive object number / Fieldbus USS DO_no
CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
1 62 2
Description: Sets the drive object number for communication via the field bus interface (USS).
Note: p2035 defines the destination for USS parameter requests (PIV).
p0978[0] defines the destination for USS process data (PZD).
The parameter is available globally on all drive objects.
The parameter is not influenced by setting the factory setting.

p2037 IF1 PROFIdrive STW1.10 = 0 mode / IF1 PD STW1.10=0

SERVO_S110-DP, Can be changed: T Calculated: - Access level: 3
SERVO_S110-PN Data type: Integer16 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 2 0
Description: Sets the processing mode for PROFIdrive STW1.10 "master control by PLC".
Generally, control world 1 is received with the first receive word (PZD1) (this is in conformance to the PROFIdrive
profile). The behavior of STW1.10 = 0 corresponds to that of the PROFIdrive profile. For other applications that
deviate from this, the behavior can be adapted using this particular parameter.
Value: 0: Freeze setpoints and continue to process sign-of-life
1: Freeze setpoints and sign-of-life
2: Setpoints are not frozen
Recommend.: Do not change the setting p2037 = 0.
Note: If the STW1 is not transferred according to the PROFIdrive with PZD1 (with bit 10 "master control by PLC"), then
p2037 should be set to 2.

p2038 IF1 PROFIdrive STW/ZSW interface mode / PD STW/ZSW IF mode

SERVO_S110-DP, Can be changed: T Calculated: - Access level: 3
SERVO_S110-PN Data type: Integer16 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Sets the interface mode of the PROFIdrive control words and status words.
When selecting a telegram via p0922 (p2079), this parameter influences the device-specific assignment of the bits
in the control and status words.
Value: 0: SINAMICS
1: SIMODRIVE 611 universal
Dependency: Refer to: p0922, p2079
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: For p0922 (p2079) = 100 ... 199, p2038 is automatically set to 1 and p2038 can no longer be changed. This means
that for these telegrams, the "SIMODRIVE 611 universal" interface mode is set and cannot be changed.

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 Parameter
List of parameters

p2038 IF1 PROFIdrive STW/ZSW interface mode / PD STW/ZSW IF mode

SERVO_S110-DP Can be changed: T Calculated: - Access level: 3
(EPOS, Pos ctrl), Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Communications Units group: - Unit selection: -
(EPOS, Pos ctrl)
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 0 0
Description: Displays the interface mode of the PROFIdrive control words and status words.
Value: 0: SINAMICS
Dependency: Refer to: p0922, p2079
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: For p0922 (p2079) = 7, 9, 110, 111, p2038 is automatically set to 0 and cannot be changed.

p2040 Fieldbus interface monitoring time / Fieldbus t_monit

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 [ms] 1999999 [ms] 100 [ms]
Description: Sets the monitoring time to monitor the process data received via the fieldbus interface.
If no process data is received within this time, an appropriate message is output.
Dependency: Refer to: F01910
Note: 0: The monitoring is de-activated.

p2042 PROFIBUS Ident Number / PB Ident No.

CU_S110-DP Can be changed: T Calculated: - Access level: 3
Data type: Integer16 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Sets the PROFIBUS Ident Number (PNO-ID).
SINAMICS can be operated with various identities on PROFIBUS. This allows the use of a PROFIBUS GSD that is
independent of the device (e.g. PROFIdrive VIK-NAMUR with Ident Number 3AA0 hex).
Value: 0: SINAMICS
1: VIK-NAMUR
Note: Every change only becomes effective after a POWER ON.

r2043.0...2 BO: IF1 PROFIdrive PZD state / IF1 PD PZD state

CU_S110-DP, Can be changed: - Calculated: - Access level: 3
CU_S110-PN Data type: Unsigned8 Dynamic index: - Func. diagram: 2410
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the PROFIdrive PZD state.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Setpoint failure Yes No -
01 Clock cycle synchronous operation active Yes No -
02 Fieldbus oper Yes No -
Dependency: Refer to: p2044

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 Parameter
List of parameters

Note: When using the "setpoint failure" signal, the bus can be monitored and an application-specific response triggered
when the setpoint fails.

p2044 IF1 PROFIdrive fault delay / IF1 PD fault delay

SERVO_S110-DP, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-PN Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2410
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 [s] 100 [s] 0 [s]
Description: Sets the delay time to initiate fault F01910 after a setpoint failure.
The time until the fault is initiated can be used by the application. This means that is is possible to respond to the
failure while the drive is still operational (e.g. emergency retraction).
Dependency: Refer to: r2043
Refer to: F01910

p2045 CI: PROFIdrive clock-cyc. synchr. master sign-of-life, signal source /

PD mast-SoL S_src
CU_S110-DP, Can be changed: T Calculated: - Access level: 3
CU_S110-PN, Data type: Unsigned32 / Integer16 Dynamic index: - Func. diagram: 2410
SERVO_S110-DP,
P-Group: Communications Units group: - Unit selection: -
SERVO_S110-PN
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Connector input for the sign-of-life of the clock synchronous PROFIdrive controller.
The sign-of-life is expected at bits 12 to 15. Bits 0 to 11 are not evaluated.
The sign-of-life signal is normally received in PZD4 (control word 2) from the PROFIdrive controller.
Dependency: Refer to: p0925, r2065
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.

p2047 PROFIBUS additional monitoring time / PB suppl t_monit

CU_S110-DP Can be changed: U, T Calculated: - Access level: 3
Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2410
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 [ms] 20000 [ms] 0 [ms]
Description: Sets the additional monitoring time to monitor the process data received via PROFIBUS.
The additional monitoring time enables short bus faults to be compensated.
If no process data is received within this time, an appropriate message is output.
Recommend.: Do not set the additional monitoring time for clock-synchronous operation.
Dependency: Refer to: F01910
Note: For controller STOP, the additional monitoring time is not effective.

p2048 PROFIdrive PZD sampling time / PZD t_sample

CU_S110-CAN Can be changed: C1(3) Calculated: - Access level: 3
Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
4.00 [ms] 16.00 [ms] 4.00 [ms]
Description: Sets the sampling time for the process data communication (PZD).
Note: For clock cycle synchronous operation, the specified bus cycle time applies (Tdp).

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 Parameter
List of parameters

p2048 PROFIdrive PZD sampling time / PZD t_sample

CU_S110-DP, Can be changed: C1(3) Calculated: - Access level: 3
CU_S110-PN Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
1.00 [ms] 16.00 [ms] 4.00 [ms]
Description: Sets the sampling time for the process data communication (PZD).
Note: For clock cycle synchronous operation, the specified bus cycle time applies (Tdp).

r2050[0...4] CO: IF1 PROFIdrive PZD receive word / IF1 PZD recv word
CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: 4000H Expert list: 1
Min Max Factory setting
- - -
Description: Connector output to interconnect PZD (setpoints) with word format received from the PROFIdrive controller.
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
Note: IF1: Interface 1

r2050[0...19] CO: IF1 PROFIdrive PZD receive word / IF1 PZD recv word
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 2440, 2468
SERVO_S110-PN
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: 4000H Expert list: 1
Min Max Factory setting
- - -
Description: Connector output to interconnect PZD (setpoints) with word format received from the PROFIdrive controller.
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
Dependency: Refer to: r2060

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 Parameter
List of parameters

Notice: Where there is a multiple interconnection of a connector output, all the connector inputs must either have Integer or
FloatingPoint data types.
A BICO interconnection for a single PZD can only take place either on r2050 or r2060.
Note: IF1: Interface 1

p2051[0...20] CI: IF1 PROFIdrive PZD send word / IF1 PZD send word
CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 / Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: 4000H Expert list: 1
Min Max Factory setting
- - 0
Description: Selects the PZD (actual values) with word format to be sent to the PROFIdrive controller.
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: IF1: Interface 1

p2051[0...27] CI: IF1 PROFIdrive PZD send word / IF1 PZD send word
SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Integer16 Dynamic index: - Func. diagram: 2470
SERVO_S110-PN
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: 4000H Expert list: 1
Min Max Factory setting
- - 0
Description: Selects the PZD (actual values) with word format to be sent to the PROFIdrive controller.
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13

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List of parameters

[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
[21] = PZD 22
[22] = PZD 23
[23] = PZD 24
[24] = PZD 25
[25] = PZD 26
[26] = PZD 27
[27] = PZD 28
Dependency: Refer to: p2061
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: IF1: Interface 1

r2053[0...20] IF1 PROFIdrive diagnostics PZD send word / IF1 diag send word
CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the PZD (actual values) with word format sent to the PROFIdrive controller.
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
Bit field: Bit Signal name 1 signal 0 signal FP
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -

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 Parameter
List of parameters

11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
Note: IF1: Interface 1

r2053[0...27] IF1 PROFIdrive diagnostics PZD send word / IF1 diag send word
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 2450, 2470
SERVO_S110-PN
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the PZD (actual values) with word format sent to the PROFIdrive controller.
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
[21] = PZD 22
[22] = PZD 23
[23] = PZD 24
[24] = PZD 25
[25] = PZD 26
[26] = PZD 27
[27] = PZD 28
Bit field: Bit Signal name 1 signal 0 signal FP
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -

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 Parameter
List of parameters

Dependency: Refer to: p2051, p2061

Note: IF1: Interface 1

r2054 PROFIBUS status / PB status

CU_S110-DP Can be changed: - Calculated: - Access level: 3
Data type: Integer16 Dynamic index: - Func. diagram: 2410
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 4 -
Description: Status display for the PROFIBUS interface.
Value: 0: OFF
1: No connection (search for baud rate)
2: Connection OK (baud rate found)
3: Cyclic connection with master (data exchange)
4: Cyclic data OK
Note: Re r2054 = 3:
In state 3 (the LED flashes green), a cyclic connection has been established to the PROFIBUS master; however,
one of the following prerequisites is missing for cyclic operation:
- No setpoints are being received as the PROFIBUS master is in the STOP condition.
Only for clock-cycle synchronous operation, the following applies:
- The drive is not in synchronism as the global control (GC) has an error.
Re r2054 = 4:
In the status 4 (LED green), the cyclic connection to the PROFIBUS master has been established and setpoints are
being received. The clock cycle synchronization is OK, the global control (GC) is error-free.
This state does not provide any statement regarding the quality of the clock cycle synchronous sign-of-life charac-
ters on the drive objects.

r2055[0...2] PROFIBUS diagnostics standard / PB diag standard

CU_S110-DP Can be changed: - Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: 2410
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Diagnostics display for the PROFIBUS interface.
Index: [0] = Master bus address
[1] = Master input total length bytes
[2] = Master output total length bytes

r2057 PROFIBUS address switch diagnostics / PB addr diagn

CU_S110-DP Can be changed: - Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: 2410
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the setting of the PROFIBUS address switch "DP ADDRESS" on the Control Unit.
Dependency: Refer to: p0918

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 Parameter
List of parameters

r2060[0...18] CO: IF1 PROFIdrive PZD receive double word / IF1 PZD recv DW
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer32 Dynamic index: - Func. diagram: 2440, 2468
SERVO_S110-PN
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: 4000H Expert list: 1
Min Max Factory setting
- - -
Description: Connector output to interconnect PZD (setpoints) with double word format received from the PROFIdrive controller.
Index: [0] = PZD 1 + 2
[1] = PZD 2 + 3
[2] = PZD 3 + 4
[3] = PZD 4 + 5
[4] = PZD 5 + 6
[5] = PZD 6 + 7
[6] = PZD 7 + 8
[7] = PZD 8 + 9
[8] = PZD 9 + 10
[9] = PZD 10 + 11
[10] = PZD 11 + 12
[11] = PZD 12 + 13
[12] = PZD 13 + 14
[13] = PZD 14 + 15
[14] = PZD 15 + 16
[15] = PZD 16 + 17
[16] = PZD 17 + 18
[17] = PZD 18 + 19
[18] = PZD 19 + 20
Dependency: Refer to: r2050
Notice: Where there is a multiple interconnection of a connector output, all the connector inputs must either have Integer or
FloatingPoint data types.
A BICO interconnection for a single PZD can only take place either on r2050 or r2060.
A maximum of 4 indices of the "trace" function can be used.
Note: IF1: Interface 1

p2061[0...26] CI: IF1 PROFIdrive PZD send double word / IF1 PZD send DW
SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Integer32 Dynamic index: - Func. diagram: 2470
SERVO_S110-PN
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: 4000H Expert list: 1
Min Max Factory setting
- - 0
Description: Selects the PZD (actual values) with double word format to be sent to the PROFIdrive controller.
Index: [0] = PZD 1 + 2
[1] = PZD 2 + 3
[2] = PZD 3 + 4
[3] = PZD 4 + 5
[4] = PZD 5 + 6
[5] = PZD 6 + 7
[6] = PZD 7 + 8
[7] = PZD 8 + 9
[8] = PZD 9 + 10
[9] = PZD 10 + 11
[10] = PZD 11 + 12
[11] = PZD 12 + 13
[12] = PZD 13 + 14
[13] = PZD 14 + 15
[14] = PZD 15 + 16

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 Parameter
List of parameters

[15] = PZD 16 + 17
[16] = PZD 17 + 18
[17] = PZD 18 + 19
[18] = PZD 19 + 20
[19] = PZD 20 + 21
[20] = PZD 21 + 22
[21] = PZD 22 + 23
[22] = PZD 23 + 24
[23] = PZD 24 + 25
[24] = PZD 25 + 26
[25] = PZD 26 + 27
[26] = PZD 27 + 28
Dependency: Refer to: p2051
Notice: A BICO interconnection for a single PZD can only take place either on r2051 or r2061.
The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: IF1: Interface 1

r2063[0...26] IF1 PROFIdrive diagnostics PZD send double word / IF1 diag send DW
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 2450, 2470
SERVO_S110-PN
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the PZD (actual values) with double word format sent to the PROFIdrive controller.
Index: [0] = PZD 1 + 2
[1] = PZD 2 + 3
[2] = PZD 3 + 4
[3] = PZD 4 + 5
[4] = PZD 5 + 6
[5] = PZD 6 + 7
[6] = PZD 7 + 8
[7] = PZD 8 + 9
[8] = PZD 9 + 10
[9] = PZD 10 + 11
[10] = PZD 11 + 12
[11] = PZD 12 + 13
[12] = PZD 13 + 14
[13] = PZD 14 + 15
[14] = PZD 15 + 16
[15] = PZD 16 + 17
[16] = PZD 17 + 18
[17] = PZD 18 + 19
[18] = PZD 19 + 20
[19] = PZD 20 + 21
[20] = PZD 21 + 22
[21] = PZD 22 + 23
[22] = PZD 23 + 24
[23] = PZD 24 + 25
[24] = PZD 25 + 26
[25] = PZD 26 + 27
[26] = PZD 27 + 28
Bit field: Bit Signal name 1 signal 0 signal FP
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -

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 Parameter
List of parameters

07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
16 Bit 16 ON OFF -
17 Bit 17 ON OFF -
18 Bit 18 ON OFF -
19 Bit 19 ON OFF -
20 Bit 20 ON OFF -
21 Bit 21 ON OFF -
22 Bit 22 ON OFF -
23 Bit 23 ON OFF -
24 Bit 24 ON OFF -
25 Bit 25 ON OFF -
26 Bit 26 ON OFF -
27 Bit 27 ON OFF -
28 Bit 28 ON OFF -
29 Bit 29 ON OFF -
30 Bit 30 ON OFF -
31 Bit 31 ON OFF -
Notice: A maximum of 4 indices of the "trace" function can be used.
Note: IF1: Interface 1

r2064[0...7] PROFIdrive diagnostics clock synchronous mode / PD diag clock sync

CU_S110-DP, Can be changed: - Calculated: - Access level: 3
CU_S110-PN Data type: Integer32 Dynamic index: - Func. diagram: 2410
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the last parameter received from the PROFIdrive controller for clock synchronism.
The parameters for clock synchronism are created when configuring the bus and are transferred at the start of
cyclic operation from the controller to the device.
Index: [0] = Clock synchronous mode activated
[1] = Bus cycle time (Tdp) [µs]
[2] = Master cycle time (Tmapc) [µs]
[3] = Instant of actual value acquisition (Ti) [µs]
[4] = Instant of setpoint acquisition (To) [µs]
[5] = Data exchange interval (Tdx) [µs]
[6] = PLL window (Tpll-w) [1/12 µs]
[7] = PLL delay time (Tpll-d) [1/12 µs]

r2065 PROFIdrive controller sign-of-life, diagnostics / PD ctrl SoL diag

CU_S110-DP, Can be changed: - Calculated: - Access level: 3
CU_S110-PN, Data type: Unsigned16 Dynamic index: - Func. diagram: 2410
SERVO_S110-DP,
P-Group: Communications Units group: - Unit selection: -
SERVO_S110-PN
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays how often the sign-of-life from the clock synchronous PROFIdrive controller has failed.
An appropriate fault is output when the tolerance, specified in p0925, is exceeded.
Dependency: Refer to: F01912

1-300 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

r2074[0...4] IF1 PROFIdrive diagnostics bus address PZD receive / IF1diag addr recv
CU_S110-DP Can be changed: - Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the PROFIBUS address of the sender from which the process data (PZD) is received.
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
Note: IF1: Interface 1
Value range:
0 - 125: Bus address of the sender
65535: not assigned

r2074[0...19] IF1 PROFIdrive diagnostics bus address PZD receive / IF1diag addr recv
SERVO_S110-DP Can be changed: - Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the PROFIBUS address of the sender from which the process data (PZD) is received.
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
Note: IF1: Interface 1
Value range:
0 - 125: Bus address of the sender
65535: not assigned

© Siemens AG 2012 All Rights Reserved 1-301

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r2075[0...4] IF1 PROFIdrive diagnostics telegram offset PZD receive / IF1 diag offs recv
CU_S110-DP, Can be changed: - Calculated: - Access level: 3
CU_S110-PN Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the PZD byte offset in the PROFIdrive receive telegram (controller output).
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
Note: IF1: Interface 1
Value range:
0 - 242: Byte offset
65535: not assigned

r2075[0...19] IF1 PROFIdrive diagnostics telegram offset PZD receive / IF1 diag offs recv
SERVO_S110-DP, Can be changed: - Calculated: - Access level: 3
SERVO_S110-PN Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the PZD byte offset in the PROFIdrive receive telegram (controller output).
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
Note: IF1: Interface 1
Value range:
0 - 242: Byte offset
65535: not assigned

1-302 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

r2076[0...20] IF1 PROFIdrive diagnostics telegram offset PZD send / IF1 diag offs send
CU_S110-DP, Can be changed: - Calculated: - Access level: 3
CU_S110-PN Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the PZD byte offset in the PROFIdrive send telegram (controller input).
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
Note: IF1: Interface 1
Value range:
0 - 242: Byte offset
65535: not assigned

r2076[0...27] IF1 PROFIdrive diagnostics telegram offset PZD send / IF1 diag offs send
SERVO_S110-DP, Can be changed: - Calculated: - Access level: 3
SERVO_S110-PN Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the PZD byte offset in the PROFIdrive send telegram (controller input).
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16

© Siemens AG 2012 All Rights Reserved 1-303

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
[21] = PZD 22
[22] = PZD 23
[23] = PZD 24
[24] = PZD 25
[25] = PZD 26
[26] = PZD 27
[27] = PZD 28
Note: IF1: Interface 1
Value range:
0 - 242: Byte offset
65535: not assigned

r2077[0...15] PROFIBUS diagnostics peer-to-peer data transfer addresses / PB diag peer addr
CU_S110-DP Can be changed: - Calculated: - Access level: 3
Data type: Unsigned8 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the addresses of the slaves (peers) where peer-to-peer data transfer has been configured via PROFIBUS.

p2079 IF1 PROFIdrive PZD telegram selection extended / IF1 PD PZD tel ext
CU_S110-DP, Can be changed: T Calculated: - Access level: 3
CU_S110-PN Data type: Integer16 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
390 999 999
Description: Sets the send and receive telegram.
Contrary to p0922, a telegram can be selected using p2079 and subsequently expanded.
For p0922 < 999 the following applies:
p2079 has the same value and is inhibited. All of the interconnections and extensions contained in the telegram are
inhibited.
For p0922 = 999 the following applies:
p2079 can be freely set. If p2079 is also set to 999, then all of the interconnections can be set.
For p0922 = 999 and p2079 < 999 the following applies:
The interconnections contained in the telegram are inhibited. However, the telegram can be extended.
Value: 390: SIEMENS telegram 390, PZD-2/2
391: SIEMENS telegram 391, PZD-3/7
392: SIEMENS telegram 392, PZD-3/15
393: SIEMENS telegram 393, PZD-4/21
394: SIEMENS telegram 394, PZD-3/3
999: Free telegram configuration with BICO

1-304 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

p2079 IF1 PROFIdrive PZD telegram selection extended / IF1 PD PZD tel ext
SERVO_S110-DP, Can be changed: T Calculated: - Access level: 3
SERVO_S110-PN Data type: Integer16 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
1 999 999
Description: Sets the send and receive telegram.
Contrary to p0922, a telegram can be selected using p2079 and subsequently expanded.
For p0922 < 999 the following applies:
p2079 has the same value and is inhibited. All of the interconnections and extensions contained in the telegram are
inhibited.
For p0922 = 999 the following applies:
p2079 can be freely set. If p2079 is also set to 999, then all of the interconnections can be set.
For p0922 = 999 and p2079 < 999 the following applies:
The interconnections contained in the telegram are inhibited. However, the telegram can be extended.
Value: 1: Standard telegram 1, PZD-2/2
2: Standard telegram 2, PZD-4/4
3: Standard telegram 3, PZD-5/9
4: Standard telegram 4, PZD-6/14
102: SIEMENS telegram 102, PZD-6/10
103: SIEMENS telegram 103, PZD-7/15
999: Free telegram configuration with BICO
Dependency: Refer to: p0922

p2079 IF1 PROFIdrive PZD telegram selection extended / IF1 PD PZD tel ext
SERVO_S110-DP Can be changed: T Calculated: - Access level: 3
(EPOS, Pos ctrl), Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Communications Units group: - Unit selection: -
(EPOS, Pos ctrl)
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
7 999 999
Description: Sets the send and receive telegram.
Contrary to p0922, a telegram can be selected using p2079 and subsequently expanded.
For p0922 < 999 the following applies:
p2079 has the same value and is inhibited. All of the interconnections and extensions contained in the telegram are
inhibited.
For p0922 = 999 the following applies:
p2079 can be freely set. If p2079 is also set to 999, then all of the interconnections can be set.
For p0922 = 999 and p2079 < 999 the following applies:
The interconnections contained in the telegram are inhibited. However, the telegram can be extended.
Value: 7: Standard telegram 7, PZD-2/2
9: Standard telegram 9, PZD-10/5
110: SIEMENS telegram 110, PZD-12/7
111: SIEMENS telegram 111, PZD-12/12
999: Free telegram configuration with BICO
Dependency: Refer to: p0922

© Siemens AG 2012 All Rights Reserved 1-305

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 Parameter
List of parameters

p2079 IF1 PROFIdrive PZD telegram selection extended / IF1 PD PZD tel ext
SERVO_S110-DP Can be changed: T Calculated: - Access level: 3
(Pos ctrl), Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Communications Units group: - Unit selection: -
(Pos ctrl)
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
999 999 999
Description: Sets the send and receive telegram.
Contrary to p0922, a telegram can be selected using p2079 and subsequently expanded.
For p0922 < 999 the following applies:
p2079 has the same value and is inhibited. All of the interconnections and extensions contained in the telegram are
inhibited.
For p0922 = 999 the following applies:
p2079 can be freely set. If p2079 is also set to 999, then all of the interconnections can be set.
For p0922 = 999 and p2079 < 999 the following applies:
The interconnections contained in the telegram are inhibited. However, the telegram can be extended.
Value: 999: Free telegram configuration with BICO
Dependency: Refer to: p0922

p2080[0...15] BI: Binector-connector converter status word 1 / Bin/con ZSW1

All objects Can be changed: U, T Calculated: - Access level: 3
Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 2472
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Selects bits to be sent to the PROFIdrive controller.
The individual bits are combined to form status word 1.
Index: [0] = Bit 0
[1] = Bit 1
[2] = Bit 2
[3] = Bit 3
[4] = Bit 4
[5] = Bit 5
[6] = Bit 6
[7] = Bit 7
[8] = Bit 8
[9] = Bit 9
[10] = Bit 10
[11] = Bit 11
[12] = Bit 12
[13] = Bit 13
[14] = Bit 14
[15] = Bit 15
Dependency: Refer to: p2088, r2089
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.

1-306 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

p2081[0...15] BI: Binector-connector converter status word 2 / Bin/con ZSW2

All objects Can be changed: U, T Calculated: - Access level: 3
Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 2472
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Selects bits to be sent to the PROFIdrive controller.
The individual bits are combined to form status word 2.
Index: [0] = Bit 0
[1] = Bit 1
[2] = Bit 2
[3] = Bit 3
[4] = Bit 4
[5] = Bit 5
[6] = Bit 6
[7] = Bit 7
[8] = Bit 8
[9] = Bit 9
[10] = Bit 10
[11] = Bit 11
[12] = Bit 12
[13] = Bit 13
[14] = Bit 14
[15] = Bit 15
Dependency: Refer to: p2088, r2089
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: For clock synchronous operation, bit 12 to 15 to transfer the sign-of-life are reserved in status word 2 - and may not
be freely interconnected.

p2082[0...15] BI: Binector-connector converter status word 3 / Bin/con ZSW3

All objects Can be changed: U, T Calculated: - Access level: 3
Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 2472
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Selects bits to be sent to the PROFIdrive controller.
The individual bits are combined to form free status word 3.
Index: [0] = Bit 0
[1] = Bit 1
[2] = Bit 2
[3] = Bit 3
[4] = Bit 4
[5] = Bit 5
[6] = Bit 6
[7] = Bit 7
[8] = Bit 8
[9] = Bit 9
[10] = Bit 10
[11] = Bit 11
[12] = Bit 12
[13] = Bit 13
[14] = Bit 14
[15] = Bit 15
Dependency: Refer to: p2088, r2089
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.

© Siemens AG 2012 All Rights Reserved 1-307

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 Parameter
List of parameters

p2083[0...15] BI: Binector-connector converter status word 4 / Bin/con ZSW4

All objects Can be changed: U, T Calculated: - Access level: 3
Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 2472
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Selects bits to be sent to the PROFIdrive controller.
The individual bits are combined to form free status word 4.
Index: [0] = Bit 0
[1] = Bit 1
[2] = Bit 2
[3] = Bit 3
[4] = Bit 4
[5] = Bit 5
[6] = Bit 6
[7] = Bit 7
[8] = Bit 8
[9] = Bit 9
[10] = Bit 10
[11] = Bit 11
[12] = Bit 12
[13] = Bit 13
[14] = Bit 14
[15] = Bit 15
Dependency: Refer to: p2088, r2089

p2084[0...15] BI: Binector-connector converter status word 5 / Bin/con ZSW5

All objects Can be changed: U, T Calculated: - Access level: 3
Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 2472
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Selects bits to be sent to the PROFIdrive controller.
The individual bits are combined to form free status word 5.
Index: [0] = Bit 0
[1] = Bit 1
[2] = Bit 2
[3] = Bit 3
[4] = Bit 4
[5] = Bit 5
[6] = Bit 6
[7] = Bit 7
[8] = Bit 8
[9] = Bit 9
[10] = Bit 10
[11] = Bit 11
[12] = Bit 12
[13] = Bit 13
[14] = Bit 14
[15] = Bit 15
Dependency: Refer to: p2088, r2089

1-308 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

p2088[0...4] Invert binector-connector converter status word / Bin/con ZSW inv

All objects Can be changed: U, T Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: 2472
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 0000 0000 0000 bin
Description: Setting to invert the individual binector inputs of the binector connector converter.
Index: [0] = Status word 1
[1] = Status word 2
[2] = Free status word 3
[3] = Free status word 4
[4] = Free status word 5
Bit field: Bit Signal name 1 signal 0 signal FP
00 Bit 0 Inverted Not inverted -
01 Bit 1 Inverted Not inverted -
02 Bit 2 Inverted Not inverted -
03 Bit 3 Inverted Not inverted -
04 Bit 4 Inverted Not inverted -
05 Bit 5 Inverted Not inverted -
06 Bit 6 Inverted Not inverted -
07 Bit 7 Inverted Not inverted -
08 Bit 8 Inverted Not inverted -
09 Bit 9 Inverted Not inverted -
10 Bit 10 Inverted Not inverted -
11 Bit 11 Inverted Not inverted -
12 Bit 12 Inverted Not inverted -
13 Bit 13 Inverted Not inverted -
14 Bit 14 Inverted Not inverted -
15 Bit 15 Inverted Not inverted -
Dependency: Refer to: p2080, p2081, p2082, p2083, r2089

r2089[0...4] CO: Send binector-connector converter status word / Bin/con ZSW send
All objects Can be changed: - Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: 2472
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Connector output to interconnect the status words to a PZD send word.
Index: [0] = Status word 1
[1] = Status word 2
[2] = Free status word 3
[3] = Free status word 4
[4] = Free status word 5
Bit field: Bit Signal name 1 signal 0 signal FP
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -

© Siemens AG 2012 All Rights Reserved 1-309

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 Parameter
List of parameters

11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
Dependency: Refer to: p2051, p2080, p2081, p2082, p2083
Note: r2089 together with p2080 to p2084 forms five binector-connector converters.

r2090.0...15 BO: IF1 PROFIBUS PZD1 receive bit-serial / IF1 PZD1 recv bitw
All objects Can be changed: - Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: 2468
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Binector output for bit-serial interconnection of PZD1 (normally control word 1) received from the PROFIdrive con-
troller.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
Note: IF1: Interface 1

r2091.0...15 BO: IF1 PROFIdrive PZD2 receive bit-serial / IF1 PZD2 recv bitw
All objects Can be changed: - Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: 2468
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Binector output for bit-serial interconnection of PZD2 received from the PROFIdrive controller.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -

1-310 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
Note: IF1: Interface 1

r2092.0...15 BO: IF1 PROFIdrive PZD3 receive bit-serial / IF1 PZD3 recv bitw
All objects Can be changed: - Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: 2468
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Binector output for bit-serial interconnection of PZD3 received from the PROFIdrive controller.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
Note: IF1: Interface 1

r2093.0...15 BO: IF1 PROFIdrive PZD4 receive bit-serial / IF1 PZD4 recv bitw
All objects Can be changed: - Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: 2468
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Binector output for bit-serial interconnection of PZD4 (normally control word 2) received from the PROFIdrive con-
troller.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -

© Siemens AG 2012 All Rights Reserved 1-311

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 Parameter
List of parameters

Note: IF1: Interface 1

r2094.0...15 BO: Connector-binector converter binector output / Con/bin outp

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 2468
SERVO_S110-PN
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Binector output for bit-serial onward interconnection of a PZD word received from the PROFIdrive controller.
The PZD is selected via p2099[0].
Bit field: Bit Signal name 1 signal 0 signal FP
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
Dependency: Refer to: p2099

r2095.0...15 BO: Connector-binector converter binector output / Con/bin outp

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 2468
SERVO_S110-PN
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Binector output for bit-serial interconnection of a PZD word received from the PROFIdrive controller.
The PZD is selected via p2099[1].
Bit field: Bit Signal name 1 signal 0 signal FP
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
Dependency: Refer to: p2099

1-312 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

p2098[0...1] Inverter connector-binector converter binector output / Con/bin outp inv

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 2468
SERVO_S110-PN
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 0000 0000 0000 bin
Description: Setting to invert the individual binector outputs of the connector-binector converter.
Using p2098[0], the signals of CI: p2099[0] are influenced.
Using p2098[1], the signals of CI: p2099[1] are influenced.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Bit 0 Inverted Not inverted -
01 Bit 1 Inverted Not inverted -
02 Bit 2 Inverted Not inverted -
03 Bit 3 Inverted Not inverted -
04 Bit 4 Inverted Not inverted -
05 Bit 5 Inverted Not inverted -
06 Bit 6 Inverted Not inverted -
07 Bit 7 Inverted Not inverted -
08 Bit 8 Inverted Not inverted -
09 Bit 9 Inverted Not inverted -
10 Bit 10 Inverted Not inverted -
11 Bit 11 Inverted Not inverted -
12 Bit 12 Inverted Not inverted -
13 Bit 13 Inverted Not inverted -
14 Bit 14 Inverted Not inverted -
15 Bit 15 Inverted Not inverted -
Dependency: Refer to: r2094, r2095, p2099

p2099[0...1] CI: Connector-binector converter signal source / Con/bin S_src

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Integer16 Dynamic index: - Func. diagram: 2468
SERVO_S110-PN
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for the connector-binector converter.
A PZD receive word can be selected as signal source. The signals are available to be serially passed-on (intercon-
nection).
Dependency: Refer to: r2094, r2095
Note: From the signal source set via the connector input, the corresponding lower 16 bits are converted.
p2099[0...1] together with r2094.0...15 and r2095.0...15 forms two connector-binector converters:
Connector input p2099[0] to binector output in r2094.0...15
Connector input p2099[1] to binector output in r2095.0...15

p2100[0...19] Setting the fault number for fault response / F_no F response
SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 1750, 8075
SERVO_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 65535 0
Description: Selects the faults for which the fault response should be changed

© Siemens AG 2012 All Rights Reserved 1-313

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 Parameter
List of parameters

Dependency: The fault is selected and the required response is set under the same index.
Refer to: p2101
Notice: For the following cases, it is not possible to re-parameterize the fault response to a fault:
- if there is no existing fault number.
- the message type is not "fault" (F).
- when a fault is present.

p2101[0...19] Setting the fault response / Fault response

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 1750, 8075
SERVO_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 7 0
Description: Sets the fault response for the selected fault.
Value: 0: NONE
1: OFF1
2: OFF2
3: OFF3
4: STOP1 (being developed)
5: STOP2
6: DC braking
7: ENCODER (p0491)
Dependency: The fault is selected and the required response is set under the same index.
Refer to: p2100
Notice: It is not possible to re-parameterize the response to a specific fault for faults that are already present (queued).
Note: The fault response can only be changed for faults with the appropriate identification (see the List Manual, chapter
"Faults and alarms").
Example:
F12345 and fault response = OFF3 (OFF1, OFF2, NONE)
--> The default fault response OFF3 can be changed to OFF1, OFF2 or NONE.
Re value = 1 (OFF1):
Braking along the ramp-function generator down ramp followed by a pulse inhibit.
Re value = 2 (OFF2):
Internal/external pulse inhibit.
Re value = 3 (OFF3):
Braking along the OFF3 down ramp followed by a pulse inhibit.
Re value = 5 (STOP2):
n_set = 0
Re Value = 6 (DCBRK):
The value can only be set for all motor data sets when p1231 = 3, 4.
a) This function is not supported for synchronous motors (p0300 = 2xx, 4xx).
b) For induction motors (p0300 = 1xx), the DC braking is initiated.
Re value = 7 (ENCODER (p0491)):
The fault response set in p0491 is executed if applicable.

p2102 BI: Acknowledge all faults / Ackn all faults

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 2546, 8060
CU_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source to acknowledge all faults at all drive objects of the drive system.

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 Parameter
List of parameters

Note: A fault acknowledgement is triggered with a 0/1 signal.

p2103[0...n] BI: 1. Acknowledge faults / 1. Acknowledge

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 2441, 2442,
SERVO_S110-PN 2443, 2447, 2475, 2546, 9220,
9677, 9678
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the first signal source to acknowledge faults.
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: A fault acknowledgement is triggered with a 0/1 signal.

p2104[0...n] BI: 2. Acknowledge faults / 2. Acknowledge

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 2546, 8060
SERVO_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the second signal source to acknowledge faults.
Note: A fault acknowledgement is triggered with a 0/1 signal.

p2105[0...n] BI: 3. Acknowledge faults / 3. Acknowledge

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 2546, 8060
SERVO_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the third signal source to acknowledge faults.
Note: A fault acknowledgement is triggered with a 0/1 signal.

p2106[0...n] BI: External fault 1 / External fault 1

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 2546
SERVO_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 1
Description: Sets the signal source for external fault 1.
Dependency: Refer to: F07860
Note: An external fault is triggered with a 1/0 signal.
If this fault is output at the Control Unit, then it is transferred to all existing drive objects.

© Siemens AG 2012 All Rights Reserved 1-315

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 Parameter
List of parameters

p2107[0...n] BI: External fault 2 / External fault 2

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 2546
SERVO_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 1
Description: Sets the signal source for external fault 2.
Dependency: Refer to: F07861
Note: An external fault is triggered with a 1/0 signal.
If this fault is output at the Control Unit, then it is transferred to all existing drive objects.

p2108[0...n] BI: External fault 3 / External fault 3

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 2546
SERVO_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 1
Description: Sets the signal source for external fault 3.
External fault 3 is initiated by the following AND logic operation:
- BI: p2108 negated
- BI: p3111
- BI: p3112 negated
Dependency: Refer to: F07862
Note: An external fault is triggered with a 1/0 signal.
If this fault is output at the Control Unit, then it is transferred to all existing drive objects.

r2109[0...63] Fault time removed in milliseconds / t_flt resolved ms

All objects Can be changed: - Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 1750, 8060
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [ms] - [ms] - [ms]
Description: Displays the system runtime in milliseconds when the fault was removed.
Dependency: Refer to: r0945, r0947, r0948, r0949, r2114, r2130, r2133, r2136, r3115, r3120, r3122
Notice: The time comprises r2136 (days) and r2109 (milliseconds).
Note: The buffer parameters are cyclically updated in the background (refer to status signal in r2139).
The structure of the fault buffer and the assignment of the indices is shown in r0945.

r2110[0...63] Alarm number / Alarm number

All objects Can be changed: - Calculated: - Access level: 2
Data type: Unsigned16 Dynamic index: - Func. diagram: 8065
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: This parameter is identical to r2122.

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 Parameter
List of parameters

p2111 Alarm counter / Alarm counter

All objects Can be changed: U, T Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: 1750, 8065
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 65535 0
Description: Number of alarms that have occurred after the last reset.
Dependency: When p2111 is set to 0, the following is initiated:
- all of the alarms of the alarm buffer that have gone [0...7] are transferred into the alarm history [8...63].
- the alarm buffer [0...7] is deleted.
Refer to: r2110, r2122, r2123, r2124, r2125
Note: The parameter is reset to 0 at POWER ON.

p2112[0...n] BI: External alarm 1 / External alarm 1

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 2546
SERVO_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 1
Description: Sets the signal source for external alarm 1.
Dependency: Refer to: A07850
Note: An external alarm is triggered with a 1/0 signal.

r2114[0...1] System runtime total / Sys runtime tot

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the total system runtime for the drive unit.
The time comprises r2114[0] (milliseconds) and r2114[1] (days).
After r2114[0] has reached a value of 86.400.000 ms (24 hours) this value is reset and r2114[1] is incremented.
Index: [0] = Milliseconds
[1] = Days
Dependency: Refer to: r0948, r2109, r2123, r2125, r2130, r2136, r2145, r2146
Note: The time in r2114 is used to display the times for faults and alarms.
When the electronic power supply is switched out, the counter values are saved.
After the drive unit is powered up, the counter continues to run with the last value that was saved.

p2116[0...n] BI: External alarm 2 / External alarm 2

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 2546
SERVO_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 1
Description: Sets the signal source for external alarm 2.
Dependency: Refer to: A07851
Note: An external alarm is triggered with a 1/0 signal.

© Siemens AG 2012 All Rights Reserved 1-317

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 Parameter
List of parameters

p2117[0...n] BI: External alarm 3 / External alarm 3

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 2546
SERVO_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 1
Description: Sets the signal source for external alarm 3.
Dependency: Refer to: A07852
Note: An external alarm is triggered with a 1/0 signal.

p2118[0...19] Sets the message number for message type. / Msg_no Msg_type
SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 1750, 8075
SERVO_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 65535 0
Description: Selects faults or alarms for which the message type should be changed.
Dependency: Selects the fault or alarm selection and sets the required type of message realized under the same index.
Refer to: p2119
Notice: It is not possible to re-parameterize the message type in the following cases:
- if there is no existing message number.
- if a message is present.

p2119[0...19] Setting the message type / Message type

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 1750, 8075
SERVO_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
1 3 1
Description: Sets the message type for the selected fault or alarm.
Value: 1: Fault (F)
2: Alarm (A)
3: No message (N)
Dependency: Selects the fault or alarm selection and sets the required type of message realized under the same index.
Refer to: p2118
Notice: It is not possible to re-parameterize the message type for the existing faults or alarms.
Note: The message type can only be changed for messages with the appropriate identification.
Example:
F12345(A) --> Fault F12345 can be changed to alarm A12345.
In this case, the message number that may be possibly entered in p2100[0...19] and p2126[0...19] is automatically
removed.

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 Parameter
List of parameters

r2120 CO: Sum of fault and alarm buffer changes / Sum buffer changed
All objects Can be changed: - Calculated: - Access level: 4
Data type: Unsigned16 Dynamic index: - Func. diagram: 8065
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the sum of all of the fault and alarm buffer changes in the drive unit.
Dependency: Refer to: r0944, r2121

r2121 CO: Counter, alarm buffer changes / Alrm buff changed

All objects Can be changed: - Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: 8065
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: This counter is incremented every time the alarm buffer changes.
Dependency: Refer to: r2110, r2122, r2123, r2124, r2125

r2122[0...63] Alarm code / Alarm code

All objects Can be changed: - Calculated: - Access level: 2
Data type: Unsigned16 Dynamic index: - Func. diagram: 1750, 8065
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the number of alarms that have occurred.
Dependency: Refer to: r2110, r2123, r2124, r2125, r2134, r2145, r2146, r3121, r3123
Note: The buffer parameters are cyclically updated in the background (refer to status signal in r2139).
Alarm buffer structure (general principle):
r2122[0], r2124[0], r2123[0], r2125[0] --> alarm 1 (the oldest)
...
r2122[7], r2124[7], r2123[7], r2125[7] --> Alarm 8 (the latest)
When the alarm buffer is full, the alarms that have gone are entered into the alarm history:
r2122[8], r2124[8], r2123[8], r2125[8] --> Alarm 1 (the latest)
...
r2122[63], r2124[63], r2123[63], r2125[63] --> alarm 56 (the oldest)

r2123[0...63] Alarm time received in milliseconds / t_alarm recv ms

All objects Can be changed: - Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 1750, 8065
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [ms] - [ms] - [ms]
Description: Displays the system runtime in milliseconds when the alarm occurred.
Dependency: Refer to: r2110, r2114, r2122, r2124, r2125, r2134, r2145, r2146, r3121, r3123
Notice: The time comprises r2145 (days) and r2123 (milliseconds).
Note: The buffer parameters are cyclically updated in the background (refer to status signal in r2139).
The structure of the alarm buffer and the assignment of the indices is shown in r2122.

© Siemens AG 2012 All Rights Reserved 1-319

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r2124[0...63] Alarm value / Alarm value

All objects Can be changed: - Calculated: - Access level: 3
Data type: Integer32 Dynamic index: - Func. diagram: 1750, 8065
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays additional information about the active alarm (as integer number).
Dependency: Refer to: r2110, r2122, r2123, r2125, r2134, r2145, r2146, r3121, r3123
Note: The buffer parameters are cyclically updated in the background (refer to status signal in r2139).
The structure of the alarm buffer and the assignment of the indices is shown in r2122.

r2125[0...63] Alarm time removed in milliseconds / t_alarm res ms

All objects Can be changed: - Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 1750, 8065
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [ms] - [ms] - [ms]
Description: Displays the system runtime in milliseconds when the alarm was cleared.
Dependency: Refer to: r2110, r2114, r2122, r2123, r2124, r2134, r2145, r2146, r3121, r3123
Notice: The time comprises r2146 (days) and r2125 (milliseconds).
Note: The buffer parameters are cyclically updated in the background (refer to status signal in r2139).
The structure of the alarm buffer and the assignment of the indices is shown in r2122.

p2126[0...19] Setting fault number for acknowledge mode / Fault_no ackn_mode

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 1750, 8075
SERVO_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 65535 0
Description: Selects the faults for which the acknowledge mode is to be changed
Dependency: Selects the faults and sets the required acknowledge mode realized under the same index
Refer to: p2127
Notice: It is not possible to re-parameterize the acknowledge mode of a fault in the following cases:
- if there is no existing fault number.
- the message type is not "fault" (F).
- when a fault is present.

p2127[0...19] Sets acknowledgement mode / Acknowledge mode

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 1750, 8075
SERVO_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
1 3 1
Description: Sets the acknowledge mode for selected fault.
Value: 1: Acknowledgment only using POWER ON
2: Ack IMMEDIATELY after the fault cause has been removed
3: Acknowledgement only for PULSE INHIBIT

1-320 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Dependency: Selects the faults and sets the required acknowledge mode realized under the same index
Refer to: p2126
Notice: It is not possible to re-parameterize the acknowledge mode of a fault in the following cases:
- if there is no existing fault number.
- the message type is not "fault" (F).
- when a fault is present.
Note: The acknowledge mode can only be changed for faults with the appropriate identification.
Example:
F12345 and acknowledge mode = IMMEDIATE (POWER ON)
--> The acknowledge mode can be changed from IMMEDIATELY to POWER ON.

p2128[0...15] Selecting fault/alarm code for trigger / Message trigger

All objects Can be changed: U, T Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: 1750, 8070
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 65535 0
Description: Selects faults or alarms which can be used as trigger.
Dependency: Refer to: r2129

r2129.0...15 CO/BO: Trigger word for faults and alarms / Trigger word
All objects Can be changed: - Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: 1530, 8070
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Trigger signal for the selected faults and alarms
Bit field: Bit Signal name 1 signal 0 signal FP
00 Trigger signal p2128[0] ON OFF -
01 Trigger signal p2128[1] ON OFF -
02 Trigger signal p2128[2] ON OFF -
03 Trigger signal p2128[3] ON OFF -
04 Trigger signal p2128[4] ON OFF -
05 Trigger signal p2128[5] ON OFF -
06 Trigger signal p2128[6] ON OFF -
07 Trigger signal p2128[7] ON OFF -
08 Trigger signal p2128[8] ON OFF -
09 Trigger signal p2128[9] ON OFF -
10 Trigger signal p2128[10] ON OFF -
11 Trigger signal p2128[11] ON OFF -
12 Trigger signal p2128[12] ON OFF -
13 Trigger signal p2128[13] ON OFF -
14 Trigger signal p2128[14] ON OFF -
15 Trigger signal p2128[15] ON OFF -
Dependency: If one of the faults or alarms selected in p2128[n] occurs, then the particular bit of this binector output is set.
Refer to: p2128
Note: CO: r2129 = 0 --> None of the selected messages has occurred.
CO: r2129 > 0 --> At least one of the selected messages has occurred.

© Siemens AG 2012 All Rights Reserved 1-321

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r2130[0...63] Fault time received in days / t_fault recv days

All objects Can be changed: - Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: 8060
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the system runtime in days when the fault occurred.
Dependency: Refer to: r0945, r0947, r0948, r0949, r2109, r2114, r2133, r2136, r3115, r3120, r3122
Notice: The time comprises r2130 (days) and r0948 (milliseconds).
Note: The buffer parameters are cyclically updated in the background (refer to status signal in r2139).

r2131 CO: Actual fault code / Actual fault code

All objects Can be changed: - Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: 8060
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the code of the oldest active fault.
Dependency: Refer to: r3131, r3132
Note: 0: No fault present.

r2132 CO: Actual alarm code / Actual alarm code

All objects Can be changed: - Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: 8065
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the code of the last alarm that occurred.
Note: 0: No alarm present.

r2133[0...63] Fault value for float values / Fault val float

All objects Can be changed: - Calculated: - Access level: 3
Data type: FloatingPoint32 Dynamic index: - Func. diagram: 8060
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays additional information about the fault that occurred for float values.
Dependency: Refer to: r0945, r0947, r0948, r0949, r2109, r2130, r2136, r3115
Note: The buffer parameters are cyclically updated in the background (refer to status signal in r2139).

1-322 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

r2134[0...63] Alarm value for float values / Alarm value float

All objects Can be changed: - Calculated: - Access level: 3
Data type: FloatingPoint32 Dynamic index: - Func. diagram: 8065
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays additional information about the active alarm for float values.
Dependency: Refer to: r2110, r2122, r2123, r2124, r2125, r2145, r2146, r3121, r3123
Note: The buffer parameters are cyclically updated in the background (refer to status signal in r2139).

r2135.0...15 CO/BO: Status word faults/alarms 2 / ZSW fault/alarm 2

All objects Can be changed: - Calculated: - Access level: 2
Data type: Unsigned16 Dynamic index: - Func. diagram: 1530, 2548
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the second status word of faults and alarms.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Fault encoder 1 Yes No -
01 Fault encoder 2 Yes No -
12 Fault motor overtemperature Yes No -
13 Fault power unit thermal overload Yes No -
14 Alarm motor overtemperature Yes No -
15 Alarm power unit thermal overload Yes No -

r2136[0...63] Fault time removed in days / t_flt resolv. days

All objects Can be changed: - Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: 8060
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the system runtime in days when the fault was removed.
Dependency: Refer to: r0945, r0947, r0948, r0949, r2109, r2114, r2130, r2133, r3115, r3120, r3122
Notice: The time comprises r2136 (days) and r2109 (milliseconds).
Note: The buffer parameters are cyclically updated in the background (refer to status signal in r2139).

r2138.7...15 CO/BO: Control word faults/alarms / STW fault/alarm

All objects Can be changed: - Calculated: - Access level: 2
Data type: Unsigned16 Dynamic index: - Func. diagram: 1530, 2546
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the control word of the faults and alarms.
Bit field: Bit Signal name 1 signal 0 signal FP
07 Acknowledge fault Yes No -
10 External alarm 1 (A07850) effective Yes No -
11 External alarm 2 (A07851) effective Yes No -
12 External alarm 3 (A07852) effective Yes No -
13 External fault 1 (F07860) effective Yes No -

© Siemens AG 2012 All Rights Reserved 1-323

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 Parameter
List of parameters

14 External fault 2 (F07861) effective Yes No -

15 External fault 3 (F07862) effective Yes No -
Dependency: Refer to: p2103, p2104, p2105, p2106, p2107, p2108, p2112, p2116, p2117

r2139.0...12 CO/BO: Status word faults/alarms 1 / ZSW fault/alarm 1

All objects Can be changed: - Calculated: - Access level: 2
Data type: Unsigned16 Dynamic index: - Func. diagram: 1530, 2548
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the first status word of faults and alarms.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Being acknowledged Yes No -
01 Acknowledgment required Yes No -
03 Fault present Yes No -
05 Safety message present Yes No -
06 Internal message 1 present Yes No -
07 Alarm present Yes No -
08 Internal message 2 present Yes No -
11 Alarm class bit 0 High Low -
12 Alarm class bit 1 High Low -
Note: Re bit 03, 05, 07:
These bits are set if at least one fault/alarm occurs. Data is entered into the fault/alarm buffer with delay. This is the
reason that the fault/alarm buffer should only be read if, after "fault present"/"alarm present" has occurred, a change
in the buffer was also detected (r0944, r9744, r2121).
Re bit 06, 08:
These status bits are used for internal diagnostic purposes only.
Re bit 11, 12:
These status bits are used for the classification of internal alarm classes and are intended for diagnostic purposes
only on certain automation systems with integrated SINAMICS functionality.

p2140[0...n] Hysteresis speed 2 / n_hysteresis 2

SERVO_S110-CAN, Can be changed: U, T Calculated: Access level: 3
SERVO_S110-DP, CALC_MOD_LIM_REF
SERVO_S110-PN Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 8010
P-Group: Messages Units group: 3_1 Unit selection: p0505
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [rpm] 300.00 [rpm] 90.00 [rpm]
Description: Sets the hysteresis speed (bandwidth) for the following signals:
"|n_act| < = speed threshold value 2" (BO: r2197.1)
"|n_act| > speed threshold value 2" (BO: r2197.2)
Dependency: Refer to: p2155, r2197

p2141[0...n] Speed threshold 1 / n_thresh val 1

SERVO_S110-CAN, Can be changed: U, T Calculated: Access level: 3
SERVO_S110-DP, CALC_MOD_LIM_REF
SERVO_S110-PN Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 8010
P-Group: Messages Units group: 3_1 Unit selection: p0505
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [rpm] 210000.00 [rpm] 5.00 [rpm]
Description: Sets the speed threshold value for the signal "f or n comparison value reached or exceeded" (BO: r2199.1).
Dependency: Refer to: p2142, r2199

1-324 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

p2142[0...n] Hysteresis speed 1 / n_hysteresis 1

SERVO_S110-CAN, Can be changed: U, T Calculated: Access level: 3
SERVO_S110-DP, CALC_MOD_LIM_REF
SERVO_S110-PN Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 8010
P-Group: Messages Units group: 3_1 Unit selection: p0505
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [rpm] 300.00 [rpm] 2.00 [rpm]
Description: Sets the hysteresis speed (bandwidth) for the signal "f or n / v comparison value reached or exceeded" (BO:
r2199.1).
Dependency: Refer to: p2141, r2199

p2144[0...n] BI: Motor stall monitoring enable (negated) / Mot stall enab neg
SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 8012
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for the negated enable (0 = enable) of the motor stall monitoring.
Dependency: Refer to: p2163, p2164, p2166, r2197, r2198
Refer to: F07900
Note: If the enable signal is connected to r2197.7 then the stall signal is suppressed if there is no speed setpoint - actual
value deviation.

r2145[0...63] Alarm time received in days / t_alarm recv days

All objects Can be changed: - Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: 8065
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the system runtime in days when the alarm occurred.
Dependency: Refer to: r2110, r2114, r2122, r2123, r2124, r2125, r2134, r2146, r3121, r3123
Notice: The time comprises r2145 (days) and r2123 (milliseconds).
Note: The buffer parameters are cyclically updated in the background (refer to status signal in r2139).

r2146[0...63] Alarm time removed in days / t_alarm res days

All objects Can be changed: - Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: 8065
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the system runtime in days when the alarm was cleared.
Dependency: Refer to: r2110, r2114, r2122, r2123, r2124, r2125, r2134, r2145, r3121, r3123
Notice: The time comprises r2146 (days) and r2125 (milliseconds).
Note: The buffer parameters are cyclically updated in the background (refer to status signal in r2139).

© Siemens AG 2012 All Rights Reserved 1-325

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p2147 Delete fault buffer of all drive objects / Del fault buffer
CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 8060
CU_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Setting to delete the fault buffer of all existing drive objects.
Value: 0: Inactive
1: Start to delete the fault buffer of all drive objects
Dependency: Refer to: r0945, r0947, r0948, r0949, r2109, r2130, r2133, r2136
Note: p2147 is automatically set to 0 after execution.

p2148[0...n] BI: RFG active / RFG active

SERVO_S110-CAN, Can be changed: U, T Calculated: Access level: 3
SERVO_S110-DP, CALC_MOD_LIM_REF
SERVO_S110-PN Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 8011
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for the signal "ramp-function generator active" for the following signals/messages:
"Speed setpoint - actual value deviation within tolerance t_on" (BO: r2199.4)
"Ramp-up/ramp-down completed" (BO: r2199.5)
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: The binector input is automatically pre-assigned to r1199.2.
The following applies for SERVO:
The pre-assignment is only made when the function module "setpoint channel" is activated (r0108.8 = 1).

p2149[0...n] Monitoring configuration / Monit config

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: DDS, p0180 Func. diagram: 8010, 8013
SERVO_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 0000 0000 0000 bin
Description: Sets the configuration for messages and monitoring functions.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Enable alarm A07903 Yes No 8010
01 Load monitoring only in the 1st quadrant Yes No 8013
03 n_act > p2155 own hysteresis Yes No 8010
15 Automatic parameterization carried out Yes No -
(p0340 = 1, p3900 > 0)
Dependency: Refer to: r2197
Refer to: A07903
Note: Re bit 00:
Alarm A07903 is output when the bit is set with r2197.7 = 0 (n_set <> n_act).
Re bit 01:
When the bit is set, load monitoring is only carried out in the 1st quadrant as a result of the positive characteristic
parameters (p2182 ... p2190).
Re bit 03:
When the bit is set, r2197 bit 1 and bit 2 are determined via separate hystereses.

1-326 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Re bit 15:
The bit indicates whether the automatic parameterization (p0340 = 1, p3900 > 0) for the parameters of the extended
monitoring functions was carried out. If the bit is not set (e.g. when the configuration is activated (p0108.15)), the
parameterization is automatically carried out during booting even if r3925.0 is already 1.

p2150[0...n] Hysteresis speed 3 / n_hysteresis 3

SERVO_S110-CAN, Can be changed: U, T Calculated: Access level: 3
SERVO_S110-DP, CALC_MOD_LIM_REF
SERVO_S110-PN Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 8010
P-Group: Messages Units group: 3_1 Unit selection: p0505
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [rpm] 300.00 [rpm] 2.00 [rpm]
Description: Sets the hysteresis speed (bandwidth) for the following signals:
"|n_act| < speed threshold value 3" (BO: r2199.0)
"n_set >= 0" (BO: r2198.5)
"n_act >= 0" (BO: r2197.3)
Dependency: Refer to: p2161, r2197, r2199

p2151[0...n] CI: Speed setpoint for messages/signals / n_set for msg

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 8010
SERVO_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: p2000 Expert list: 1
Min Max Factory setting
- - 1438[0]
Description: Sets the signal source for the speed setpoint for the following messages:
"Speed setpoint - actual value deviation within tolerance t_off" (BO: r2197.7)
"Ramp-up/ramp-down completed" (BO: r2199.5)
"|n_set| < p2161" (BO: r2198.4)
"n_set > 0" (BO: r2198.5)
Dependency: Refer to: r2197, r2198, r2199

p2153[0...n] Speed actual value filter time constant / n_act_filt T

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 8010
SERVO_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 [ms] 1000000 [ms] 0 [ms]
Description: Sets the time constant of the PT1 element to smooth the speed / velocity actual value.
The smoothed actual speed/velocity is compared with the threshold values and is only used for messages and sig-
nals.
Dependency: Refer to: r2169

p2154[0...n] CI: Speed setpoint 2 / n_set 2

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 8010
SERVO_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: p2000 Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for speed setpoint 2.

© Siemens AG 2012 All Rights Reserved 1-327

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

The sum of p2151 and p2154 is used for the following messages/signals:
"Speed setpoint - actual value deviation within tolerance t_off" (r2197.7)
"Speed setpoint - actual value deviation within tolerance t_on" (r2199.4)
"Ramp-up/ramp-down completed" (r2199.5)
Dependency: Refer to: p2151, r2197, r2199

p2155[0...n] Speed threshold 2 / n_thresh val 2

SERVO_S110-CAN, Can be changed: U, T Calculated: Access level: 3
SERVO_S110-DP, CALC_MOD_LIM_REF
SERVO_S110-PN Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 8010
P-Group: Messages Units group: 3_1 Unit selection: p0505
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [rpm] 210000.00 [rpm] 900.00 [rpm]
Description: Sets the speed threshold value for the following messages:
"|n_act| < = speed threshold value 2" (BO: r2197.1)
"|n_act| > speed threshold value 2" (BO: r2197.2)
Dependency: Refer to: p2140, r2197

p2156[0...n] On delay, comparison value reached / t_on cmpr val rchd

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 8010
SERVO_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.0 [ms] 10000.0 [ms] 0.0 [ms]
Description: Sets the switch-in delay time for the signal "comparison value reached" (BO: r2199.1).
Dependency: Refer to: p2141, p2142, r2199

p2161[0...n] Speed threshold 3 / n_thresh val 3

SERVO_S110-CAN, Can be changed: U, T Calculated: Access level: 3
SERVO_S110-DP, CALC_MOD_LIM_REF
SERVO_S110-PN Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 8010
P-Group: Messages Units group: 3_1 Unit selection: p0505
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [rpm] 210000.00 [rpm] 5.00 [rpm]
Description: Sets the speed threshold value for the signal "|n_act| < speed threshold value 3" (BO: r2199.0).
Dependency: Refer to: p2150, r2199

p2162[0...n] Hysteresis speed n_act > n_max / Hyst n_act>n_max

SERVO_S110-CAN, Can be changed: U, T Calculated: Access level: 2
SERVO_S110-DP, CALC_MOD_LIM_REF
SERVO_S110-PN Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 8010
P-Group: Messages Units group: 3_1 Unit selection: p0505
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [rpm] 60000.00 [rpm] 0.00 [rpm]
Description: Sets the hysteresis speed (bandwidth) for the signal "n_act > n_max" (BO: r2197.6).
Dependency: Refer to: r1084, r1087, r2197
Notice: For p0322 = 0, the following applies: p2162 <= 0.1 * p0311
For p0322 > 0, the following applies: p2162 <= 1.02 * p0322 - p1082

1-328 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

If one of the conditions is violated, p2162 is appropriately and automatically reduced when exiting the commission-
ing mode.
Note: For a negative speed limit (r1087) the hysteresis is effective below the limit value and for a positive speed limit
(r1084) above the limit value.
If significant overshoot occurs in the maximum speed range (e.g. due to load shedding), you are advised to
increase the dynamic response of the speed controller (if possible). If this is insufficient, the hysteresis p2162 can
only be increased by more than 10% of the rated speed when the maximum speed (p0322) of the motor is suffi-
ciently greater than the speed limit p1082.

p2163[0...n] Speed threshold 4 / n_thresh val 4

SERVO_S110-CAN, Can be changed: U, T Calculated: Access level: 2
SERVO_S110-DP, CALC_MOD_LIM_REF
SERVO_S110-PN Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 8010
P-Group: Messages Units group: 3_1 Unit selection: p0505
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [rpm] 210000.00 [rpm] 90.00 [rpm]
Description: Sets the speed threshold value for the "speed setpoint - actual value deviation in tolerance t_off" signal/message
(BO: r2197.7).
Dependency: Refer to: p2164, p2166, r2197

p2164[0...n] Hysteresis speed 4 / n_hysteresis 4

SERVO_S110-CAN, Can be changed: U, T Calculated: Access level: 2
SERVO_S110-DP, CALC_MOD_LIM_REF
SERVO_S110-PN Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 8010
P-Group: Messages Units group: 3_1 Unit selection: p0505
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [rpm] 200.00 [rpm] 2.00 [rpm]
Description: Sets the hysteresis speed (bandwidth) for the "speed setpoint - actual value deviation in tolerance t_off" signal/mes-
sage (BO: r2197.7).
Dependency: Refer to: p2163, p2166, r2197

p2166[0...n] Off delay n_act = n_set / t_del_off n_i=n_so

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 8010
SERVO_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.0 [ms] 10000.0 [ms] 200.0 [ms]
Description: Sets the switch-off delay time for the "speed setpoint - actual value deviation in tolerance t_off" signal/message
(BO: r2197.7).
Dependency: Refer to: p2163, p2164, r2197

p2167[0...n] Switch-on delay n_act = n_set / t_on n_act=n_set

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 8010
SERVO_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.0 [ms] 10000.0 [ms] 200.0 [ms]
Description: Sets the switch-on delay for the "speed setpoint - actual value deviation in tolerance t_on" signal/message (BO:
r2199.4).

© Siemens AG 2012 All Rights Reserved 1-329

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r2169 CO: Actual speed smoothed signals / n_act smth message

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 1750, 8010,
SERVO_S110-PN 8012, 8013
P-Group: Messages Units group: 3_1 Unit selection: p0505
Not for motor type: - Scaling: p2000 Expert list: 1
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Displays the smoothed actual speed for messages/signals.
Dependency: Refer to: p2153

p2174[0...n] Torque threshold value 1 / M_thresh val 1

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 8012
SERVO_S110-PN
P-Group: Messages Units group: 7_1 Unit selection: p0505
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [Nm] 20000000.00 [Nm] 5.13 [Nm]
Description: Sets the torque threshold value for the signal "Torque setpoint < torque threshold value 1" (BO: r2198.10).
Dependency: Refer to: p2195, r2198

p2175[0...n] Motor locked speed threshold / Mot lock n_thresh

SERVO_S110-CAN, Can be changed: U, T Calculated: Access level: 3
SERVO_S110-DP, CALC_MOD_LIM_REF
SERVO_S110-PN Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 8012
P-Group: Messages Units group: 3_1 Unit selection: p0505
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [rpm] 210000.00 [rpm] 120.00 [rpm]
Description: Sets the speed threshold for the message "Motor locked" (BO: r2198.6).
Dependency: Refer to: p0500, p2177, r2198

p2177[0...n] Motor locked delay time / Mot lock t_del

SERVO_S110-CAN, Can be changed: U, T Calculated: Access level: 2
SERVO_S110-DP, CALC_MOD_LIM_REF
SERVO_S110-PN Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 8012
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.000 [s] 65.000 [s] 1.000 [s]
Description: Sets the delay time for the message "Motor locked" (BO: r2198.6).
Dependency: Refer to: p0500, p2175, r2198

p2181[0...n] Load monitoring response / Load monit resp

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 3
(Ext msg), Data type: Integer16 Dynamic index: DDS, p0180 Func. diagram: 8013
SERVO_S110-DP
P-Group: Messages Units group: - Unit selection: -
(Ext msg),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Ext msg)
Min Max Factory setting
0 6 0
Description: Sets the response when evaluating the load monitoring.

1-330 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Value: 0: Load monitoring disabled

1: A07920 for torque/speed too low
2: A07921 for torque/speed too high
3: A07922 for torque/speed out of tolerance
4: F07923 for torque/speed too low
5: F07924 for torque/speed too high
6: F07925 for torque/speed out of tolerance
Dependency: Refer to: p2182, p2183, p2184, p2185, p2186, p2187, p2188, p2189, p2190, p2192, r2198
Refer to: A07920, A07921, A07922, F07923, F07924, F07925
Note: The response to the faults F07923 ... F07925 can be set. F07926 is evaluated only if p2181 is not zero.

p2182[0...n] Load monitoring speed threshold value 1 / n_thresh 1

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 3
(Ext msg), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 8013
SERVO_S110-DP
P-Group: Messages Units group: 3_1 Unit selection: p0505
(Ext msg),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Ext msg)
Min Max Factory setting
0.00 [rpm] 210000.00 [rpm] 150.00 [rpm]
Description: Sets the speed/torque envelope curve for load monitoring.
The envelope curve (upper and lower envelope curve) is defined as follows based on 3 speed thresholds:
p2182 (n_threshold 1) --> p2185 (M_threshold 1, upper), p2186 (M_threshold 1, lower)
p2183 (n_threshold 2) --> p2187 (M_threshold 2, upper), p2188 (M_threshold 2, lower)
p2184 (n_threshold 3) --> p2189 (M_threshold 3, upper), p2190 (M_threshold 3, lower)
Dependency: The following applies: p2182 < p2183 < p2184
Refer to: p2183, p2184, p2185, p2186
Refer to: A07926

p2183[0...n] Load monitoring speed threshold value 2 / n_thresh 2

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 3
(Ext msg), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 8013
SERVO_S110-DP
P-Group: Messages Units group: 3_1 Unit selection: p0505
(Ext msg),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Ext msg)
Min Max Factory setting
0.00 [rpm] 210000.00 [rpm] 900.00 [rpm]
Description: Sets the speed/torque envelope curve for load monitoring.
The envelope curve (upper and lower envelope curve) is defined as follows based on 3 speed thresholds:
p2182 (n_threshold 1) --> p2185 (M_threshold 1, upper), p2186 (M_threshold 1, lower)
p2183 (n_threshold 2) --> p2187 (M_threshold 2, upper), p2188 (M_threshold 2, lower)
p2184 (n_threshold 3) --> p2189 (M_threshold 3, upper), p2190 (M_threshold 3, lower)
Dependency: The following applies: p2182 < p2183 < p2184
Refer to: p2182, p2184, p2187, p2188
Refer to: A07926

p2184[0...n] Load monitoring speed threshold value 3 / n_thresh 3

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 3
(Ext msg), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 8013
SERVO_S110-DP
P-Group: Messages Units group: 3_1 Unit selection: p0505
(Ext msg),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Ext msg)
Min Max Factory setting
0.00 [rpm] 210000.00 [rpm] 1500.00 [rpm]
Description: Sets the speed/torque envelope curve for load monitoring.

© Siemens AG 2012 All Rights Reserved 1-331

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

The envelope curve (upper and lower envelope curve) is defined as follows based on 3 speed thresholds:
p2182 (n_threshold 1) --> p2185 (M_threshold 1, upper), p2186 (M_threshold 1, lower)
p2183 (n_threshold 2) --> p2187 (M_threshold 2, upper), p2188 (M_threshold 2, lower)
p2184 (n_threshold 3) --> p2189 (M_threshold 3, upper), p2190 (M_threshold 3, lower)
Dependency: The following applies: p2182 < p2183 < p2184
Refer to: p2182, p2183, p2189, p2190
Refer to: A07926

p2185[0...n] Load monitoring torque threshold 1, upper / M_thresh 1 upper

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 3
(Ext msg), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 8013
SERVO_S110-DP
P-Group: Messages Units group: 7_1 Unit selection: p0505
(Ext msg),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Ext msg)
Min Max Factory setting
0.00 [Nm] 20000000.00 [Nm] 10000000.00 [Nm]
Description: Sets the speed/torque / velocity/force envelope curve for the load monitoring.
Dependency: The following applies: p2185 > p2186
Refer to: p2182, p2186
Refer to: A07926
Note: The upper envelope curve is defined by p2185, p2187 and p2189.

p2186[0...n] Load monitoring torque threshold 1, lower / M_thresh 1 lower

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 3
(Ext msg), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 8013
SERVO_S110-DP
P-Group: Messages Units group: 7_1 Unit selection: p0505
(Ext msg),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Ext msg)
Min Max Factory setting
0.00 [Nm] 20000000.00 [Nm] 0.00 [Nm]
Description: Sets the speed/torque / velocity/force envelope curve for the load monitoring.
Dependency: The following applies: p2186 < p2185
Refer to: p2182, p2185
Refer to: A07926
Note: The lower envelope curve is defined by p2186, p2188 and p2190.

p2187[0...n] Load monitoring torque threshold 2, upper / M_thresh 2 upper

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 3
(Ext msg), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 8013
SERVO_S110-DP
(Ext msg), P-Group: Messages Units group: 7_1 Unit selection: p0505
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Ext msg)
Min Max Factory setting
0.00 [Nm] 20000000.00 [Nm] 10000000.00 [Nm]
Description: Sets the speed/torque / velocity/force envelope curve for the load monitoring.
Dependency: The following applies: p2187 > p2188
Refer to: p2183, p2188
Refer to: A07926
Note: The upper envelope curve is defined by p2185, p2187 and p2189.

1-332 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p2188[0...n] Load monitoring torque threshold 2, lower / M_thresh 2 lower

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 3
(Ext msg), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 8013
SERVO_S110-DP
P-Group: Messages Units group: 7_1 Unit selection: p0505
(Ext msg),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Ext msg)
Min Max Factory setting
0.00 [Nm] 20000000.00 [Nm] 0.00 [Nm]
Description: Sets the speed/torque / velocity/force envelope curve for the load monitoring.
Dependency: The following applies: p2188 < p2187
Refer to: p2183, p2187
Refer to: A07926
Note: The lower envelope curve is defined by p2186, p2188 and p2190.

p2189[0...n] Load monitoring torque threshold 3, upper / M_thresh 3 upper

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 3
(Ext msg), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 8013
SERVO_S110-DP
P-Group: Messages Units group: 7_1 Unit selection: p0505
(Ext msg),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Ext msg)
Min Max Factory setting
0.00 [Nm] 20000000.00 [Nm] 10000000.00 [Nm]
Description: Sets the speed/torque / velocity/force envelope curve for the load monitoring.
Dependency: The following applies: p2189 > p2190
Refer to: p2184, p2190
Refer to: A07926
Note: The upper envelope curve is defined by p2185, p2187 and p2189.

p2190[0...n] Load monitoring torque threshold 3, lower / M_thresh 3 lower

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 3
(Ext msg), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 8013
SERVO_S110-DP
(Ext msg), P-Group: Messages Units group: 7_1 Unit selection: p0505
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Ext msg)
Min Max Factory setting
0.00 [Nm] 20000000.00 [Nm] 0.00 [Nm]
Description: Sets the speed/torque / velocity/force envelope curve for the load monitoring.
Dependency: The following applies: p2190 < p2189
Refer to: p2184, p2189
Refer to: A07926
Note: The lower envelope curve is defined by p2186, p2188 and p2190.

p2192[0...n] Load monitoring delay time / Load monit t_del

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 3
(Ext msg), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 8013
SERVO_S110-DP
P-Group: Messages Units group: - Unit selection: -
(Ext msg),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Ext msg)
Min Max Factory setting
0.00 [s] 65.00 [s] 10.00 [s]
Description: Sets the delay time to evaluate the load monitoring.

© Siemens AG 2012 All Rights Reserved 1-333

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p2194[0...n] Torque threshold value 2 / M_thresh val 2

SERVO_S110-CAN, Can be changed: U, T Calculated: Access level: 2
SERVO_S110-DP, CALC_MOD_LIM_REF
SERVO_S110-PN Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 8012
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [%] 100.00 [%] 90.00 [%]
Description: Sets the torque threshold value for the message "Torque utilization < torque threshold value 2" (BO: r2199.11).
The message "torque setpoint < p2174" (BO: r2198.10) and "torque utilization < p2194" (BO: r2199.11) are only
evaluated after the run-up and the delay time has expired.
Dependency: Refer to: r0033, p2195, r2199

p2195[0...n] Torque utilization switch-off delay / M_util t_off

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 8012
SERVO_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.0 [ms] 1000.0 [ms] 800.0 [ms]
Description: Sets the switch-off delay time for the negated signal "run-up completed".
The message "torque setpoint < p2174" (BO: r2198.10) and "torque utilization < p2194" (BO: r2199.11) are only
evaluated after the run-up and the delay time has expired.
Dependency: Refer to: p2174, p2194

p2196[0...n] Torque utilization scaling / M_util scal

SERVO_S110-CAN, Can be changed: C2(1, 3), U, T Calculated: - Access level: 1
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [%] 1000.00 [%] 100.00 [%]
Description: Sets the scaling factor for torque utilization (r0033).

r2197.1...13 CO/BO: Status word monitoring 1 / ZSW monitor 1

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 1530, 2534
SERVO_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the first status word for monitoring functions.
Bit field: Bit Signal name 1 signal 0 signal FP
01 -
02 -
03 n_act >= 0 Yes No 8011
06 |n_act| > n_max Yes No 8010
07 Speed setp - act val deviation in tolerance Yes No 8011
t_off
13 |n_act| > n_max error Yes No -
Note: Re bit 01, 02:
The threshold value is set in p2155 and the hysteresis in p2140.

1-334 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Re bit 03:
The hysteresis is set in p2150.
Re bit 06:
The hysteresis is set in p2162.
Re bit 07:
The threshold value is set in p2163 and the hysteresis is set in p2164.

r2198.4...12 CO/BO: Status word monitoring 2 / ZSW monitor 2

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 1530, 2536
SERVO_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the second status word for monitoring functions.
Bit field: Bit Signal name 1 signal 0 signal FP
04 |n_set| < p2161 Yes No 8010
05 n_set > 0 Yes No 8010
06 Motor stalled Yes No 8012
10 |M_set| < torque threshold value 1 Yes No 8012
11 Load monitoring signals an alarm Yes No 8013
12 Load monitoring signals a fault condition Yes No 8013
Note: Re bit 10:
The torque threshold value 1 is set in p2174.
Re bit 12:
This bit is reset after the fault cause disappears, even if the fault itself is still present.

r2199.0...11 CO/BO: Status word monitoring 3 / ZSW monitor 3

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 1530, 2537
SERVO_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the third status word for monitoring functions.
Bit field: Bit Signal name 1 signal 0 signal FP
00 |n_act| < speed threshold value 3 Yes No 8010
01 f or n comparison value reached or Yes No 8010
exceeded
04 Speed setp - act val deviation in tolerance Yes No 8010
t_on
05 Ramp-up/ramp-down completed Yes No 8010
06 Current below the zero current threshold Yes No -
11 Torque utilization < torque threshold value 2 Yes No 8012
Note: Re bit 00:
The speed threshold value 3 is set in p2161.
Re bit 01:
The comparison value is set in p2141. We recommend setting the hysteresis (p2142) for canceling the bit to a value
lower than that in p2141. Otherwise, the bit will never be reset.
Re bit 11:
The torque threshold value 2 is set in p2194.

© Siemens AG 2012 All Rights Reserved 1-335

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p2200[0...n] BI: Technology controller enable / Tec_ctrl enable

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 2
(Tech_ctrl), Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 7958
SERVO_S110-DP
P-Group: Technology Units group: - Unit selection: -
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Tech_ctrl)
Min Max Factory setting
- - 0
Description: Sets the signal source to switch in/switch out the technology controller.
The technology controller is switched in with a 1 signal.

p2201[0...n] CO: Technology controller, fixed value 1 / Tec_ctr fix val 1

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 7950
SERVO_S110-DP
P-Group: Technology Units group: 9_1 Unit selection: p0595
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Tech_ctrl)
Min Max Factory setting
-200.00 [%] 200.00 [%] 10.00 [%]
Description: Sets the value for fixed value 1 of the technology controller.
Dependency: Refer to: p2220, p2221, p2222, p2223, r2224, r2229
Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.

p2202[0...n] CO: Technology controller, fixed value 2 / Tec_ctr fix val 2

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 7950
SERVO_S110-DP
(Tech_ctrl), P-Group: Technology Units group: 9_1 Unit selection: p0595
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Tech_ctrl)
Min Max Factory setting
-200.00 [%] 200.00 [%] 20.00 [%]
Description: Sets the value for fixed value 2 of the technology controller.
Dependency: Refer to: p2220, p2221, p2222, p2223, r2224, r2229
Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.

p2203[0...n] CO: Technology controller, fixed value 3 / Tec_ctr fix val 3

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 7950
SERVO_S110-DP
P-Group: Technology Units group: 9_1 Unit selection: p0595
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Tech_ctrl)
Min Max Factory setting
-200.00 [%] 200.00 [%] 30.00 [%]
Description: Sets the value for fixed value 3 of the technology controller.
Dependency: Refer to: p2220, p2221, p2222, p2223, r2224, r2229
Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.

1-336 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p2204[0...n] CO: Technology controller, fixed value 4 / Tec_ctr fix val 4

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 7950
SERVO_S110-DP
P-Group: Technology Units group: 9_1 Unit selection: p0595
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Tech_ctrl)
Min Max Factory setting
-200.00 [%] 200.00 [%] 40.00 [%]
Description: Sets the value for fixed value 4 of the technology controller.
Dependency: Refer to: p2220, p2221, p2222, p2223, r2224, r2229
Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.

p2205[0...n] CO: Technology controller, fixed value 5 / Tec_ctr fix val 5

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 7950
SERVO_S110-DP
P-Group: Technology Units group: 9_1 Unit selection: p0595
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Tech_ctrl)
Min Max Factory setting
-200.00 [%] 200.00 [%] 50.00 [%]
Description: Sets the value for fixed value 5 of the technology controller.
Dependency: Refer to: p2220, p2221, p2222, p2223, r2224, r2229
Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.

p2206[0...n] CO: Technology controller, fixed value 6 / Tec_ctr fix val 6

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 7950
SERVO_S110-DP
(Tech_ctrl), P-Group: Technology Units group: 9_1 Unit selection: p0595
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Tech_ctrl)
Min Max Factory setting
-200.00 [%] 200.00 [%] 60.00 [%]
Description: Sets the value for fixed value 6 of the technology controller.
Dependency: Refer to: p2220, p2221, p2222, p2223, r2224, r2229
Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.

p2207[0...n] CO: Technology controller, fixed value 7 / Tec_ctr fix val 7

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 7950
SERVO_S110-DP
P-Group: Technology Units group: 9_1 Unit selection: p0595
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Tech_ctrl)
Min Max Factory setting
-200.00 [%] 200.00 [%] 70.00 [%]
Description: Sets the value for fixed value 7 of the technology controller.
Dependency: Refer to: p2220, p2221, p2222, p2223, r2224, r2229
Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.

© Siemens AG 2012 All Rights Reserved 1-337

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p2208[0...n] CO: Technology controller, fixed value 8 / Tec_ctr fix val 8

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 7950
SERVO_S110-DP
P-Group: Technology Units group: 9_1 Unit selection: p0595
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Tech_ctrl)
Min Max Factory setting
-200.00 [%] 200.00 [%] 80.00 [%]
Description: Sets the value for fixed value 8 of the technology controller.
Dependency: Refer to: p2220, p2221, p2222, p2223, r2224, r2229
Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.

p2209[0...n] CO: Technology controller, fixed value 9 / Tec_ctr fix val 9

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 7950
SERVO_S110-DP
P-Group: Technology Units group: 9_1 Unit selection: p0595
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Tech_ctrl)
Min Max Factory setting
-200.00 [%] 200.00 [%] 90.00 [%]
Description: Sets the value for fixed value 9 of the technology controller.
Dependency: Refer to: p2220, p2221, p2222, p2223, r2224, r2229
Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.

p2210[0...n] CO: Technology controller, fixed value 10 / Tec_ctr fix val 10

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 7950
SERVO_S110-DP
(Tech_ctrl), P-Group: Technology Units group: 9_1 Unit selection: p0595
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Tech_ctrl)
Min Max Factory setting
-200.00 [%] 200.00 [%] 100.00 [%]
Description: Sets the value for fixed value 10 of the technology controller.
Dependency: Refer to: p2220, p2221, p2222, p2223, r2224, r2229
Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.

p2211[0...n] CO: Technology controller, fixed value 11 / Tec_ctr fix val 11

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 7950
SERVO_S110-DP
P-Group: Technology Units group: 9_1 Unit selection: p0595
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Tech_ctrl)
Min Max Factory setting
-200.00 [%] 200.00 [%] 110.00 [%]
Description: Sets the value for fixed value 11 of the technology controller.
Dependency: Refer to: p2220, p2221, p2222, p2223, r2224, r2229
Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.

1-338 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p2212[0...n] CO: Technology controller, fixed value 12 / Tec_ctr fix val 12

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 7950
SERVO_S110-DP
P-Group: Technology Units group: 9_1 Unit selection: p0595
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Tech_ctrl)
Min Max Factory setting
-200.00 [%] 200.00 [%] 120.00 [%]
Description: Sets the value for fixed value 12 of the technology controller.
Dependency: Refer to: p2220, p2221, p2222, p2223, r2224, r2229
Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.

p2213[0...n] CO: Technology controller, fixed value 13 / Tec_ctr fix val 13

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 7950
SERVO_S110-DP
P-Group: Technology Units group: 9_1 Unit selection: p0595
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Tech_ctrl)
Min Max Factory setting
-200.00 [%] 200.00 [%] 130.00 [%]
Description: Sets the value for fixed value 13 of the technology controller.
Dependency: Refer to: p2220, p2221, p2222, p2223, r2224, r2229
Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.

p2214[0...n] CO: Technology controller, fixed value 14 / Tec_ctr fix val 14

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 7950
SERVO_S110-DP
(Tech_ctrl), P-Group: Technology Units group: 9_1 Unit selection: p0595
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Tech_ctrl)
Min Max Factory setting
-200.00 [%] 200.00 [%] 140.00 [%]
Description: Sets the value for fixed value 14 of the technology controller.
Dependency: Refer to: p2220, p2221, p2222, p2223, r2224, r2229
Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.

p2215[0...n] CO: Technology controller, fixed value 15 / Tec_ctr fix val 15

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 7950
SERVO_S110-DP
P-Group: Technology Units group: 9_1 Unit selection: p0595
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Tech_ctrl)
Min Max Factory setting
-200.00 [%] 200.00 [%] 150.00 [%]
Description: Sets the value for fixed value 15 of the technology controller.
Dependency: Refer to: p2220, p2221, p2222, p2223, r2224, r2229
Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.

© Siemens AG 2012 All Rights Reserved 1-339

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 Parameter
List of parameters

p2216[0...n] Technology controller fixed value selection method / Tec_ctr FixVal sel
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 2
(Tech_ctrl), Data type: Integer16 Dynamic index: DDS, p0180 Func. diagram: -
SERVO_S110-DP
P-Group: Technology Units group: - Unit selection: -
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Tech_ctrl)
Min Max Factory setting
1 2 2
Description: Selects the method that can be used to select the fixed setpoints.
Value: 1: Fixed value selection direct
2: Fixed value selection binary

p2220[0...n] BI: Technology controller fixed value selection bit 0 / Tec_ctrl sel bit 0
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Tech_ctrl), Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 7950
SERVO_S110-DP
P-Group: Commands Units group: - Unit selection: -
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Tech_ctrl)
Min Max Factory setting
- - 0
Description: Sets the signal source to select the fixed value of the technology controller.
Dependency: Refer to: p2221, p2222, p2223

p2221[0...n] BI: Technology controller fixed value selection bit 1 / Tec_ctrl sel bit 1
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Tech_ctrl), Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 7950
SERVO_S110-DP
P-Group: Commands Units group: - Unit selection: -
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Tech_ctrl)
Min Max Factory setting
- - 0
Description: Sets the signal source to select the fixed value of the technology controller.
Dependency: Refer to: p2220, p2222, p2223

p2222[0...n] BI: Technology controller fixed value selection bit 2 / Tec_ctrl sel bit 2
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Tech_ctrl), Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 7950
SERVO_S110-DP
(Tech_ctrl), P-Group: Commands Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Tech_ctrl)
Min Max Factory setting
- - 0
Description: Sets the signal source to select the fixed value of the technology controller.
Dependency: Refer to: p2220, p2221, p2223

1-340 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p2223[0...n] BI: Technology controller fixed value selection bit 3 / Tec_ctrl sel bit 3
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Tech_ctrl), Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 7950
SERVO_S110-DP
P-Group: Commands Units group: - Unit selection: -
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Tech_ctrl)
Min Max Factory setting
- - 0
Description: Sets the signal source to select the fixed value of the technology controller.
Dependency: Refer to: p2220, p2221, p2222

r2224 CO: Technology controller, fixed value effective / Tec_ctr FixVal eff
SERVO_S110-CAN Can be changed: - Calculated: - Access level: 2
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7950
SERVO_S110-DP
P-Group: Technology Units group: 9_1 Unit selection: p0595
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Tech_ctrl)
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the selected and effective fixed value of the technology controller.
Dependency: Refer to: r2229

r2225.0 CO/BO: Technology controller fixed value selection status word / Tec_ctr FixVal ZSW
SERVO_S110-CAN Can be changed: - Calculated: - Access level: 3
(Tech_ctrl), Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-DP
(Tech_ctrl), P-Group: Technology Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Tech_ctrl)
Min Max Factory setting
- - -
Description: Displays the status word for the fixed value selection of the technology controller.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Technology controller fixed value selected Yes No 7950,
7951

r2229 Technology controller number actual / Tec_ctrl No. act

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 2
(Tech_ctrl), Data type: Unsigned32 Dynamic index: - Func. diagram: 7950
SERVO_S110-DP
(Tech_ctrl), P-Group: Technology Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Tech_ctrl)
Min Max Factory setting
- - -
Description: Displays the number of the selected fixed setpoint of the technology controller.
Dependency: Refer to: r2224

© Siemens AG 2012 All Rights Reserved 1-341

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p2230[0...n] Technology controller motorized potentiometer configuration / Tec_ctr mop config

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 3
(Tech_ctrl), Data type: Unsigned32 Dynamic index: DDS, p0180 Func. diagram: 7954
SERVO_S110-DP
P-Group: Technology Units group: - Unit selection: -
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Tech_ctrl)
Min Max Factory setting
- - 0000 0100 bin
Description: Sets the configuration for the motorized potentiometer of the technology controller.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Data save active Yes No -
02 Initial rounding-off active Yes No -
03 Non-volatile data save active for p2230.0 = Yes No -
1
04 Ramp-function generator always active Yes No -
Dependency: Refer to: r2231, p2240
Note: Re bit 00:
0: The setpoint for the motorized potentiometer is not saved and after ON is entered using p2240.
1: The setpoint for the motorized potentiometer is saved and after ON is entered using r2231. In order to save in a
non-volatile fashion, bit 03 should be set to 1.
Re bit 02:
0: Without initial rounding-off
1: With initial rounding-off.
The selected ramp-up/down time is correspondingly exceeded. The initial rounding-off is a sensitive way of specify-
ing small changes (progressive reaction when keys are pressed). The jerk for initial rounding is independent of the
ramp-up time and only depends on the selected maximum value (p2237).
It is calculated as follows:
r = 0.0001 x max(p2237, |p2238| ) [%] / 0.13^2 [s^2]
The jerk is effective until the maximum acceleration is reached (a_max = p2237 [%] / p2247 [s] or a_max = p2238
[%] / p2248 [s]), after which the drive continues to run linearly with constant acceleration. The higher the maximum
acceleration (the lower that p2247 is), the longer the ramp-up time increases with respect to the set ramp-up time.
Re bit 03:
0: Non-volatile data save de-activated.
1. The setpoint for the motorized potentiometer is saved in a non-volatile fashion (for p2230.0 = 1).
Re bit 04:
When the bit is set, the ramp-function generator is computed independent of the pulse enable. The actual output
value of the motorized potentiometer is always in r2250.

r2231 Technology controller motorized potentiometer setpoint memory /

Tec_ctrl mop mem
SERVO_S110-CAN Can be changed: - Calculated: - Access level: 2
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7954
SERVO_S110-DP
P-Group: Technology Units group: 9_1 Unit selection: p0595
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Tech_ctrl)
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the setpoint memory for the motorized potentiometer of the technology controller.
For p2230.0 = 1, the last setpoint that was saved is entered after ON.
Dependency: Refer to: p2230

1-342 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p2235[0...n] BI: Technology controller motorized potentiometer raise setpoint /

Tec_ctrl mop raise
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Tech_ctrl), Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 7954
SERVO_S110-DP
P-Group: Commands Units group: - Unit selection: -
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Tech_ctrl)
Min Max Factory setting
- - 0
Description: Sets the signal source to continually increase the setpoint for the motorized potentiometer of the technology control-
ler.
The setpoint change (CO: r2250) depends on the set ramp-up time (p2247) and the duration of the signal that is
present (BI: p2235).
Dependency: Refer to: p2236

p2236[0...n] BI: Technology controller motorized potentiometer lower setpoint /

Tec_ctrl mop lower
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Tech_ctrl), Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 7954
SERVO_S110-DP
P-Group: Commands Units group: - Unit selection: -
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Tech_ctrl)
Min Max Factory setting
- - 0
Description: Sets the signal source to continually reduce the setpoint for the motorized potentiometer of the technology control-
ler.
The setpoint change (CO: r2250) depends on the set ramp-down time (p2248) and the duration of the signal that is
present (BI: p2236).
Dependency: Refer to: p2235

p2237[0...n] Technology controller motorized potentiometer maximum value / Tec_ctrl mop max
SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 7954
SERVO_S110-DP
P-Group: Technology Units group: 9_1 Unit selection: p0595
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Tech_ctrl)
Min Max Factory setting
-200.00 [%] 200.00 [%] 100.00 [%]
Description: Sets the maximum value for the motorized potentiometer of the technology controller.
Dependency: Refer to: p2238

p2238[0...n] Technology controller motorized potentiometer minimum value / Tec_ctrl mop min
SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 7954
SERVO_S110-DP
P-Group: Technology Units group: 9_1 Unit selection: p0595
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Tech_ctrl)
Min Max Factory setting
-200.00 [%] 200.00 [%] -100.00 [%]
Description: Sets the minimum value for the motorized potentiometer of the technology controller.
Dependency: Refer to: p2237

© Siemens AG 2012 All Rights Reserved 1-343

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p2240[0...n] Technology controller motorized potentiometer starting value / Tec_ctrl mop start
SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 7954
SERVO_S110-DP
P-Group: Technology Units group: 9_1 Unit selection: p0595
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Tech_ctrl)
Min Max Factory setting
-200.00 [%] 200.00 [%] 0.00 [%]
Description: Sets the starting value for the motorized potentiometer of the technology controller.
For p2230.0 = 0, this setpoint is entered after ON.
Dependency: Refer to: p2230

r2245 CO: Technology controller mot. potentiometer setpoint before RFG /

Tec_ctr mop befRFG
SERVO_S110-CAN Can be changed: - Calculated: - Access level: 2
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7954
SERVO_S110-DP
P-Group: Technology Units group: 9_1 Unit selection: p0595
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Tech_ctrl)
Min Max Factory setting
- [%] - [%] - [%]
Description: Sets the effective setpoint in front of the internal motorized potentiometer ramp-function generator of the technology
controller.
Dependency: Refer to: r2250

p2247[0...n] Technology controller motorized potentiometer ramp-up time / Tec_ctr mop t_r-up
SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 7954
SERVO_S110-DP
P-Group: Technology Units group: - Unit selection: -
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Tech_ctrl)
Min Max Factory setting
0.0 [s] 1000.0 [s] 10.0 [s]
Description: Sets the ramp-up time for the internal ramp-function generator for the motorized potentiometer of the technology
controller.
Dependency: Refer to: p2248
Note: The time is referred to 100 %.
When the initial rounding-off is activated (p2230.2 = 1) the ramp-up is correspondingly extended.

p2248[0...n] Technology controller motorized potentiometer ramp-down time /

Tec_ctrMop t_rdown
SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 7954
SERVO_S110-DP
(Tech_ctrl), P-Group: Technology Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Tech_ctrl)
Min Max Factory setting
0.0 [s] 1000.0 [s] 10.0 [s]
Description: Sets the ramp-down time for the internal ramp-function generator for the motorized potentiometer of the technology
controller.
Dependency: Refer to: p2247

1-344 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Note: The time is referred to 100 %.

When the initial rounding-off is activated (p2230.2 = 1) the ramp-down is correspondingly extended.

r2250 CO: Technology controller motorized potentiometer setpoint after RFG /

Tec_ctr mop aftRFG
SERVO_S110-CAN Can be changed: - Calculated: - Access level: 2
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7954
SERVO_S110-DP
P-Group: Technology Units group: 9_1 Unit selection: p0595
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Tech_ctrl)
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the effective setpoint after the internal ramp-function generator for the motorized potentiometer of the
technology controller.
Dependency: Refer to: r2245

p2252 Technology controller configuration / Tec_ctrl config

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 3
(Tech_ctrl), Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-DP
(Tech_ctrl), P-Group: Modulation Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Tech_ctrl)
Min Max Factory setting
- - 0111 bin
Description: Sets the configuration of the technology controller.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Ramp-up/down time independent of set- Yes No -
point sign
01 Integrator independent of Kp Yes No -
02 Output signal without ramp active Yes No -
03 Actual value limiting Yes No -
Dependency: Refer to: p2257, p2258, p2280, p2285
Note: Re bit 00 = 0:
The ramp-down time (p2258) switches to the ramp-up time (p2257) when the sign for the output signal r2260
changes. When the sign changes, the output signal is kept at zero for one arithmetic cycle.
Re bit 00 = 1:
When r2260 exhibits a positive gradient, the ramp-up time (p2257) is active; when it exhibits a negative gradient,
the ramp-down time (p2258) is active. The sign for r2260 does not have any effect on the ramp time.
Re bit 01 = 0:
The integration time of the PID controller is evaluated with the gain factor Kp (p2280) (p2285 = integral time).
Re bit 01 = 1:
The integration time of the PID controller is independent of the gain factor (p2285 = integration time) if p2280 > 0.
Re bit 02 = 0:
When the PID controller is de-activated via p2200, the output signal r2294 is reduced to zero via the ramp-down
time p2293.
Re bit 02 = 1:
When the PID controller is de-activated via p2200, the output signal r2294 is set directly to zero.
Re bit 03 = 0:
The actual values are not limited by p2267 and p2268.
Re bit 03 = 1:
The actual values are limited by p2267 and p2268.

© Siemens AG 2012 All Rights Reserved 1-345

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p2253[0...n] CI: Technology controller setpoint 1 / Tec_ctrl setp 1

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Tech_ctrl), Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 7958
SERVO_S110-DP
P-Group: Technology Units group: - Unit selection: -
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Tech_ctrl)
Min Max Factory setting
- - 0
Description: Sets the signal source for the setpoint 1 of the technology controller.
Dependency: Refer to: p2254, p2255

p2254[0...n] CI: Technology controller setpoint 2 / Tec_ctrl setp 2

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 3
(Tech_ctrl), Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 7958
SERVO_S110-DP
P-Group: Technology Units group: - Unit selection: -
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Tech_ctrl)
Min Max Factory setting
- - 0
Description: Sets the signal source for the setpoint 2 of the technology controller.
Dependency: Refer to: p2253, p2256

p2255 Technology controller setpoint 1 scaling / Tec_ctrl set1 scal

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 3
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7958
SERVO_S110-DP
(Tech_ctrl), P-Group: Technology Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Tech_ctrl)
Min Max Factory setting
0.00 [%] 100.00 [%] 100.00 [%]
Description: Sets the scaling for the setpoint 1 of the technology controller.
Dependency: Refer to: p2253

p2256 Technology controller setpoint 2 scaling / Tec_ctrl set2 scal

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 3
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7958
SERVO_S110-DP
P-Group: Technology Units group: - Unit selection: -
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Tech_ctrl)
Min Max Factory setting
0.00 [%] 100.00 [%] 100.00 [%]
Description: Sets the scaling for the setpoint 2 of the technology controller.
Dependency: Refer to: p2254

1-346 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p2257 Technology controller, ramp-up time / Tec_ctrl t_ramp-up

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7958
SERVO_S110-DP
P-Group: Technology Units group: - Unit selection: -
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Tech_ctrl)
Min Max Factory setting
0.00 [s] 650.00 [s] 1.00 [s]
Description: Sets the ramp-up time of the technology controller.
Dependency: Refer to: p2252, p2258
Note: The ramp-up time is referred to 100 %.

p2258 Technology controller ramp-down time / Tec_ctrl t_ramp-dn

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7958
SERVO_S110-DP
P-Group: Technology Units group: - Unit selection: -
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Tech_ctrl)
Min Max Factory setting
0.00 [s] 650.00 [s] 1.00 [s]
Description: Sets the ramp-down time of the technology controller.
Dependency: Refer to: p2252, p2257
Note: The ramp-down time is referred to 100 %.

r2260 CO: Technology controller setpoint after ramp-function generator /

Tec_ctr set aftRFG
SERVO_S110-CAN Can be changed: - Calculated: - Access level: 2
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7958
SERVO_S110-DP
(Tech_ctrl), P-Group: Technology Units group: 9_1 Unit selection: p0595
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Tech_ctrl)
Min Max Factory setting
- [%] - [%] - [%]
Description: Sets the setpoint after the ramp-function generator of the technology controller.

p2261 Technology controller setpoint filter time constant / Tec_ctrl set T

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 3
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7958
SERVO_S110-DP
P-Group: Technology Units group: - Unit selection: -
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Tech_ctrl)
Min Max Factory setting
0.000 [s] 60.000 [s] 0.000 [s]
Description: Sets the time constant for the setpoint filter (PT1) of the technology controller.

© Siemens AG 2012 All Rights Reserved 1-347

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r2262 CO: Technology controller setpoint after filter / Tec_ctr set aftFlt
SERVO_S110-CAN Can be changed: - Calculated: - Access level: 3
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7958
SERVO_S110-DP
P-Group: Technology Units group: 9_1 Unit selection: p0595
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Tech_ctrl)
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the smoothed setpoint after the setpoint filter (PT1) of the technology controller.

p2263 Technology controller type / Tec_ctrl type

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Tech_ctrl), Data type: Integer16 Dynamic index: - Func. diagram: 7958
SERVO_S110-DP
P-Group: Technology Units group: - Unit selection: -
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Tech_ctrl)
Min Max Factory setting
0 1 0
Description: Sets the technology controller type.
Value: 0: D component in the actual value signal
1: D component in the fault signal

p2264[0...n] CI: Technology controller actual value / Tec_ctrl act val

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Tech_ctrl), Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 7958
SERVO_S110-DP
P-Group: Technology Units group: - Unit selection: -
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Tech_ctrl)
Min Max Factory setting
- - 0
Description: Sets the signal source for the actual value of the technology controller.

p2265 Technology controller actual value filter time constant / Tec_ctrl act T
SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7958
SERVO_S110-DP
(Tech_ctrl), P-Group: Technology Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Tech_ctrl)
Min Max Factory setting
0.000 [s] 60.000 [s] 0.000 [s]
Description: Sets the time constant for the actual value filter (PT1) of the technology controller.

r2266 CO: Technology controller actual value after filter / Tec_ctr act aftFlt
SERVO_S110-CAN Can be changed: - Calculated: - Access level: 2
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7958
SERVO_S110-DP
P-Group: Technology Units group: 9_1 Unit selection: p0595
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Tech_ctrl)
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the smoothed actual value after the filter (PT1) of the technology controller

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 Parameter
List of parameters

p2267 Technology controller upper limit actual value / Tec_ctrl u_lim act
SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 3
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7958
SERVO_S110-DP
P-Group: Technology Units group: 9_1 Unit selection: p0595
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Tech_ctrl)
Min Max Factory setting
-200.00 [%] 200.00 [%] 200.00 [%]
Description: Sets the upper limit for the actual value signal of the technology controller.
Dependency: Refer to: p2264, p2265, p2271
Refer to: F07426
Notice: If the actual value exceeds this upper limit, this results in fault F07426.
Note: Limiting only active for p2252 bit 3 = 1.

p2268 Technology controller lower limit actual value / Tec_ctrl l_lim act
SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 3
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7958
SERVO_S110-DP
P-Group: Technology Units group: 9_1 Unit selection: p0595
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Tech_ctrl)
Min Max Factory setting
-200.00 [%] 200.00 [%] -200.00 [%]
Description: Sets the lower limit for the actual value signal of the technology controller.
Dependency: Refer to: p2264, p2265, p2271
Refer to: F07426
Notice: If the actual value falls below this lower limit, this results in fault F07426.
Note: Limiting only active for p2252 bit 3 = 1.

p2269 Technology controller gain actual value / Tech_ctrl gain act

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 3
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7958
SERVO_S110-DP
(Tech_ctrl), P-Group: Technology Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Tech_ctrl)
Min Max Factory setting
0.00 [%] 500.00 [%] 100.00 [%]
Description: Scaling factor for the actual value of the technology controller.
Dependency: Refer to: p2264, p2265, p2267, p2268, p2271
Note: For 100%, the actual value is not changed.

p2270 Technology controller actual value function / Tec_ctr ActVal fct

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 3
(Tech_ctrl), Data type: Integer16 Dynamic index: - Func. diagram: 7958
SERVO_S110-DP
P-Group: Technology Units group: - Unit selection: -
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Tech_ctrl)
Min Max Factory setting
0 3 0
Description: Setting to use an arithmetic function for the actual value signal of the technology controller.
Value: 0: No function
1: Root function (root from x)

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 Parameter
List of parameters

2: Square function (x * x)
3: Cube function (x * x * x)
Dependency: Refer to: p2264, p2265, p2267, p2268, p2269, p2271

p2271 Technology controller actual value inversion (sensor type) / Tech_ctrl act inv
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Tech_ctrl), Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-DP
P-Group: Technology Units group: - Unit selection: -
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Tech_ctrl)
Min Max Factory setting
0 1 0
Description: Setting to invert the actual value signal of the technology controller.
The inversion depends on the sensor type for the actual value signal.
Value: 0: No inversion
1: Inversion actual value signal
Caution: If the actual value inversion is incorrectly selected, then the closed-loop control with the technology controller can
become unstable and can oscillate!

Note: The correct setting can be determined as follows:

- inhibit the technology controller (p2200 = 0).
- increase the motor speed and in so doing, measure the actual value signal of the technology controller.
--> If the actual value increases as the motor speed increases, then p2271 should be set to 0 (no inversion).
--> If the actual value decreases as the motor speed increases, then p2271 should be set to 1 (the actual value sig-
nal is inverted).

r2272 CO: Technology controller actual value scaled / Tech_ctrl act scal
SERVO_S110-CAN Can be changed: - Calculated: - Access level: 2
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7958
SERVO_S110-DP
P-Group: Technology Units group: 9_1 Unit selection: p0595
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Tech_ctrl)
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the scaled actual value signal of the technology controller.
Dependency: Refer to: p2264, p2265, r2266, p2267, p2268, p2269, p2270, p2271

r2273 CO: Technology controller error / Tec_ctrl error

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 2
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7958
SERVO_S110-DP
(Tech_ctrl), P-Group: Technology Units group: 9_1 Unit selection: p0595
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Tech_ctrl)
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the error (system deviation) between the setpoint and actual value of the technology controller.
Dependency: Refer to: p2263

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 Parameter
List of parameters

p2274 Technology controller differentiation, time constant / Tec_ctrl D comp T

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7958
SERVO_S110-DP
P-Group: Technology Units group: - Unit selection: -
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Tech_ctrl)
Min Max Factory setting
0.000 [s] 60.000 [s] 0.000 [s]
Description: Sets the time constant for the differentiation (D component) of the technology controller.
Note: p2274 = 0: Differentiation is disabled.

p2280 Technology controller proportional gain / Tec_ctrl Kp

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7958
SERVO_S110-DP
P-Group: Technology Units group: - Unit selection: -
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Tech_ctrl)
Min Max Factory setting
0.000 1000.000 1.000
Description: Sets the proportional gain (P component) of the technology controller.
Dependency: Refer to: p2252
Note: p2280 = 0: The proportional gain is disabled.

p2285 Technology controller integral time / Tec_ctrl Tn

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7958
SERVO_S110-DP
(Tech_ctrl), P-Group: Technology Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Tech_ctrl)
Min Max Factory setting
0.000 [s] 60.000 [s] 0.000 [s]
Description: Sets the integral time (I component, integrating time constant) of the technology controller.
Dependency: Refer to: p2252
Note: p2285 = 0: The integral time is disabled.

p2286[0...n] BI: Hold technology controller integrator / Tec_ctr integ stop

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Tech_ctrl), Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 7958
SERVO_S110-DP
P-Group: Technology Units group: - Unit selection: -
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Tech_ctrl)
Min Max Factory setting
- - 0
Description: Sets the signal source to hold the integrator for the technology controller.

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 Parameter
List of parameters

p2289[0...n] CI: Technology controller pre-control signal / Tec_ctrl prectrl

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Tech_ctrl), Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 7958
SERVO_S110-DP
P-Group: Technology Units group: - Unit selection: -
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Tech_ctrl)
Min Max Factory setting
- - 0
Description: Sets the signal source for the pre-control signal of the technology controller.

p2291 CO: Technology controller maximum limiting / Tec_ctrl max_limit

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7958
SERVO_S110-DP
P-Group: Technology Units group: - Unit selection: -
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Tech_ctrl)
Min Max Factory setting
-200.00 [%] 200.00 [%] 100.00 [%]
Description: Sets the maximum limit of the technology controller.
Dependency: Refer to: p2292
Caution: The maximum limit must always be greater than the minimum limit (p2291 > p2292).

p2292 CO: Technology controller minimum limiting / Tec_ctrl min_lim

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7958
SERVO_S110-DP
(Tech_ctrl), P-Group: Technology Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Tech_ctrl)
Min Max Factory setting
-200.00 [%] 200.00 [%] 0.00 [%]
Description: Sets the minimum limit of the technology controller.
Dependency: Refer to: p2291
Caution: The maximum limit must always be greater than the minimum limit (p2291 > p2292).

p2293 Technology controller ramp-up/ramp-down time / Tec_ctr ramp up/dn

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 3
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7958
SERVO_S110-DP
P-Group: Technology Units group: - Unit selection: -
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Tech_ctrl)
Min Max Factory setting
0.00 [s] 100.00 [s] 1.00 [s]
Description: Sets the ramping time for the output signal of the technology controller.
Dependency: Refer to: p2291, p2292
Note: The time refers to the set maximum and minimum limits (p2291, p2292).

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 Parameter
List of parameters

r2294 CO: Technology controller output signal / Tec_ctrl outp_sig

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 2
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7958
SERVO_S110-DP
P-Group: Technology Units group: - Unit selection: -
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Tech_ctrl)
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the output signal of the technology controller.
Dependency: Refer to: p2295

p2295 CO: Technology controller output scaling / Tec_ctrl outp scal

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 3
(Tech_ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7958
SERVO_S110-DP
P-Group: Technology Units group: - Unit selection: -
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Tech_ctrl)
Min Max Factory setting
-100.00 [%] 100.00 [%] 100.00 [%]
Description: Sets the scaling for the output signal of the technology controller.

p2296[0...n] CI: Technology controller output scaling / Tec_ctrl outp scal

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Tech_ctrl), Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 7958
SERVO_S110-DP
(Tech_ctrl), P-Group: Technology Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Tech_ctrl)
Min Max Factory setting
- - 2295[0]
Description: Sets the signal source for the scaling value of the technology controller.
Dependency: Refer to: p2295

p2297[0...n] CI: Technology controller maximum limit signal source / Tec_ctrl m_lm s_sc
SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Tech_ctrl), Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 7958
SERVO_S110-DP
P-Group: Technology Units group: - Unit selection: -
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Tech_ctrl)
Min Max Factory setting
- - 2291[0]
Description: Sets the signal source for the maximum limiting of the technology controller.
Dependency: Refer to: p2291

p2298[0...n] CI: Technology controller minimum limit signal source / Tec_ctrl min_l s_s
SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Tech_ctrl), Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 7958
SERVO_S110-DP
P-Group: Technology Units group: - Unit selection: -
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Tech_ctrl)
Min Max Factory setting
- - 2292[0]
Description: Sets the signal source for the minimum limiting of the technology controller.

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 Parameter
List of parameters

Dependency: Refer to: p2292

p2299[0...n] CI: Technology controller limit offset / Tech_ctrl lim offs

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 2
(Tech_ctrl), Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 7958
SERVO_S110-DP
P-Group: Technology Units group: - Unit selection: -
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Tech_ctrl)
Min Max Factory setting
- - 0
Description: Sets the signal source for the offset of the output limiting of the technology controller.

p2306 Technology controller fault signal inversion / Tec_ctrl fault inv

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Tech_ctrl), Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-DP
P-Group: Technology Units group: - Unit selection: -
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Tech_ctrl)
Min Max Factory setting
0 1 0
Description: Setting to invert the fault signal of the technology controller.
The setting depends on the type of control loop.
Value: 0: No inversion
1: Inversion
Caution: If the actual value inversion is incorrectly selected, then the closed-loop control with the technology controller can
become unstable and can oscillate!

Note: The correct setting can be determined as follows:

- inhibit the technology controller (p2200 = 0).
- increase the motor speed and in so doing, measure the actual value signal (of the technology controller).
- if the actual value increases with increasing motor speed, then the inversion should be switched out.
- if the actual value decreases with increasing motor speed, then the inversion should be set.
If value = 0:
The drive reduces the output speed when the actual value rises (e.g. for heating fans, intake pump, compressor).
If value = 1:
The drive increases the output speed when the actual value increases (e.g. for cooling fans, discharge pumps).

r2349.0...11 CO/BO: Technology controller status word / Tec_ctrl status

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 3
(Tech_ctrl), Data type: Unsigned32 Dynamic index: - Func. diagram: 7958
SERVO_S110-DP
P-Group: Technology Units group: - Unit selection: -
(Tech_ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Tech_ctrl)
Min Max Factory setting
- - -
Description: Displays the status word of the technology controller.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Technology controller de-activated Yes No -
01 Technology controller limited Yes No -
02 Technology controller, motorized potentiom- Yes No -
eter limited max.
03 Technology controller, motorized potentiom- Yes No -
eter limited min.

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 Parameter
List of parameters

08 Technology controller actual value at the Yes No -

minimum
09 Technology controller actual value at the Yes No -
maximum
10 Technology controller output at the mini- Yes No -
mum
11 Technology controller output at the maxi- Yes No -
mum

p2502[0...n] LR encoder assignment / Encoder assignment

SERVO_S110-CAN Can be changed: C2(25) Calculated: - Access level: 1
(Pos ctrl), Data type: Integer16 Dynamic index: DDS, p0180 Func. diagram: 4010
SERVO_S110-DP
(Pos ctrl), P-Group: Closed loop position control Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
0 2 1
Description: Sets the assigned encoder.
The actual value preprocessing and the closed-loop position control are carried out using the assigned encoder.
Value: 0: No encoder
1: Encoder 1
2: Encoder 2
Dependency: Refer to: p0187, p0188
Notice: For the setting p2502 = 0 (no encoder), closed-loop position control is not possible. This setting is only practical as
supportive measure to implement encoderless closed-loop speed control (e.g. if the motor encoder is defective).
Note: The assigned encoder (p2502 = 1, 2) must be allocated an encoder data set (p0187, p0188).

p2503[0...n] LR length unit LU per 10 mm / LU per 10 mm

SERVO_S110-CAN Can be changed: C2(25) Calculated: - Access level: 1
(Pos ctrl), Data type: Unsigned32 Dynamic index: DDS, p0180 Func. diagram: 4010
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
1 [LU] 2147483647 [LU] 10000 [LU]
Description: Sets the neutral length units LU per 10 mm.
Therefore, for a linear scale, a reference is established between the physical arrangement and the neutral length
units LU used in the drive.
Example:
Linear scale, 10 mm should be broken down to units of µm (i.e. 1 LU = 1 µm).
--> p2503 = 10000
Note: The assignment to the grid spacing can be achieved using this for a rotary axis with linear encoder.

p2504[0...n] LR motor/load motor revolutions / Mot/load motor rev

SERVO_S110-CAN Can be changed: C2(25) Calculated: - Access level: 1
(Pos ctrl), Data type: Unsigned32 Dynamic index: DDS, p0180 Func. diagram: 4010, 4704,
SERVO_S110-DP 4711
(Pos ctrl),
P-Group: Closed loop position control Units group: - Unit selection: -
SERVO_S110-PN
(Pos ctrl) Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
1 1048576 1
Description: Sets the motor revolutions for the gearbox factor between the motor shaft and load shaft.
Gearbox factor = motor revolutions (p2504) / load revolutions (p2505)
Dependency: Refer to: p0432, p0433, p2505
Note: The gearbox factor between the encoder shaft and the motor shaft is set using p0432 and p0433.

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 Parameter
List of parameters

p2505[0...n] LR motor/load motor revolutions / Mot/load motor rev

SERVO_S110-CAN Can be changed: C2(25) Calculated: - Access level: 1
(Pos ctrl), Data type: Integer32 Dynamic index: DDS, p0180 Func. diagram: 4010, 4704,
SERVO_S110-DP 4711
(Pos ctrl),
P-Group: Closed loop position control Units group: - Unit selection: -
SERVO_S110-PN
(Pos ctrl) Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-1048576 1048576 1
Description: Sets the load revolutions for the gearbox factor between the motor shaft and load shaft.
Gearbox factor = motor revolutions (p2504) / load revolutions (p2505)
Dependency: Refer to: p0432, p0433, p2504
Note: The gearbox factor between the encoder shaft and the motor shaft is set using p0432 and p0433.

p2506[0...n] LR length unit LU per load revolution / LU per load rev

SERVO_S110-CAN Can be changed: C2(25) Calculated: - Access level: 1
(Pos ctrl), Data type: Unsigned32 Dynamic index: DDS, p0180 Func. diagram: 4010
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
1 [LU] 2147483647 [LU] 10000 [LU]
Description: Sets the neutral length units LU per load revolution.
Therefore, for a rotary encoder, a reference is established between the physical arrangement and the neutral length
units LU used in the drive.
Example:
Rotary encoder, ballscrew with 10 mm/revolution, 10 mm should be broken down to units of µm (i.e. 1 LU = 1 µm).
--> One load revolution corresponds to 10000 LU
--> p2506 = 10000
Note: The position controller can only process position setpoints in the interpolator clock cycle (IPO clock cycle) in integer
length units (LU, Length Unit). This is the reason that speed setpoints that are not a multiple integer of 1 LU per IPO
clock cycle can only be realized as an average. The result speed setpoint steps are especially noticeable for a high
loop gain or when the pre-control is active. Increasing p2506 counteracts this behavior.

p2507[0...n] LR absolute encoder adjustment status / Abs_enc_adj stat

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(Pos ctrl), Data type: Integer16 Dynamic index: EDS, p0140 Func. diagram: 4010
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
0 3 1
Description: Activating the adjustment and display of the status of the adjustment for absolute encoders.
Value: 0: Error occurred while adjusting
1: Absolute encoder not adjusted
2: Absolute encoder not adjusted and encoder adjustment initiated
3: Absolute encoder adjusted
Dependency: Refer to: p2525, p2598, p2599

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 Parameter
List of parameters

Caution: For rotating absolute encoders, when adjusting, a range is set up symmetrically around zero with half of the
encoder range, within which the position must be re-established after powering down/powering up. In this range, it
is only permissible that the encoder overflows.
After the adjustment has been completed, it must be guaranteed that the range is not exited. The reason for this is
that outside the range, there is no clear reference any longer between the encoder actual value and mechanical
system.
If the reference point (CI: p2598) lies in this range, then the position actual value is set when adjusting to the refer-
ence point. Otherwise, adjustment is canceled with F07443.
There is no overflow for linear absolute encoders. This means that after the adjustment, the position can be re-
established in the complete traversing range after powering down/powering up. When adjusting, the position actual
value is set to the reference point.
Note: The encoder adjustment is initiated with p2507 = 2. The status is displayed using the other values.
In order to permanently save the determined position offset (p2525) it must be saved in a non-volatile fashion
(p0971, p0977).
This adjustment can only be initiated for an absolute encoder.

p2508[0...3] BI: LR activate reference mark search / Ref_mark act

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(Pos ctrl), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 4010
SERVO_S110-DP
(Pos ctrl), P-Group: Closed loop position control Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
- - 0
Description: Sets the signal source for the function "activate reference mark search".
Index: [0] = Closed-loop position control
[1] = Encoder 1
[2] = Encoder 2
[3] = Reserved
Dependency: Refer to: p0490, p0495, p2502, p2509, r2684
Refer to: A07495
Notice: When activating the function "set position actual value" while the function "reference mark search" is activated, then
the function "reference mark search" is automatically de-activated.
Note: When the function module "basic positioner" (r0108.4 = 1) is activated, the following BICO interconnection is estab-
lished: BI: p2508[0] = r2684.0
The function can only be activated using a 0/1 signal if no reference function is active (r2526.2).
If "reference mark search" and "measuring probe evaluation" are simultaneously activated, then no function is acti-
vated and the actual function is interrupted.

p2509[0...3] BI: LR activating measuring probe evaluation / MT_eval act

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(Pos ctrl), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 4010
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
- - 0
Description: Sets the signal source for the function "activating the measuring probe evaluation".
0/1 signal: The function "activate measuring probe evaluation" is started.
Index: [0] = Closed-loop position control
[1] = Encoder 1
[2] = Encoder 2
[3] = Reserved
Dependency: Refer to: p0488, p0489, p0490, p2502, p2508, p2510, p2511, p2517, p2518
Refer to: A07495

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 Parameter
List of parameters

Notice: When the "set position actual value" is activated while the function "measuring probe evaluation" is activated, then
the function "measuring probe evaluation" is automatically de-activated.
Note: When the function module "basic positioner" (r0108.4 = 1) is activated, the following BICO interconnection is estab-
lished: BI: p2509[0] = r2684.1
The function can only be activated using a 0/1 signal if no reference function is active (r2526.2).
If "reference mark search" and "measuring probe evaluation" are simultaneously activated, then no function is acti-
vated and the actual function is interrupted.

p2510[0...3] BI: LR selecting measuring probe evaluation / MT_eval select

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(Pos ctrl), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3615, 4010
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
- - 0
Description: Sets the signal source to select the measuring probe.
1 signal = measuring probe 2 is activated for BI: p2509 = 0/1 edge.
0 signal = measuring probe 1 is activated for BI: p2509 = 0/1 edge.
Index: [0] = Closed-loop position control
[1] = Encoder 1
[2] = Encoder 2
[3] = Reserved
Dependency: Refer to: p2502, p2509, p2511
Note: When the function module "basic positioner" (r0108.4 = 1) is activated, the following BICO interconnection is estab-
lished: BI: p2509[0] = r2684.1
The measuring probe is selected at the 0/1 signal transition at r2684.1 (flying referencing active).

p2511[0...3] BI: LR measuring probe evaluation edge / MT_eval edge

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(Pos ctrl), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3615, 4010
SERVO_S110-DP
(Pos ctrl), P-Group: Closed loop position control Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
- - 0
Description: Sets the signal source for the edge evaluation of the measuring probe.
1 signal = falling edge of the measuring probe (p2510) is activated for BI: p2509 = 0/1 edge.
0 signal = rising edge of the measuring probe (p2510) is activated for BI: p2509 = 0/1 edge.
Index: [0] = Closed-loop position control
[1] = Encoder 1
[2] = Encoder 2
[3] = Encoder 3
Dependency: Refer to: p2502, p2509, p2510

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 Parameter
List of parameters

p2512[0...3] BI: LR pos. actual value preprocessing activate corr. value (edge) /
ActVal_prepCorrAct
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(Pos ctrl), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 4010, 4015
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
- - 0
Description: Sets the signal source for the function "activate position actual value preprocessing, corrective value (edge)".
0/1 signal: The corrective value available through CI: p2513 is activated.
Index: [0] = Closed-loop position control
[1] = Encoder 1
[2] = Encoder 2
[3] = Reserved
Dependency: Refer to: p2502, p2513, r2684
Note: When the function module "basic positioner" (r0108.4 = 1) is activated, the following BICO interconnection is estab-
lished: BI: p2512[0] = r2684.7

p2513[0...3] CI: LR Position actual value preprocessing, corrective value / Act val_prep corr
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(Pos ctrl), Data type: Unsigned32 / Integer32 Dynamic index: - Func. diagram: 4010, 4015
SERVO_S110-DP
(Pos ctrl), P-Group: Closed loop position control Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
- - 0
Description: Sets the signal source for the corrective value for position actual value preprocessing.
Index: [0] = Closed-loop position control
[1] = Encoder 1
[2] = Encoder 2
[3] = Reserved
Dependency: Refer to: p2502, p2512, r2521, r2685
Note: When the function module "basic positioner" (r0108.4 = 1) is activated, the following BICO interconnection is estab-
lished: CI: p2513[0] = r2685
For BI: p2512[0] = 0/1 signal, the position actual value (CO: r2521[0]) is corrected corresponding to the value via CI:
p2513[0]. In so doing, the sign of the corrective value present is taken into account.

p2514[0...3] BI: LR activate position actual value setting / s_act setting act
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(Pos ctrl), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 4010
SERVO_S110-DP
(Pos ctrl), P-Group: Closed loop position control Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
- - 0
Description: Sets the signal source to activate the function "set position actual value".
Index: [0] = Closed-loop position control
[1] = Encoder 1
[2] = Encoder 2
[3] = Reserved
Dependency: Refer to: p2502, p2515
Refer to: A07495, A07497

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 Parameter
List of parameters

Warning: As long as the position actual value is set, encoder increments that are received are not evaluated. In this state, any
position difference cannot be corrected!

Notice: When the function "set position actual value" is activated while the function "reference mark search" or "measuring
probe evaluation" is activated, then the corresponding function is de-activated.
Note: BI: p2514 = 1 signal:
The position actual value is set to the setting value in CI: p2515. Alarm A07497 "position setting value activated" is
output. Encoder increments that are received in the meantime, are not taken into account.
BI: p2514 = 1/0 signal:
The position actual value preprocessing is activated and is based on the setting value.

p2515[0...3] CI: LR position actual setting, setting value / s_act set setVal
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(Pos ctrl), Data type: Unsigned32 / Integer32 Dynamic index: - Func. diagram: 4010
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
- - 0
Description: Sets the signal source for the setting value of the function "setting position actual value".
Index: [0] = Closed-loop position control
[1] = Encoder 1
[2] = Encoder 2
[3] = Reserved
Dependency: Refer to: p2502, p2514

p2516[0...3] CI: LR position offset / Position offset

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(Pos ctrl), Data type: Unsigned32 / Integer32 Dynamic index: - Func. diagram: 4010
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
- - 0
Description: Sets the signal source for the position offset.
Index: [0] = Closed-loop position control
[1] = Encoder 1
[2] = Encoder 2
[3] = Reserved
Dependency: Refer to: p2502, r2667
Note: When the function module "basic positioner" (r0108.4 = 1) is activated, the following BICO interconnection is estab-
lished: CI: p2516[0] = r2667

p2517[0...2] LR direct measuring probe 1 / Direct MT 1

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 3
(Pos ctrl), Data type: Integer16 Dynamic index: - Func. diagram: 4010
SERVO_S110-DP
(Pos ctrl), P-Group: Closed loop position control Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
0 17 0
Description: Sets the input terminal for direct measuring probe 1.
The direct measuring probe can either be parameterized as a non-cyclic (value 1 ... 8) or a cyclic (value 11 ... 18)
measuring probe.

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 Parameter
List of parameters

After it has been activated via BI: p2509 = 0/1 signal, the non-cyclic measuring probe measures once and can be
used with EPOS.
After it has been activated via the p2509 = 1 signal, the cyclic measuring probe measures cyclically and cannot be
used with EPOS.
In order to process signals faster, the direct measuring probe bypasses the handshake technique via the encoder
control word and encoder status word.
Value: 0: No measuring probe
1: DI/DO 9 (X132.2)
2: DI/DO 10 (X132.3)
3: DI/DO 11 (X132.4)
7: DI/DO 8 (X132.1)
11: DI/DO 9 cyclic
12: DI/DO 10 cyclic
13: DI/DO 11 cyclic
17: DI/DO 8 cyclic
Index: [0] = Encoder 1
[1] = Encoder 2
[2] = Reserved
Dependency: Refer to: p0490, p0728, p2509, p2510, p2511
Note: DI/DO: Bidirectional Digital Input/Output
The terminal must be set as input (p0728).
If a parameter change is rejected, a check should be performed as to whether the input terminal is already being
used in p0488, p0489, p0493, p0494, p0495, p0580 or p0680.
Direct measurement via p2517 has a higher priority than measurements via p0488.
For the direct measuring probe evaluation, the DP clock cycle must be integer multiple of the position controller
clock cycle.

p2518[0...2] LR direct measuring probe 2 / Direct MT 2

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 3
(Pos ctrl), Data type: Integer16 Dynamic index: - Func. diagram: 4010
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
0 17 0
Description: Sets the input terminal for direct measuring probe 2.
The direct measuring probe can either be parameterized as a non-cyclic (value 1 ... 6) or a cyclic (value 11 ... 16)
measuring probe.
After it has been activated via BI: p2509 = 0/1 signal, the non-cyclic measuring probe measures once and can be
used with EPOS.
After it has been activated via the p2509 = 1 signal, the cyclic measuring probe measures cyclically and cannot be
used with EPOS.
In order to process signals faster, the direct measuring probe bypasses the handshake technique via the encoder
control word and encoder status word.
Value: 0: No measuring probe
1: DI/DO 9 (X132.2)
2: DI/DO 10 (X132.3)
3: DI/DO 11 (X132.4)
7: DI/DO 8 (X132.1)
11: DI/DO 9 cyclic
12: DI/DO 10 cyclic
13: DI/DO 11 cyclic
17: DI/DO 8 cyclic
Index: [0] = Encoder 1
[1] = Encoder 2
[2] = Reserved
Dependency: Refer to: p0490, p0728, p2509, p2510, p2511

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 Parameter
List of parameters

Note: DI/DO: Bidirectional Digital Input/Output

The terminal must be set as input (p0728).
If a parameter change is rejected, a check should be performed as to whether the input terminal is already being
used in p0488, p0489, p0493, p0494, p0495, p0580 or p0680.
Direct measurement via p2518 has a higher priority than measurements via p0489.
For the direct measuring probe evaluation, the DP clock cycle must be integer multiple of the position controller
clock cycle.

p2519[0...n] LR position actual value preprocessing config. DDS changeover / s_act config DDS
SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 4
(Pos ctrl), Data type: Integer16 Dynamic index: DDS, p0180 Func. diagram: -
SERVO_S110-DP
(Pos ctrl), P-Group: Closed loop position control Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
0 5 1
Description: Sets the behavior of the position actual value preprocessing for the position controller for a DDS changeover.
Re p2519 = 1:
In the following cases, for a DDS changeover, the actual position actual value becomes invalid and the reference
point is reset:
- the EDS effective for the closed-loop position control changes.
- the encoder assignment changes (p2502).
- the mechanical relationships change (p2503 ... p2506).
- the direction of rotation changes (p1821).
For absolute encoders, the status of the adjustment (p2507) is also reset if the same absolute encoder remains
selected for the closed-loop position control, but the mechanical relationships or the direction of rotation have
changed.
In the operation state, in addition, a fault (F07494) is generated.
Notice: The remaining setting values are intended for expanded functionality.
Note: The behavior for a DDS changeover is determined using the value of p2519 in the target data set.

r2520[0...2] CO: LR Position actual value preprocessing, encoder control word /

ActVal_prep STW
SERVO_S110-CAN Can be changed: - Calculated: - Access level: 1
(Pos ctrl), Data type: Unsigned16 Dynamic index: - Func. diagram: 4010
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
- - -
Description: Displays the encoder control word generated by the position actual value preprocessing.
Index: [0] = Encoder 1
[1] = Encoder 2
[2] = Reserved
Bit field: Bit Signal name 1 signal 0 signal FP
00 Request function 1 Yes No -
01 Request function 2 Yes No -
02 Request function 3 Yes No -
03 Request function 4 Yes No -
04 Request command bit 0 Yes No -
05 Request command bit 1 Yes No -
06 Request command bit 2 Yes No -
07 Flying measurement mode/search for refer- Flying measurement Reference marks -
ence mark
13 Request absolute value cyclic Yes No -

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 Parameter
List of parameters

14 Request parking encoder Yes No -

15 Request acknowledge encoder fault Yes No -
Dependency: Refer to: p0480
Note: When the function module "basic positioner" (r0108.4 = 1) is activated, the following BICO interconnection is estab-
lished:
CI: p0480[0] = r2520[0], CI: p0480[1] = r2520[1] and CI: p0480[2] = r2520[2]

r2521[0...3] CO: LR position actual value / s_act

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 1
(Pos ctrl), Data type: Integer32 Dynamic index: - Func. diagram: 4010
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
- [LU] - [LU] - [LU]
Description: Displays the actual position actual value determined by the position actual value preprocessing.
Index: [0] = Closed-loop position control
[1] = Encoder 1
[2] = Encoder 2
[3] = Reserved
Dependency: Refer to: p2502, r2526
Note: r2526.0 = 1 --> The position actual value in r2521[0] for the position control is valid.
r2527.0 = 1 --> The position actual value in r2521[1] for encoder 1 is valid.
r2528.0 = 1 --> The position actual value in r2521[2] for encoder 2 is valid.

r2522[0...3] CO: LR velocity actual value / v_act

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 1
(Pos ctrl), Data type: Integer32 Dynamic index: - Func. diagram: 4010
SERVO_S110-DP
(Pos ctrl), P-Group: Closed loop position control Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
- [1000 LU/min] - [1000 LU/min] - [1000 LU/min]
Description: Displays the velocity actual value determined by the position actual value preprocessing.
Index: [0] = Closed-loop position control
[1] = Encoder 1
[2] = Encoder 2
[3] = Reserved
Dependency: Refer to: p2502, r2526
Note: r2526.0 = 1 --> The velocity actual value in r2522[0] for the position control is valid.
r2527.0 = 1 --> The velocity actual value in r2522[1] for encoder 1 is valid.
r2528.0 = 1 --> The velocity actual value in r2522[2] for encoder 2 is valid.

r2523[0...3] CO: LR measured value / Measured value

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 1
(Pos ctrl), Data type: Integer32 Dynamic index: - Func. diagram: 4010
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
- [LU] - [LU] - [LU]
Description: Displays the value determined by the function "reference mark search" and "measuring probe evaluation".
Index: [0] = Closed-loop position control
[1] = Encoder 1

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 Parameter
List of parameters

[2] = Encoder 2
[3] = Reserved
Dependency: Refer to: p2502, r2526
Note: r2526.2 = 1 --> The measured value in r2523[0] for the position control is valid.
r2527.2 = 1 --> The measured value in r2523[1] for encoder 1 is valid.
r2528.2 = 1 --> The measured value in r2523[2] for encoder 2 is valid.

r2524 CO: LR LU/revolution / LU/revolution

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 1
(Pos ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 4010
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
- [LU] - [LU] - [LU]
Description: Displays the internal length units LU/motor revolution.
Dependency: Refer to: p0404

p2525[0...n] CO: LR encoder adjustment, offset / Enc_adj offset

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 4
(Pos ctrl), Data type: Unsigned32 Dynamic index: EDS, p0140 Func. diagram: 4010
SERVO_S110-DP
(Pos ctrl), P-Group: Closed loop position control Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
0 [LU] 4294967295 [LU] 0 [LU]
Description: For the absolute encoder adjustment, a drive determines the position offset.
Dependency: Refer to: p0404
Note: The position offset is only relevant for absolute encoders. The drive determines it when making the adjustment and
the user should not change it.

r2526.0...9 CO/BO: LR status word / ZSW

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 1
(Pos ctrl), Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
- - -
Description: Displays the status word of the position controller.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Position actual value valid Yes No 4010,
4015
01 Referencing active Yes No 4010
02 Measured value valid Yes No 3615,
4010
03 Closed-loop position control active Yes No 4015
04 Fixed stop reached Yes No 3617,
4025
05 Fixed stop outside window Yes No 3617,
4025
06 Position controller output limited Yes No 4015
07 Request tracking mode Yes No -
08 Clamping active when traveling to fixed stop Yes No 4025
09 Setting value for adjustment valid Yes No -

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 Parameter
List of parameters

Dependency: Refer to: r2521, r2522, r2523

Note: Re bit 04:
The signal is influenced via p2634.
Re bit 05:
The signal is influenced via p2635.

r2527.0...2 CO/BO: LR actual value sensing status word encoder 1 / ActValSensZSW enc1
SERVO_S110-CAN Can be changed: - Calculated: - Access level: 1
(Pos ctrl), Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
- - -
Description: Displays the status word of the position actual value sensing for encoder 1.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Position actual value valid Yes No -
01 Referencing active Yes No -
02 Measured value valid Yes No -

r2528.0...2 CO/BO: LR actual value sensing status word encoder 2 / ActValSensZSW enc2
SERVO_S110-CAN Can be changed: - Calculated: - Access level: 1
(Pos ctrl), Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
- - -
Description: Displays the status word of the position actual value sensing for encoder 2.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Position actual value valid Yes No -
01 Referencing active Yes No -
02 Measured value valid Yes No -

p2530 CI: LR position setpoint / s_set

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(Pos ctrl), Data type: Unsigned32 / Integer32 Dynamic index: - Func. diagram: 4015, 4020
SERVO_S110-DP
(Pos ctrl), P-Group: Closed loop position control Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
- - 0
Description: Sets the signal source for the position setpoint of the position controller.
Dependency: Refer to: r2665
Note: When the function module "basic positioner" (r0108.4 = 1) is activated, the following BICO interconnection is estab-
lished: BI: p2530 = r2665

© Siemens AG 2012 All Rights Reserved 1-365

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p2531 CI: LR velocity setpoint / v_set

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(Pos ctrl), Data type: Unsigned32 / Integer32 Dynamic index: - Func. diagram: 4015
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
- - 0
Description: Sets the signal source for the velocity setpoint of the position controller.
Dependency: Refer to: r2666
Note: When the function module "basic positioner" (r0108.4 = 1) is activated, the following BICO interconnection is estab-
lished: BI: p2531 = r2666

p2532 CI: LR position actual value / s_act

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Pos ctrl), Data type: Unsigned32 / Integer32 Dynamic index: - Func. diagram: 4015, 4020,
SERVO_S110-DP 4025
(Pos ctrl),
P-Group: Closed loop position control Units group: - Unit selection: -
SERVO_S110-PN
(Pos ctrl) Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 2521[0]
Description: Sets the signal source for the position actual value of the position controller.
Dependency: Refer to: r2521

p2533[0...n] LR position setpoint filter, time constant / s_set_filt T

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(Pos ctrl), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 4015
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
0.00 [ms] 1000.00 [ms] 0.00 [ms]
Description: Sets the time constant for the position setpoint filter (PT1).
Note: The effective Kv factor (position loop gain) is reduced with the filter. This allows a softer control behavior with
improved tolerance with respect to noise/disturbances.
Applications:
- reduces the pre-control dynamic response.
- jerk limiting.

p2534[0...n] LR speed pre-control factor / n_prectrl fact

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(Pos ctrl), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 4015, 4025
SERVO_S110-DP
(Pos ctrl), P-Group: Closed loop position control Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
0.00 [%] 200.00 [%] 0.00 [%]
Description: Setting to activate and weight the speed pre-control value.
Value = 0 % --> The pre-control is de-activated.
Dependency: Refer to: p2535, p2536, r2563
Note: When the axis control loop is optimally set as well as a precisely determined equivalent time constant of the speed
control loop, the pre-control factor is 100%.

1-366 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

p2535[0...n] LR speed pre-control balancing filter dead time / n_prectrFlt t_dead

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(Pos ctrl), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 4015
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
0.00 2.00 0.00
Description: Sets the "fractional" dead time to emulate the timing behavior of the speed control loop.
The selected multiplier refers to the position controller clock cycle (deadtime= p2535 * p0115[4]).
Dependency: Refer to: p2536
Notice: When speed pre-control is active (p2534 > 0 %), the following applies:
In addition to the set dead time (p2535), internally two position controller clock cycles are effective.
When speed pre-control is inactive (p2534 = 0 %), the following applies:
No dead time is effective (p2535 and internal).
Note: Together with p2536, the timing behavior of the closed-loop control loop can be emulated.

p2536[0...n] LR speed pre-control, symmetrizing filter PT1 / n_prectrl filt PT1

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(Pos ctrl), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 4015
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
0.00 [ms] 100.00 [ms] 0.00 [ms]
Description: Sets a PT1 filter to emulate the timing behavior of the closed-speed control loop.
Dependency: Refer to: p2535
Notice: When speed pre-control is inactive (p2534 = 0 %), the following applies:
If a PT1 filter has been set, it is not effective.
Note: Together with p2535, the timing behavior of the closed-loop control loop can be emulated.

p2537 CI: LR position controller adaptation / Adaptation

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(Pos ctrl), Data type: Unsigned32 / FloatingPoint32 Dynamic index: - Func. diagram: 4015
SERVO_S110-DP
(Pos ctrl), P-Group: Closed loop position control Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(Pos ctrl)
Min Max Factory setting
- - 1
Description: Sets the signal source for the adaptation of the proportional gain of the position controller.
Dependency: Refer to: p2538

p2538[0...n] LR proportional gain / Kp

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(Pos ctrl), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 4015
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
0.000 [1000/min] 300.000 [1000/min] 1.000 [1000/min]
Description: Sets the proportional gain (P gain, position loop gain, Kv factor) of the position controller.
Dependency: Refer to: p2537, p2539, p2555, r2557, r2558

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 Parameter
List of parameters

Note: The proportional gain is used define at which traversing velocity which following error is obtained (without pre-con-
trol)
Low proportional gain:
Slow response to a setpoint - actual value difference, the following error becomes large.
High proportional gain:
Fast response to the setpoint - actual value difference, the following error becomes small.

p2539[0...n] LR integral time / Tn

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(Pos ctrl), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 4015
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
0.00 [ms] 100000.00 [ms] 0.00 [ms]
Description: Setting to activate the integral time of the position controller.
Value = 0 ms --> The I component of the position controller is de-activated.
Dependency: Refer to: p2538, r2559

p2540 CO: LR position controller output, speed limit / LR_outp limit

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 3
(Pos ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 4015
SERVO_S110-DP
(Pos ctrl), P-Group: Closed loop position control Units group: 3_1 Unit selection: p0505
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Pos ctrl)
Min Max Factory setting
0.000 [rpm] 210000.000 [rpm] 210000.000 [rpm]
Description: Sets the speed limit of the position controller output.
Dependency: Refer to: p2541

p2541 CI: LR position controller output, speed limit signal source / LR_outp lim S_src
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(Pos ctrl), Data type: Unsigned32 / FloatingPoint32 Dynamic index: - Func. diagram: 4015
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Pos ctrl)
Min Max Factory setting
- - 2540[0]
Description: Sets the signal source for the position controller output limit.
Dependency: Refer to: p2540

p2542 LR standstill window / Standstill window

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(Pos ctrl), Data type: Unsigned32 Dynamic index: - Func. diagram: 4020
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
0 [LU] 2147483647 [LU] 200 [LU]
Description: Sets the standstill window for the standstill monitoring function.
After the standstill monitoring time expires, it is cyclically checked whether the difference between the setpoint and
actual position is located within the standstill window and, if required, an appropriate fault is output.
Value = 0 --> The standstill monitoring is de-activated.

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 Parameter
List of parameters

Dependency: Refer to: p2543, p2544

Refer to: F07450
Note: The following applies for the setting of the standstill and positioning window:
Standstill window (p2542) >= positioning window (p2544)

p2543 LR standstill monitoring time / t_standstill monit

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(Pos ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 4020
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
0.00 [ms] 100000.00 [ms] 200.00 [ms]
Description: Sets the standstill monitoring time for the standstill monitoring function.
After the standstill monitoring time expires, it is cyclically checked whether the difference between the setpoint and
actual position is located within the standstill window and, if required, an appropriate fault is output.
Dependency: Refer to: p2542, p2545
Refer to: F07450
Note: The following applies for the setting of the standstill and positioning monitoring time:
Standstill monitoring time (p2543) <= positioning monitoring time (p2545)

p2544 LR positioning window / Pos_window

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(Pos ctrl), Data type: Unsigned32 Dynamic index: - Func. diagram: 4020
SERVO_S110-DP
(Pos ctrl), P-Group: Closed loop position control Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
0 [LU] 2147483647 [LU] 40 [LU]
Description: Sets the positioning window for the positioning monitoring function.
After the positioning monitoring time expires, it is checked once as to whether the difference between the setpoint
and actual position lies within the positioning window and if required an appropriate fault is output.
Value = 0 --> The positioning monitoring function is de-activated.
Dependency: Refer to: p2542, p2545, r2684
Refer to: F07451
Note: The following applies for the setting of the standstill and positioning window:
Standstill window (p2542) >= positioning window (p2544)

p2545 LR positioning monitoring time / t_pos_monit

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(Pos ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 4020
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
0.00 [ms] 100000.00 [ms] 1000.00 [ms]
Description: Sets the positioning monitoring time for the positioning monitoring.
After the positioning monitoring time expires, it is checked once as to whether the difference between the setpoint
and actual position lies within the positioning window and if required an appropriate fault is output.
Dependency: Refer to: p2543, p2544, r2684
Refer to: F07451
Note: The following applies for the setting of the standstill and positioning monitoring time:
Standstill monitoring time (p2543) <= positioning monitoring time (p2545)

© Siemens AG 2012 All Rights Reserved 1-369

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p2546[0...n] LR dynamic following error monitoring tolerance / s_delta_monit tol

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(Pos ctrl), Data type: Unsigned32 Dynamic index: DDS, p0180 Func. diagram: 4025
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
0 [LU] 2147483647 [LU] 1000 [LU]
Description: Sets the tolerance for the dynamic following error monitoring.
If the dynamic following error (r2563) exceeds the selected tolerance, then an appropriate fault is output.
Value = 0 --> The dynamic following error monitoring is de-activated.
Dependency: Refer to: r2563, r2684
Refer to: F07452
Note: The tolerance bandwidth is intended to prevent the dynamic following error monitoring incorrectly responding due to
operational control sequences (e.g. during load surges).

p2547 LR cam switching position 1 / Cam position 1

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(Pos ctrl), Data type: Integer32 Dynamic index: - Func. diagram: 4025
SERVO_S110-DP
(Pos ctrl), P-Group: Closed loop position control Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
-2147483648 [LU] 2147483647 [LU] 0 [LU]
Description: Sets the cam switching position 1.
Dependency: Refer to: p2548, r2683
Caution: Only after the axis has been referenced can it be guaranteed that the cam switching signals when output have a
"true" position reference.

Note: Position actual value <= cam switching position 1 --> r2683.8 = 1 signal
Position actual value > cam switching position 1 --> r2683.8 = 0 signal

p2548 LR cam switching position 2 / Cam position 2

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(Pos ctrl), Data type: Integer32 Dynamic index: - Func. diagram: 4025
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
-2147483648 [LU] 2147483647 [LU] 0 [LU]
Description: Sets the cam switching position 2.
Dependency: Refer to: p2547, r2683
Caution: Only after the axis has been referenced can it be guaranteed that the cam switching signals when output have a
"true" position reference.

Note: Position actual value <= cam switching position 2 --> r2683.9 = 1 signal
Position actual value > cam switching position 2 --> r2683.9 = 0 signal

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 Parameter
List of parameters

p2549 BI: LR enable 1 / Enable 1

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(Pos ctrl), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 4015
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
- - 899.2
Description: Sets the signal source for the position controller enable 1.
Dependency: Refer to: r0899, p2550
Note: The position controller is enabled by ANDing BI: p2549 and BI: p2550.

p2550 BI: LR enable 2 / Enable 2

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(Pos ctrl), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 4015
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
- - 0
Description: Sets the signal source for the position controller enable 2.
Dependency: Refer to: p2549
Note: The position controller is enabled by ANDing BI: p2549 and BI: p2550.
When the function module "closed-loop position control" or "basic positioner" is activated, the following BICO inter-
connection is established: BI: p2550 = 1

p2551 BI: LR setpoint signal present / Sig s_set pres

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(Pos ctrl), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 4020
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
- - 0
Description: Sets the signal source for the "setpoint present" signal.
BI: p2551 = 1 signal:
The end of the positioning operation on the setpoint side is signaled and the positioning and standstill monitoring
activated.
BI: p2551 = 0 signal:
The start of a positioning operation or tracking mode on the setpoint side is signaled and the positioning and stand-
still monitoring de-activated.
Dependency: Refer to: p2554, r2683
Note: When the function module "basic positioner" (r0108.4 = 1) is activated, the following BICO interconnection is estab-
lished: BI: p2551 = r2683.2

© Siemens AG 2012 All Rights Reserved 1-371

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 Parameter
List of parameters

p2552 BI: LR signal travel to fixed stop active / Signal TfS act
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(Pos ctrl), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 4025
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
- - 0
Description: Sets the signal source for the signal "travel to fixed stop active".
BI: p2552 = 1 signal:
The activity associated with travel to fixed stop is signaled and the detection of the fixed stop is started via the max-
imum following error (p2634).
Dependency: Refer to: r2683
Note: When the function module "basic positioner" (r0108.4 = 1) is activated, the following BICO interconnection is estab-
lished: BI: p2552 = r2683.14

p2553 BI: LR signal fixed stop reached / Signal fixed stop

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(Pos ctrl), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 4025
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
- - 0
Description: Sets the signal source for the signal "fixed stop reached".
BI: p2553 = 1 signal:
When the fixed stop is reached, this is signaled and the fixed stop monitoring window is activated.
Dependency: Refer to: r2683
Note: When the function module "basic positioner" (r0108.4 = 1) is activated, the following BICO interconnection is estab-
lished: BI: p2553 = r2683.12

p2554 BI: LR signal traversing command active / Sig trav_cmnd act

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(Pos ctrl), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 4020
SERVO_S110-DP
(Pos ctrl), P-Group: Closed loop position control Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
- - 0
Description: Sets the signal source for the signal "traversing command active".
BI: p2554 = 1 signal:
It is signaled that positioning is active and therefore the positioning monitoring is not activated with the signal "set-
point present" (p2551).
Dependency: Refer to: p2551, r2684
Note: When the function module "basic positioner" (r0108.4 = 1) is activated, the following BICO interconnection is estab-
lished: BI: p2554 = r2684.15

1-372 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

p2555 CI: LR LU/revolution LU/mm / LU/rev LU/mm

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(Pos ctrl), Data type: Unsigned32 / FloatingPoint32 Dynamic index: - Func. diagram: 4015
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
- - 2524[0]
Description: Sets the signal source for the reference of the internal length units LU to motor revolution for rotary encoders and to
mm for linear encoders.
Dependency: Refer to: p0404, r2524
Note: The signal value is used to convert the length unit to the speed or velocity setpoint.

r2556 CO: LR position setpoint after setpoint smoothing / s_set after interp
SERVO_S110-CAN Can be changed: - Calculated: - Access level: 1
(Pos ctrl), Data type: Integer32 Dynamic index: - Func. diagram: 4015
SERVO_S110-DP
(Pos ctrl), P-Group: Closed loop position control Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
- [LU] - [LU] - [LU]
Description: Displays the position setpoint after the setpoint smoothing.

r2557 CO: LR position controller input, system deviation / LR_inp sys dev
SERVO_S110-CAN Can be changed: - Calculated: - Access level: 1
(Pos ctrl), Data type: Integer32 Dynamic index: - Func. diagram: 4015
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
- [LU] - [LU] - [LU]
Description: Displays the difference between the position setpoint and the position actual value at the position controller input.

r2558 CO: LR position controller output, P component / LR_outp P comp

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 1
(Pos ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 4015
SERVO_S110-DP
P-Group: Closed loop position control Units group: 3_1 Unit selection: p0505
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Pos ctrl)
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Displays the P component at the output of the position controller for the speed setpoint.

r2559 CO: LR position controller output, I component / LR_outp I comp

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 1
(Pos ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 4015
SERVO_S110-DP
P-Group: Closed loop position control Units group: 3_1 Unit selection: p0505
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Pos ctrl)
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Displays the I component at the output of the position controller for the speed setpoint.

© Siemens AG 2012 All Rights Reserved 1-373

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r2560 CO: LR speed setpoint / n_set

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 1
(Pos ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 4015
SERVO_S110-DP
P-Group: Closed loop position control Units group: 3_1 Unit selection: p0505
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Pos ctrl)
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Displays the speed setpoint after limiting (CI: p2541).

r2561 CO: LR speed pre-control value / n_prectrl val

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 1
(Pos ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 4015
SERVO_S110-DP
P-Group: Closed loop position control Units group: 3_1 Unit selection: p0505
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Pos ctrl)
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Displays the speed setpoint due to the pre-control.

r2562 CO: LR total speed setpoint / n_set total

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 1
(Pos ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 4015
SERVO_S110-DP
(Pos ctrl), P-Group: Closed loop position control Units group: 3_1 Unit selection: p0505
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Pos ctrl)
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Displays the total speed setpoint
This value is obtained from the sum of the speed pre-control and position controller output.
Dependency: Refer to: r2560, r2561

r2563 CO: LR following error dynamic model / Follow error dyn

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 1
(Pos ctrl), Data type: Integer32 Dynamic index: - Func. diagram: 4025
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
- [LU] - [LU] - [LU]
Description: Displays the dynamic following error.
This value is the deviation, corrected by the velocity-dependent component, between the position setpoint and the
position actual value.
Note: For p2534 >= 100 % (pre-control activated) the following applies:
The dynamic following error (r2563) corresponds to the system deviation (r2557) at the position controller input.
For 0 % < p2534 < 100 % (pre-control activated) or p2534 = 0 % (pre-control de-activated) the following applies:
The dynamic following error (r2563) is the deviation between the measured position actual value and a value that is
calculated from the position setpoint via a PT1 model. This compensates the system-related velocity-dependent
system deviation for a P controller.

1-374 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

r2564 CO: LR torque pre-control value / M_prectrl val

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 1
(Pos ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 4015
SERVO_S110-DP
P-Group: Closed loop position control Units group: 7_1 Unit selection: p0505
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: p2003 Expert list: 1
(Pos ctrl)
Min Max Factory setting
- [Nm] - [Nm] - [Nm]
Description: Displays the torque pre-control value.
Dependency: Refer to: p1511, p1512
Note: The torque pre-control value is the derivation over time of the speed pre-control value and is referred to a moment
of inertia of 1 kgm^2/2 PI. When using the pre-control, then this should be evaluated corresponding to the actual
moment of inertia.

r2565 CO: LR following error actual / Following err act

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 1
(Pos ctrl), Data type: Integer32 Dynamic index: - Func. diagram: 4015
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
- [LU] - [LU] - [LU]
Description: Displays the actual following error.
This value is the deviation between the position setpoint - after fine interpolation - and the position actual value.
Notice: When speed pre-control is active (p2534 > 0 %), the following applies:
To calculate this value, the position setpoint is delayed by two position controller clock cycles.
When speed pre-control is inactive (p2534 = 0 %), the following applies:
To calculate this value, the position setpoint is delayed by two position controller clock cycles.

r2566 LR speed input pre-control / n inp prectrl

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 1
(Pos ctrl), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 4015
SERVO_S110-DP
P-Group: Closed loop position control Units group: 3_1 Unit selection: p0505
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(Pos ctrl)
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Displays the speed at the input of the pre-control channel.
Note: This display parameter is used for diagnostics even when the pre-control is inactive (p2534 = 0%).

p2567[0...n] LR torque pre-control moment of inertia / M_prectr M_inertia

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 3
(Pos ctrl), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 4015
SERVO_S110-DP
(Pos ctrl), P-Group: Closed loop position control Units group: 25_1 Unit selection: p0100
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
0.000000 [kgm²] 100000.000000 [kgm²] 0.159155 [kgm²]
Description: Sets the moment of inertia for the torque pre-control.
Dependency: Refer to: p2534, r2564

© Siemens AG 2012 All Rights Reserved 1-375

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 Parameter
List of parameters

Note: When calculating the torque pre-control value (r2654), the time derivation of the speed pre-control value is multi-
plied by 2 PI * p2567.
For reasons associated with the compatibility to earlier firmware versions, the factory setting for p2567 = 1 kgm^2/2
PI. This means that CO: r2564 remains as standard the derivation over time of the speed pre-control value and is
referred, as before, to a moment of inertia of 1 kgm^2/2 PI. For torque pre-control, the moment of inertia can now be
directly entered into p2567 (instead of subsequently evaluating the pre-control value.

p2568 BI: EPOS STOP cam activation / STOP cam act

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3630
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 0
Description: Sets the signal source to activate the function "STOP cam".
BI: p2568 = 1 signal
--> The evaluation of the STOP cam minus (BI: p2569) and STOP cam plus (BI: p2570) is active.
Dependency: Refer to: p2569, p2570
Note: The traversing range can also be limited using software limit switches.

p2569 BI: EPOS STOP cam minus / STOP cam minus

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3630
SERVO_S110-DP
(EPOS), P-Group: Basic positioner Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 1
Description: Sets the signal source for the STOP cam in the negative direction of travel.
Recommend.: Set the OFF3 ramp-down time (p1135), so that the axis, after reaching the STOP cam at the maximum velocity,
does not move through a higher braking travel than is actually available.
Sets message 07491 as alarm (A07491):
Set the maximum deceleration (p2573), so that the axis, after reaching the STOP cam at the maximum velocity,
does not move through a higher braking travel than is actually available.
Dependency: Refer to: p1135, p2568, p2570, p2573, r2684
Refer to: F07491
Caution: The STOP cams are low active.
Sets message 07491 as fault (F07491):
For a 0 signal, the axis is stopped with the OFF3 ramp-down time (p1135), status signal r2684.13 is set to 1, saved
and the appropriate fault is output. After the fault has been acknowledged, only motion moving away from the STOP
cam is permitted.
For a 0/1 signal and valid travel direction, when the stop cam is exited, this is detected and the status signal
r2684.13 is set to 0.
Sets message 07491 as alarm (A07491):
For a 0 signal, the axis is stopped with the maximum deceleration (p2573), status signal r2684.13 is set to 1, saved
and the appropriate alarm is output. Only motion away from the STOP cam is permitted.
For a 0/1 signal and valid travel direction, when the stop cam is exited, this is detected and the status signal
r2684.13 is set to 0 and the alarm is deleted.

1-376 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

p2570 BI: EPOS STOP cam plus / STOP cam plus

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3630
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 1
Description: Sets the signal source for the STOP cam in the positive direction of travel.
Recommend.: Set the OFF3 ramp-down time (p1135), so that the axis, after reaching the STOP cam at the maximum velocity,
does not move through a higher braking travel than is actually available.
Sets message 07492 as alarm (A07492):
Set the maximum deceleration (p2573), so that the axis, after reaching the STOP cam at the maximum velocity,
does not move through a higher braking travel than is actually available.
Dependency: Refer to: p1135, p2568, p2569, p2573, r2684
Refer to: F07492
Caution: The STOP cams are low active.
Sets message 07492 as fault (F07492):
For a 0 signal, the axis is stopped with the OFF3 ramp-down time (p1135), status signal r2684.14 is set to 1, saved
and the appropriate fault is output. After the fault has been acknowledged, only motion moving away from the STOP
cam is permitted.
For a 0/1 signal and valid travel direction, when the stop cam is exited, this is detected and the status signal
r2684.14 is set to 0.
Sets message 07492 as alarm (A07492):
For a 0 signal, the axis is stopped with the maximum deceleration (p2573), status signal r2684.14 is set to 1, saved
and the appropriate alarm is output. Only motion away from the STOP cam is permitted.
For a 0/1 signal and valid travel direction, when the stop cam is exited, this is detected and the status signal
r2684.14 is set to 0 and the alarm is deleted.

p2571 EPOS maximum velocity / v_max

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 Dynamic index: - Func. diagram: 3630
SERVO_S110-DP
(EPOS), P-Group: Basic positioner Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
1 [1000 LU/min] 40000000 [1000 LU/min] 30000 [1000 LU/min]
Description: Sets the maximum velocity for the function module "basic positioner" (r0108.4).
Dependency: Refer to: r1084, r1087, p2503, p2504, p2505, p2506
Note: The maximum velocity is active in all of the operating modes of the basic positioner.
The maximum velocity for the basic positioner should be aligned with the maximum speed/velocity of the
speed/velocity controller:
Rotary encoders:
p2571[1000 LU/min] = min(|r1084|, |r1087|)[rpm] x p2505/p2504 x p2506/1000
Linear encoders:
p2571[1000 LU/min] = min(|r1084|, |r1087|)[m/min] x p2503/10[m]

© Siemens AG 2012 All Rights Reserved 1-377

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p2572 EPOS maximum acceleration / a_max

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 Dynamic index: - Func. diagram: 3630
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
1 [1000 LU/s²] 2000000 [1000 LU/s²] 100 [1000 LU/s²]
Description: Sets the maximum acceleration for the function module "basic positioner" (r0108.4).
Dependency: Refer to: p2619, p2644
Note: The maximum acceleration appears to exhibit jumps (without jerk).
"Traversing blocks" operating mode:
The programmed acceleration override (p2619) acts on the maximum acceleration.
"Direct setpoint input/MDI" mode:
The acceleration override is effective (p2644, 4000 hex = 100 %).
"Jog" and "search for reference" modes
No acceleration override is active. The axis starts with the maximum acceleration.

p2573 EPOS maximum deceleration / -a_max

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 Dynamic index: - Func. diagram: 3630
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
1 [1000 LU/s²] 2000000 [1000 LU/s²] 100 [1000 LU/s²]
Description: Sets the maximum deceleration for the function module "basic positioner" (r0108.4).
Dependency: Refer to: p2620, p2645
Note: The maximum deceleration appears to exhibit jumps (without jerk).
"Traversing blocks" operating mode:
The programmed deceleration override (p2620) acts on the maximum deceleration.
"Direct setpoint input/MDI" mode:
The deceleration override is effective (p2645, 4000 hex = 100 %).
"Jog" and "search for reference" modes
No deceleration override is effective. The axis breaks with the maximum deceleration.

p2574 EPOS jerk limiting / Jerk lim

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 Dynamic index: - Func. diagram: 3635
SERVO_S110-DP
(EPOS), P-Group: Basic positioner Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
1 [1000 LU/s³] 100000000 [1000 LU/s³] 10000 [1000 LU/s³]
Description: Sets the jerk limiting
Dependency: Refer to: p2572, p2573, p2575
Note: The jerk limiting is internally converted into a jerk time as follows:
Jerk time Tr = max(p2572, p2573) / p2574
The jerk time is internally limited to 1000 ms and is rounded-off to an integer multiple of the sampling time position-
ing (p0115[5]).
The jerk time is valid for the acceleration and deceleration phases also for unequal maximum acceleration (p2572)
and maximum deceleration (p2573).

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 Parameter
List of parameters

For unequal maximum acceleration and maximum deceleration, the motion is not optimal from a time perspective
as the jerk limit cannot be used for the lower of the two values.
If, in the traversing profile, the acceleration time without jerk limiting is less than the jerk time Tr, then the motion
with jerk limiting is not optimum from a time perspective.
For traversing motion with a direct transition between acceleration and deceleration (i.e. jerk time is greater than the
constant velocity phase), jerk can increase up to twice the parameterized jerk.
CONTINUE_FLYING with direction reversal acts internally just like a CONTINUE_WITH_STOP without the "posi-
tion reached" being set. Without jerk limiting, this behavior can hardly be noticed as, when reversing, the position
setpoint is only kept at zero for one interpolator clock cycle.
For block change enable CONTINUE_WITH_STOP, jerk limiting results in a longer delay time.

p2575 BI: EPOS jerk limiting activation / Jerk limit act

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3635
SERVO_S110-DP
(EPOS), P-Group: Basic positioner Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 0
Description: Sets the signal source to activate the jerk limiting.
Activating/de-activating:
- using BI: p2575 = 1 signal or 0 signal.
- using the command JERK in the traversing block (only for BI: p2575 = 0 signal).
Dependency: Refer to: p2574
Note: A change of the signal state at the binector input is only accepted at zero speed.

p2576 EPOS modulo correction, modulo range / Modulo corr range

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 Dynamic index: - Func. diagram: 3635
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
1 [LU] 2147482647 [LU] 360000 [LU]
Description: Sets the modulo range for axes with modulo correction.
Dependency: Refer to: p2577

p2577 BI: EPOS modulo correction activation / Modulo corr act

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3630, 3635
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 0
Description: Sets the signal source to activate modulo correction.
Dependency: Refer to: p2576
Note: When the signal state changes at the binector input, this only becomes effective in the "ready to power-up" state.
Selecting modulo correction:
The current position setpoint in the modulo range is corrected. The position actual value differs from the position
setpoint by the following error and can also leave the modulo range.
De-selecting modulo correction:
It is based on the current position actual value.

© Siemens AG 2012 All Rights Reserved 1-379

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p2578 CI: EPOS software limit switch minus signal source / SW limSw Min S_src
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Integer32 Dynamic index: - Func. diagram: 3630
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 2580[0]
Description: Sets the signal source for the software limit switch minus.
Dependency: Refer to: p2579, p2580, p2581, p2582
Refer to: A07469, A07477, A07479, F07481
Notice: A change to the software limit switch becomes immediately effective.
If the software limit switch is changed, then this results in the positions in the traversing blocks being checked.
Note: The following applies for the setting of the software limit switch:
Software limit switch minus < software limit switch plus

p2579 CI: EPOS software limit switch plus signal source / SW limSwPlus S_src
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Integer32 Dynamic index: - Func. diagram: 3630
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 2581[0]
Description: Sets the signal source for the software limit switch plus.
Dependency: Refer to: p2578, p2580, p2581, p2582
Refer to: A07470, A07478, A07480, F07482
Notice: A change to the software limit switch becomes immediately effective.
If the software limit switch is changed, then this results in the positions in the traversing blocks being checked.
Note: The following applies for the setting of the software limit switch:
Software limit switch minus < software limit switch plus

p2580 CO: EPOS software limit switch minus / SW limSwitch minus

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(EPOS), Data type: Integer32 Dynamic index: - Func. diagram: 3630
SERVO_S110-DP
(EPOS), P-Group: Basic positioner Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
-2147482648 [LU] 2147482647 [LU] -2147482648 [LU]
Description: Sets the software limit switch in the negative direction of travel.
Dependency: Refer to: p2578, p2579, p2581, p2582

p2581 CO: EPOS software limit switch plus / SW lim switch plus
SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(EPOS), Data type: Integer32 Dynamic index: - Func. diagram: 3630
SERVO_S110-DP
(EPOS), P-Group: Basic positioner Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
-2147482648 [LU] 2147482647 [LU] 2147482647 [LU]
Description: Sets the software limit switch in the positive direction of travel.

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Dependency: Refer to: p2578, p2579, p2580, p2582

p2582 BI: EPOS software limit switch activation / SW lim sw act

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3630
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 0
Description: Sets the signal source to activate the "software limit switch".
Dependency: Refer to: p2578, p2579, p2580, p2581
Caution: Software limit switch effective:
- axis is referenced (r2684.11 = 1) and BI: p2582 = 1 signal.
Software limit switch ineffective:
- modulo correction active (BI: p2577 = 1 signal).
- search for reference is executed.
Notice: Target position for relative positioning outside software limit switch:
The traversing block is started and the axis comes to a standstill at the software limit switch. An appropriate alarm is
output and the traversing block is interrupted. Traversing blocks with valid position can be activated.
Target position for absolute positioning outside software limit switch:
In the "traversing blocks" mode, the traversing block is not started and an appropriate fault is output.
Axis outside the valid traversing range:
If the axis is already outside the valid traversing range, then an appropriate fault is output. The fault can be acknowl-
edged at standstill. Traversing blocks with valid position can be activated.
Note: The traversing range can also be limited using STOP cams.

p2583 EPOS backlash compensation / Backlash comp

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(EPOS), Data type: Integer32 Dynamic index: - Func. diagram: 3635
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
-200000 [LU] 200000 [LU] 0 [LU]
Description: Sets the amount of play (backlash) for positive or negative play.
0: The backlash compensation is de-activated.
> 0: Positive backlash (normal case)
When the direction is reversed, the encoder actual value leads the actual value.
< 0: Negative backlash
When the direction is reversed, the actual value leads the encoder actual value.
Dependency: If a stationary axis is referenced by setting the reference point, or an adjusted with absolute encoder is powered up,
then the setting of p2604 is relevant for entering the compensation value.
p2604 = 1:
Traveling in the positive direction -> A compensation value is immediately entered.
Traveling in the negative direction -> A compensation value is not entered
p2604 = 0:
Traveling in the positive direction -> A compensation value is not entered
Traveling in the negative direction -> A compensation value is immediately entered.
When again setting the reference point (a referenced axis) or for "flying referencing", p2604 is not relevant but
instead the history of the axis.
Refer to: p2604, r2667

© Siemens AG 2012 All Rights Reserved 1-381

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 Parameter
List of parameters

p2585 EPOS jog 1 setpoint velocity / Jog 1 v_set

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(EPOS), Data type: Integer32 Dynamic index: - Func. diagram: 3610
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
-40000000 [1000 LU/min] 40000000 [1000 LU/min] -300 [1000 LU/min]
Description: Sets the setpoint velocity for jog 1.
Dependency: Refer to: p2587, p2589, p2591

p2586 EPOS jog 2 setpoint velocity / Jog 2 v_set

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(EPOS), Data type: Integer32 Dynamic index: - Func. diagram: 3610
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
-40000000 [1000 LU/min] 40000000 [1000 LU/min] 300 [1000 LU/min]
Description: Sets the setpoint velocity for jog 2.
Dependency: Refer to: p2588, p2590, p2591

p2587 EPOS jog 1 traversing distance / Jog 1 distance

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 Dynamic index: - Func. diagram: 3610
SERVO_S110-DP
(EPOS), P-Group: Basic positioner Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
0 [LU] 2147482647 [LU] 1000 [LU]
Description: Sets the traversing distance for incremental jog 1.
Dependency: Refer to: p2585, p2589, p2591
Note: Incremental jog 1 is started with BI: p2591 = 1 signal and BI: p2589 = 0/1 signal.
With BI: p2589 = 0 signal, incremental jog is interrupted.

p2588 EPOS jog 2 traversing distance / Jog 2 distance

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 Dynamic index: - Func. diagram: 3610
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
0 [LU] 2147482647 [LU] 1000 [LU]
Description: Sets the traversing distance for incremental jog 2.
Dependency: Refer to: p2586, p2590, p2591
Note: Incremental jog 2 is started with BI: p2591 = 1 signal and BI: p2590 = 0/1 signal.
With BI: p2590 = 0 signal, incremental jogging is interrupted.

1-382 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p2589 BI: EPOS jog 1 signal source / Jog 1 S_src

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3610, 3625
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 0
Description: Sets the signal source for jog 1.
Dependency: When jogging, the axis is accelerated or braked with the maximum acceleration/deceleration (p2572/p2573).
BI: p2591 = 0 signal
The axis endlessly moves with the setpoint velocity, jog 1 (p2585).
BI: p2591 = 1 signal
The axis traverses through a parameterized distance (p2585) with the setpoint velocity, jog 1 (p2587).
Refer to: p2572, p2573, p2585, p2587, p2591
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.

p2590 BI: EPOS jog 2 signal source / Jog 2 S_src

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3610, 3625
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 0
Description: Sets the signal source for jog 2.
Dependency: When jogging, the axis is accelerated or braked with the maximum acceleration/deceleration (p2572/p2573).
BI: p2591 = 0 signal
The axis endlessly moves with the setpoint velocity, jog 2 (p2586).
BI: p2591 = 1 signal
The axis traverses through a parameterized distance (p2586) with the setpoint velocity, jog 2 (p2588).
Refer to: p2572, p2573, p2586, p2588, p2591
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.

p2591 BI: EPOS jogging incremental / Jog incr

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3610
SERVO_S110-DP
(EPOS), P-Group: Basic positioner Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 0
Description: Sets the signal source for jogging incremental.
Dependency: Refer to: p2585, p2586, p2587, p2588, p2589, p2590

© Siemens AG 2012 All Rights Reserved 1-383

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p2593 CI: EPOS LU/revolution LU/mm / LU/rev LU/mm

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(EPOS), Data type: Unsigned32 / FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 2524[0]
Description: Sets the signal source for the reference of the internal length units LU to motor revolution for rotary encoders and to
mm for linear encoders.
Dependency: Refer to: p0404, r2524, p2594
Note: The signal value is used to convert the length unit to the speed or velocity setpoint.

p2594 CI: EPOS Maximum velocity externally limited / v_Max ext lim
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(EPOS), Data type: Unsigned32 / FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-DP
(EPOS), P-Group: Basic positioner Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: p2000 Expert list: 1
(EPOS)
Min Max Factory setting
- - 0
Description: Sets the signal source for the externally limited maximum velocity.
Dependency: Refer to: r2524, p2571, p2593
Warning: In order that the externally limited velocity can be effective for the EPOS operating modes, connector input p2593
must be correctly interconnected.

p2595 BI: EPOS referencing start / Ref start

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3612, 3625,
SERVO_S110-DP 3614
(EPOS),
P-Group: Basic positioner Units group: - Unit selection: -
SERVO_S110-PN
(EPOS) Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source to start the "search for reference" or "flying referencing".
BI: p2595 = 0/1 signal
Referencing is started.
BI: p2595 = 1/0 signal
Referencing is interrupted.
Dependency: Refer to: p2597, p2598, p2599, r2684
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: Search for reference (BI: p2597 = 0 signal):
The reference point approach can only be activated (0/1 edge) after traversing motion that is being processed has
been completed.
With the start, where relevant, the state signal "reference point set" (r2684.11) is reset.
Flying referencing (BI: p2597 = 1 signal):
With the start, the state signal "reference point set" (r2684.11) is not reset.

1-384 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p2596 BI: EPOS set reference point / Set ref_pt

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3612
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 0
Description: Sets the signal source for the "set reference point".
Dependency: Refer to: p2598, p2599, r2684
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: Reference point setting is effective in the following operating states:
- in the basic state.
- for FIXED STOP with progress condition END (corresponds to the initial state).
- for traversing block interrupted via BI: p2640 = 0 signal (intermediate stop).
- for EPOS not enabled (BI: p2656 = 0 signal) and position actual value valid (BI: p2658 = 1 signal).

p2597 BI: EPOS referencing type selection / Ref_typ select

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3612, 3614,
SERVO_S110-DP 3625
(EPOS),
SERVO_S110-PN P-Group: Basic positioner Units group: - Unit selection: -
(EPOS) Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source to select referencing type.
1 signal: Flying referencing
0 signal: Search for reference
Dependency: Refer to: p2595
Note: Referencing is activated as follows:
- Select the referencing type (BI: p2597)
- Start referencing (BI: p2595 = 0/1 signal)

p2598[0...3] CI: EPOS reference point coordinate, signal source / Ref_pt coord S_src
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS, Pos ctrl), Data type: Unsigned32 / Integer32 Dynamic index: - Func. diagram: 3612, 3614
SERVO_S110-DP
(EPOS, Pos ctrl), P-Group: Closed loop position control Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS, Pos ctrl)
Min Max Factory setting
- - [0] 2599[0]
[1] 0
[2] 0
[3] 0
Description: Sets the signal source for the reference point coordinate.
This value is used as reference for the following referencing operations:
- search for reference
- set reference point
- flying referencing
- absolute value adjustment

© Siemens AG 2012 All Rights Reserved 1-385

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 Parameter
List of parameters

Index: [0] = Closed-loop position control

[1] = Encoder 1
[2] = Encoder 2
[3] = Reserved
Dependency: Refer to: p2502, p2507, p2595, p2596, p2597, p2599
Note: When the function module "basic positioner" (r0108.4 = 1) is activated, the following applies:
Incremental measuring system:
After the reference point is reached, the drive accepts the current axis position from the position received via the
connector input CI: p2598[0].
Absolute encoder:
When adjusting the encoder, the position received via the connector input is set as the current axis position. The
position offset to the actual encoder value is displayed in p2525.

p2599 CO: EPOS reference point coordinate value / Ref_pt coord val
SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(Pos ctrl), Data type: Integer32 Dynamic index: - Func. diagram: 3612
SERVO_S110-DP
(Pos ctrl), P-Group: Closed loop position control Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
-2147482648 [LU] 2147482647 [LU] 0 [LU]
Description: Sets the position value for the reference point coordinate.
This value is set as the current axis position after referencing or adjustment.
Dependency: Refer to: p2507, p2525, p2595, p2596, p2597, p2598

p2600 EPOS search for reference, reference point offset / Ref_pt offset
SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(EPOS), Data type: Integer32 Dynamic index: - Func. diagram: 3612
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
-2147482648 [LU] 2147482647 [LU] 0 [LU]
Description: Sets the reference point offset for search for reference.
Dependency: Refer to: p2598

p2601 EPOS flying referencing, inner window / Inner window

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(EPOS), Data type: Integer32 Dynamic index: - Func. diagram: 3614
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
0 [LU] 2147482647 [LU] 0 [LU]
Description: Sets the inner window for flying referencing.
Value = 0:
The evaluation of the inner window is de-activated.
Dependency: Refer to: p2597, p2602, r2684
Notice: The inner window must be set so that it is smaller than the outer window.
Note: If the difference between the reference point coordinate and detected actual position is less than the inner window,
then no correction is executed for a referenced axis.
If the difference between the reference point coordinate and detected actual position is greater than the inner win-
dow and less than the outer window (p2602), then a correction is executed for a referenced axis.

1-386 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p2602 EPOS flying referencing, outer window / Outer window

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(EPOS), Data type: Integer32 Dynamic index: - Func. diagram: 3614
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
0 [LU] 2147482647 [LU] 0 [LU]
Description: Sets the outer window for flying referencing.
Value = 0:
The evaluation of the outer window is de-activated.
Dependency: Refer to: p2597, r2684
Refer to: A07489
Notice: The inner window must be set so that it is smaller than the outer window.
Note: If the difference between the reference point coordinate and detected actual position is greater than the outer win-
dow, then no correction is executed for the referenced axis. Further, an appropriate message is output and r2684.3
is set to 1.

p2603 EPOS flying referencing, positioning mode, relative / Pos_mode relative

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(EPOS), Data type: Integer32 Dynamic index: - Func. diagram: 3635
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
0 1 1
Description: Sets the relative positioning mode for flying referencing.
Value = 1:
The corrected setpoint is not calculated into the traversing distance.
Value = 0:
The corrected setpoint is calculated into the traversing distance.
Dependency: Refer to: p2597, p2623, p2648
Caution: For p2603 = 0 the direction can change.

p2604 BI: EPOS search for reference, start direction / Srch for ref dir
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3612
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 0
Description: Sets the signal sources for the start direction of the search for reference.
1 signal: Start in the negative direction.
0 signal: Start in the positive direction.
Dependency: Refer to: p2583, p2595, p2597

© Siemens AG 2012 All Rights Reserved 1-387

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p2605 EPOS search for reference, approach velocity, reference cam / v_appr ref_cam
SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 Dynamic index: - Func. diagram: 3612
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
1 [1000 LU/min] 40000000 [1000 LU/min] 5000 [1000 LU/min]
Description: Sets the approach velocity to the reference cam for the search for reference.
Dependency: The search for reference only starts with the approach velocity to the reference cam when there is a reference cam
(p2607 = 1).
Refer to: p2595, p2597, p2604, p2606, p2607
Note: When traversing to the reference cam, the velocity override is effective.
If, at the start of the search for reference, the axis is already at the reference cam, then the axis immediately starts
to traverse to the zero mark.

p2606 EPOS search for reference, reference cam, maximum distance / Ref_cam max s
SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 Dynamic index: - Func. diagram: 3612
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
0 [LU] 2147482647 [LU] 2147482647 [LU]
Description: Sets the maximum distance after the start of the search for reference when traversing to the reference cam.
Dependency: Refer to: p2595, p2597, p2604, p2605, p2607
Refer to: F07458
Note: When using a reversing cam, the maximum distance must be set appropriately long.

p2607 EPOS search for reference, reference cam present / Ref_cam pres
SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(EPOS), Data type: Unsigned8 Dynamic index: - Func. diagram: 3612
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
0 1 1
Description: Sets whether or not a reference cam is present for the search for reference.
Value = 1: Reference cam present.
Value = 0: No reference cam present.
Dependency: Refer to: p2595, p2597, p2604, p2605, p2606

p2608 EPOS search for reference, approach velocity, zero mark / v_appr ref_ZM
SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 Dynamic index: - Func. diagram: 3612
SERVO_S110-DP
(EPOS), P-Group: Basic positioner Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
1 [1000 LU/min] 40000000 [1000 LU/min] 300 [1000 LU/min]
Description: Sets the approach velocity after detecting the reference cam to search for the zero mark for the the search for refer-
ence.

1-388 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Dependency: If there is no reference cam (p2607 = 0), the search for reference immediately starts with the axis traversing to the
zero mark.
Refer to: p2595, p2597, p2604, p2607, p2609, p2610
Caution: If the reference cam is not adjusted so that at each search for reference the same zero mark for synchronization is
detected, then an "incorrect" axis reference point is obtained.
After the reference cam has been left, the search for the zero mark is activated with a time delay due to internal fac-
tors. This is the reason that the reference cam should be adjusted in this center between two zero marks and the
approach velocity should be adapted to the distance between two zero marks.
Note: The velocity override is not effective when traversing to the zero mark.

p2609 EPOS search for reference, max. distance ref. cam and zero mark / Max s ref_cam ZM
SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 Dynamic index: - Func. diagram: 3612
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
0 [LU] 2147482647 [LU] 20000 [LU]
Description: Sets the maximum distance after leaving the reference cam when traversing to the zero mark.
Dependency: Refer to: p2595, p2597, p2604, p2607, p2608, p2610
Refer to: F07459

p2610 EPOS search for ref., tol. bandwidth for distance to zero mark / Tol_band to ZM
SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 Dynamic index: - Func. diagram: 3612
SERVO_S110-DP
(EPOS), P-Group: Basic positioner Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
0 [LU] 2147482647 [LU] 2147482647 [LU]
Description: Sets the tolerance bandwidth for the distance to the zero mark
The zero mark is evaluated within the maximum distance between the reference cam and zero mark (p2609) minus
the tolerance bandwidth for the distance to the zero mark (p2610).
Dependency: Refer to: p2609

p2611 EPOS search for reference, approach velocity, reference point / v_appr ref_pt
SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 Dynamic index: - Func. diagram: 3612
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
1 [1000 LU/min] 40000000 [1000 LU/min] 300 [1000 LU/min]
Description: Sets the approach velocity after detecting the zero mark to approach the reference point.
Dependency: Refer to: p2595, p2597, p2604, p2607, p2609, p2610
Note: When traversing to the reference point, the velocity override is not effective.

© Siemens AG 2012 All Rights Reserved 1-389

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p2612 BI: EPOS search for reference, reference cam / Ref_cam

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3612
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 0
Description: Sets the signal source for the reference cam.
Dependency: Refer to: p2607
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.

p2613 BI: EPOS search for reference reversing cam minus / Rev minus
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3612
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 1
Description: Sets the signal source for the reversing cam in the negative direction of travel.
1 signal: Reversing cam not reached.
0 signal: Reversing cam reached.
Dependency: Refer to: p2614
Note: If, during the search for reference from the reversing cam minus and plus, a 0 signal is detected, then the axis
remains stationary (at standstill).

p2614 BI: EPOS search for reference reversing cam plus / Rev plus
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3612
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 1
Description: Sets the signal source for the reversing cam in the negative direction of travel.
1 signal: Reversing cam not reached.
0 signal: Reversing cam reached.
Dependency: Refer to: p2613
Note: If, during the search for reference from the reversing cam minus and plus, a 0 signal is detected, then the axis
remains stationary (at standstill).

p2615 EPOS maximum number of traversing blocks / Trav_block qty max

SERVO_S110-CAN Can be changed: C2(17) Calculated: - Access level: 1
(EPOS), Data type: Unsigned8 Dynamic index: - Func. diagram: 3616
SERVO_S110-DP
(EPOS), P-Group: Basic positioner Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
1 16 16
Description: Sets the maximum number of traversing blocks that are available.
Dependency: Refer to: p2616, p2617, p2618, p2619, p2620, p2621, p2622, p2623, p2624

1-390 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p2616[0...n] EPOS traversing block, block number / Trav_blk, blkNo.

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(EPOS), Data type: Integer16 Dynamic index: p2615 Func. diagram: 3616
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
-1 63 -1
Description: Sets a block number.
-1: Invalid block number. These blocks are not taken into account.
0 ... 63: Valid block number.
Dependency: The number of indices depends on p2615.
Refer to: p2615, p2617, p2618, p2619, p2620, p2621, p2622, p2623, p2624

p2617[0...n] EPOS traversing block position / Trav_block pos

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(EPOS), Data type: Integer32 Dynamic index: p2615 Func. diagram: 3616
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
-2147482648 [LU] 2147482647 [LU] 0 [LU]
Description: Sets the target position for the traversing block.
Dependency: The number of indices depends on p2615.
Refer to: p2615, p2616, p2618, p2619, p2620, p2621, p2622, p2623, p2624
Note: The target position is approached in either relative or absolute terms depending on p2623.

p2618[0...n] EPOS traversing block velocity / Trav_block v

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(EPOS), Data type: Integer32 Dynamic index: p2615 Func. diagram: 3616
SERVO_S110-DP
(EPOS), P-Group: Basic positioner Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
1 [1000 LU/min] 40000000 [1000 LU/min] 600 [1000 LU/min]
Description: Sets the velocity for the traversing block.
Dependency: The number of indices depends on p2615.
Refer to: p2615, p2616, p2617, p2619, p2620, p2621, p2622, p2623, p2624, p2646
Note: The velocity can be influenced using the velocity override (p2646).

p2619[0...n] EPOS traversing block acceleration override / Trav_block a_over

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(EPOS), Data type: FloatingPoint32 Dynamic index: p2615 Func. diagram: 3616
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
1.0 [%] 100.0 [%] 100.0 [%]
Description: Sets the acceleration override for the traversing block.
The override refers to the maximum acceleration (p2572).
Dependency: The number of indices depends on p2615.
Refer to: p2572, p2615, p2616, p2617, p2618, p2620, p2621, p2622, p2623, p2624

© Siemens AG 2012 All Rights Reserved 1-391

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p2620[0...n] EPOS traversing deceleration override / Trav_block -a_over

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(EPOS), Data type: FloatingPoint32 Dynamic index: p2615 Func. diagram: 3616
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
1.0 [%] 100.0 [%] 100.0 [%]
Description: Sets the deceleration override for the traversing block.
The override refers to the maximum deceleration (p2573).
Dependency: The number of indices depends on p2615.
Refer to: p2573, p2615, p2616, p2617, p2618, p2619, p2621, p2622, p2623, p2624
Notice: If, when calculating the traversing profile, it is identified that the target position of the next block with the pro-
grammed deceleration override will not be reached without direction reversal (flying block change), then the old
(current) deceleration override remains effective.

p2621[0...n] EPOS traversing block task / Trav_block task

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(EPOS), Data type: Integer16 Dynamic index: p2615 Func. diagram: 3616
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
1 9 1
Description: Sets the required task for the traversing block.
Value: 1: POSITIONING
2: FIXED STOP
3: ENDLESS_POS
4: ENDLESS_NEG
5: WAITING
6: GOTO
7: SET_O
8: RESET_O
9: JERK
Dependency: The number of indices depends on p2615.
Refer to: p2615, p2616, p2617, p2618, p2619, p2620, p2622, p2623, p2624

p2622[0...n] EPOS traversing block task parameter / Trav_blck task_par

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(EPOS), Data type: Integer32 Dynamic index: p2615 Func. diagram: 3616
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
-2147483648 2147483647 0
Description: Sets additional information/data of the appropriate task for the traversing block.
Dependency: The number of indices depends on p2615.
Refer to: p2615, p2616, p2617, p2618, p2619, p2620, p2621, p2623, p2624
Note: The following should be set depending on the task:
FIXED STOP: Clamping torque and clamping force (rotary 0...65536 [0.01 Nm], linear 0...65536 [N])
WAIT: Delay time [ms]
GOTO: Block number
SET_O: 1, 2 or 3 - set direct output 1, 2 or 3 (both)

1-392 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

RESET_O: 1, 2 or 3 - set direct output 1, 2 or 3 (both)

JERK: 0 - de-activate, 1 - activate

p2623[0...n] EPOS traversing block, task mode / Trav_block mode

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(EPOS), Data type: Unsigned16 Dynamic index: p2615 Func. diagram: 3515, 3616
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
0 65535 0
Description: Sets the influence of the task for the traversing block.
Value = 0000 cccc bbbb aaaa
cccc: Positioning mode
cccc = 0000 --> ABSOLUTE
cccc = 0001 --> RELATIVE
cccc = 0010 --> ABS_POS (only for a rotary axis with modulo correction)
cccc = 0011 --> ABS_NEG (only for a rotary axis with modulo correction)
bbbb: Progression condition
bbbb = 0000 --> END
bbbb = 0001 --> CONTINUE WITH STOP
bbbb = 0010 --> CONTINUE FLYING
bbbb = 0011 --> CONTINUE EXTERNAL
bbbb = 0100 --> CONTINUE EXTERNAL WAIT
bbbb = 0101 --> CONTINUE EXTERNAL ALARM
aaaa: IDs
aaaa = 000x --> show/hide block (x = 0: show, x = 1: hide)
Dependency: The number of indices depends on p2615.
Refer to: p2615, p2616, p2617, p2618, p2619, p2620, p2621, p2622, p2624

p2624 EPOS traversing block, sorting / Trav_block sort

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(EPOS), Data type: Unsigned16 Dynamic index: - Func. diagram: 3616
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
0 1 0
Description: Sets the traversing blocks for sorting corresponding to their block number.
Procedure: Set p2624 = 0 --> 1.
Sorting is started and the parameters are automatically reset to zero once the operation has been completed.
Dependency: Refer to: p2615, p2616, p2617, p2618, p2619, p2620, p2621, p2622, p2623
Note: After sorting, the traversing blocks are written at the beginning of the memory in increasing sequence without any
gaps.

© Siemens AG 2012 All Rights Reserved 1-393

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p2625 BI: EPOS traversing block selection, bit 0 / Trav_blk sel bit 0
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3616, 3640
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 0
Description: Sets the signal source to select the traversing block, bit 0.
Dependency: Binector inputs p2625, p2626, p2627, p2628, p2629 and p2630 are used to select one of the maximum of 64 tra-
versing blocks.
Refer to: p2626, p2627, p2628, p2629, p2630

p2626 BI: EPOS traversing block selection, bit 1 / Trav_blk sel bit 1
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3616, 3640
SERVO_S110-DP
(EPOS), P-Group: Basic positioner Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 0
Description: Sets the signal source to select the traversing block, bit 1.
Dependency: Binector inputs p2625, p2626, p2627, p2628, p2629 and p2630 are used to select one of the maximum of 64 tra-
versing blocks.
Refer to: p2625, p2627, p2628, p2629, p2630

p2627 BI: EPOS traversing block selection, bit 2 / Trav_blk sel bit 2
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3616, 3640
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 0
Description: Sets the signal source to select the traversing block, bit 2.
Dependency: Binector inputs p2625, p2626, p2627, p2628, p2629 and p2630 are used to select one of the maximum of 64 tra-
versing blocks.
Refer to: p2625, p2626, p2628, p2629, p2630

p2628 BI: EPOS traversing block selection, bit 3 / Trav_blk sel bit 3
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3616, 3640
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 0
Description: Sets the signal source to select the traversing block, bit 3.
Dependency: Binector inputs p2625, p2626, p2627, p2628, p2629 and p2630 are used to select one of the maximum of 64 tra-
versing blocks.
Refer to: p2625, p2626, p2627, p2629, p2630

1-394 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p2629 BI: EPOS traversing block selection, bit 4 / Trav_blk sel bit 4
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3616, 3640
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 0
Description: Sets the signal source to select the traversing block, bit 4.
Dependency: Binector inputs p2625, p2626, p2627, p2628, p2629 and p2630 are used to select one of the maximum of 64 tra-
versing blocks.
Refer to: p2625, p2626, p2627, p2628, p2630

p2630 BI: EPOS traversing block selection, bit 5 / Trav_blk sel bit 5
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3616, 3640
SERVO_S110-DP
(EPOS), P-Group: Basic positioner Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 0
Description: Sets the signal source to select the traversing block, bit 5.
Dependency: Binector inputs p2625, p2626, p2627, p2628, p2629 and p2630 are used to select one of the maximum of 64 tra-
versing blocks.
Refer to: p2625, p2626, p2627, p2628, p2629

p2631 BI: EPOS activate traversing task (0 -> 1) / Trav_task act

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3616, 3625
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 0
Description: Sets the signal source for "activating traversing task".
BI: p2631 = 0/1 signal
The traversing task, selected using BI: p2625 ... p2630, is started.
Dependency: Refer to: p2625, p2626, p2627, p2628, p2629, p2630, p2640, p2641
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: To start a traversing block, the axis must be referenced (r2684.11 = 1).
The status signal r2684.12 = 0/1 signal is used for acknowledgement.
A traversing task can be influenced using the following signals:
- intermediate stop via BI: p2640.
- reject traversing task via BI: p2641.

© Siemens AG 2012 All Rights Reserved 1-395

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p2632 EPOS external block change evaluation / Ext BlckChg eval

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Integer16 Dynamic index: - Func. diagram: 3615, 3616
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
0 1 0
Description: Sets the mode to evaluate "external block change".
Value: 0: External block change via the measuring probe
1: External block change via BI: p2633
Dependency: Refer to: p2623, p2633, r2677, r2678
Note: In the mode "external block change via measuring probe (p2632 = 0), the following applies:
When starting a traversing block with the block change enable CONTINUE_EXTERNAL,
CONTINUE_EXTERNAL_WAIT and CONTINUE_EXTERNAL_ALARM an activated "flying referencing" is inter-
rupted. After ending the block, "flying referencing" must be re-activated via BI: p2595 = 0/1 signal.

p2633 BI: EPOS external block change (0 -> 1) / Ext BlckChg (0->1)
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3615
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 0
Description: Sets the signal source for "external block change".
BI: p2633 = 0/1 signal
Dependency: The evaluation of the signal is only active p2632 = 1.
Refer to: p2623, p2632, p2640, p2641, r2677, r2678
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: A 0/1 edge initiates a flying block change in the subsequent traversing block.
When the external block change is identified, the actual position is saved in r2678.
A traversing task can be influenced using the following signals:
- intermediate stop via BI: p2640.
- reject traversing task via BI: p2641.

p2634[0...n] EPOS fixed stop maximum following error / Following err max
SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(Pos ctrl), Data type: Unsigned32 Dynamic index: DDS, p0180 Func. diagram: 3617, 4025
SERVO_S110-DP
(Pos ctrl), P-Group: Closed loop position control Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
0 [LU] 2147482647 [LU] 1000 [LU]
Description: Sets the following error to detect the "fixed stop reached" state (r2526.4).
Dependency: Refer to: r2526, p2621, r2675
Note: The state "fixed stop reached" is detected if the following error exceeds the theoretically calculated following error
value by p2634.

1-396 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p2635 EPOS fixed stop monitoring window / Fixed stop monit

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(Pos ctrl), Data type: Unsigned32 Dynamic index: - Func. diagram: 3617, 4025
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
0 [LU] 2147482647 [LU] 100 [LU]
Description: Sets the monitoring window of the actual position after the fixed stop is reached.
Dependency: Refer to: r2526, r2683
Refer to: F07484
Note: If, after the fixed stop is reached, the end stop shifts in either the positive or negative direction by more than the
value set here, then BO: r2526.5 is set to 1 and an appropriate message is output.

p2637 BI: EPOS fixed stop reached / Fixed stop reached

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3616, 3617
SERVO_S110-DP
(EPOS), P-Group: Basic positioner Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 2526.4
Description: Sets the signal source for the feedback signal "fixed stop reached".
BI: p2637 = 1 signal
Fixed stop is reached.
BI: p2637 = 0 signal
Fixed stop is not reached.
Dependency: Refer to: r2526, p2634
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: The identification of "fixed stop reached" is, for the factory setting, dependent on the signal BO: r2526.4 (fixed stop
reached). This signal is influenced via p2634 (EPOS fixed stop, maximum following error).

p2638 BI: EPOS fixed stop outside the monitoring window / Fixed stop outside
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3616, 3617
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 2526.5
Description: Sets the signal source for the feedback signal "fixed stop outside the monitoring window".
BI: p2638 = 1 signal
Fixed stop is located outside the monitoring window.
BI: p2638 = 0 signal
Fixed stop is inside the monitoring window.
Dependency: Refer to: r2526, p2635
Note: The identification of "fixed stop outside the monitoring window" is, for the factory setting, dependent on signal BO:
r2526.5 (fixed stop outside window). This signal is influenced via p2635 (EPOS fixed stop monitoring window).

© Siemens AG 2012 All Rights Reserved 1-397

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p2639 BI: EPOS torque limit reached / M_limit reached

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3616
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 1407.7
Description: Sets the signal source for the feedback signal "torque limit reached" when traversing to fixed stop.
BI: p2639 = 1 signal
Torque limit is reached.
BI: p2639 = 0 signal
Torque limit is not reached.
Dependency: Refer to: r1407
Note: The feedback signal from "torque limit reached" is, for the factory setting, dependent on the signal BO: r1407.7
(torque limit reached).

p2640 BI: EPOS intermediate stop (0 signal) / Intermediate stop

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3616, 3620,
SERVO_S110-DP 3625
(EPOS),
P-Group: Basic positioner Units group: - Unit selection: -
SERVO_S110-PN
(EPOS) Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for the "no intermediate stop/intermediate stop".
BI: p2640 = 1 signal
No intermediate stop.
BI: p2640 = 0 signal
Intermediate stop.
Dependency: Refer to: p2631, p2641, p2647, p2649
Caution: For BI: p2649 = 1 signal, the following applies:
Motion starts without any explicit control signal.
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: This signal is only effective in the modes "traversing blocks" and "direct setpoint input/MDI".
When activating the intermediate stop, the axis brakes with the parameterized deceleration (p2620 or p2645).

p2641 BI: EPOS reject traversing task (0 signal) / Trav_task reject

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3616, 3620,
SERVO_S110-DP 3625
(EPOS),
P-Group: Basic positioner Units group: - Unit selection: -
SERVO_S110-PN
(EPOS) Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for "do not reject traversing task/reject traversing task".
BI: p2641 = 1 signal
Do not reject traversing task.
BI: p2641 = 0 signal
Reject traversing task.
Dependency: Refer to: p2631, p2640, p2647, p2649

1-398 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Caution: For BI: p2649 = 1 signal, the following applies:

Motion starts without any explicit control signal.
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: This signal is only effective in the modes "traversing blocks" and "direct setpoint input/MDI".
When activating reject traversing tasks, then the axis brakes with the maximum deceleration (p2573).

p2642 CI: EPOS direct setpoint input/MDI position setpoint / MDI s_set
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Integer32 Dynamic index: - Func. diagram: 3618
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 2690[0]
Description: Sets the signal source for the position setpoint in the mode "direct setpoint input/MDI".
Dependency: Refer to: p2648, p2649, p2650, p2690
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: Depending on p2649, the position setpoint is either transferred continuously or edge-triggered.
The position setpoint input is interpreted as length unit [LU].

p2643 CI: EPOS direct setpoint input/MDI velocity setpoint / MDI v_set
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Integer32 Dynamic index: - Func. diagram: 3618
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 2691[0]
Description: Sets the signal source for the velocity setpoint in the "direct setpoint input/MDI mode".
Dependency: Refer to: p2649, p2650, p2691
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: Depending on p2649, the velocity setpoint is either transferred continuously or edge-triggered.
The velocity setpoint input is interpreted as [1000 LU/min].

p2644 CI: EPOS direct setpoint input/MDI acceleration override / MDI a_over
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / FloatingPoint32 Dynamic index: - Func. diagram: 3618
SERVO_S110-DP
(EPOS), P-Group: Basic positioner Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(EPOS)
Min Max Factory setting
- - 2692[0]
Description: Sets the signal source for the acceleration override in the operating mode "direct setpoint input/MDI".
Dependency: Refer to: p2649, p2650, p2692
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: Depending on p2649, the acceleration override is either transferred continuously or edge-triggered.
The signal value 4000 hex (16384 dec) corresponds to 100 %.

© Siemens AG 2012 All Rights Reserved 1-399

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p2645 CI: EPOS direct setpoint input/MDI deceleration override / MDI -a_over
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / FloatingPoint32 Dynamic index: - Func. diagram: 3618
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(EPOS)
Min Max Factory setting
- - 2693[0]
Description: Sets the signal source for the deceleration override in the operating mode "direct setpoint input/MDI".
Dependency: Refer to: p2649, p2650, p2693
Notice: If, when calculating the traversing profile, it is identified that the target position with the programmed deceleration
override cannot be reached without reversing the direction, then when accepting the dynamic values, the larger
deceleration override is accepted and becomes effective.
The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: Depending on p2649, the deceleration override is either transferred continuously or edge-triggered.
The signal value 4000 hex (16384 dec) corresponds to 100 %.

p2646 CI: EPOS velocity override / v_over

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / FloatingPoint32 Dynamic index: - Func. diagram: 3630
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: PERCENT Expert list: 1
(EPOS)
Min Max Factory setting
- - 1
Description: Sets the signal source for the velocity override.
This velocity override is effective in the following operating modes "direct setpoint input/MDI", "traversing blocks",
"jogging" and "search for reference" (when approaching the reference cam).
Dependency: Refer to: p2571, p2585, p2586, p2605, p2618, p2643, r2681
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: The effective override (r2681) can differ from the specified override due to limits (e.g. maximum velocity).

p2647 BI: EPOS direct setpoint input/MDI selection / MDI selection

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3620, 3625,
SERVO_S110-DP 3640
(EPOS),
P-Group: Basic positioner Units group: - Unit selection: -
SERVO_S110-PN
(EPOS) Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for selecting the operating mode "direct setpoint input/MDI".
Dependency: Refer to: p2640, p2641, p2642, p2643, p2644, p2645, p2646, p2648, p2649, p2650, p2651, p2652, p2653
Note: In this mode, using BI: p2653 it is possible to make a flying changeover between setting-up and positioning.
In this mode, even if the axis is not referenced (r2684.11 = 0) relative positioning is possible.

1-400 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p2648 BI: EPOS direct setpoint input/MDI positioning type / MDI pos_type
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3620
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 0
Description: Sets the signal source for the positioning type in the mode "direct setpoint input/MDI".
BI: p2648 = 1 signal
Absolute positioning is selected.
BI: p2648 = 0 signal
Relative positioning is selected.
Dependency: Refer to: p2649, p2650, p2654
Refer to: A07461, F07488
Notice: Absolute positioning:
To traverse, the reference point must be set (r2684.11 = 1).
Relative positioning:
To traverse, it is not necessary that the reference point is set.
Note: Depending on p2649, the positioning type is either transferred continuously or edge-triggered.
Binector input p2648 is only evaluated when connector input p2654 = 0. If p2654 is a value other than 0, the posi-
tioning type is evaluated by means of the set signal source.

p2649 BI: EPOS direct setpoint input/MDI transfer type selection / MDI trans_type sel
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3620
SERVO_S110-DP
(EPOS), P-Group: Basic positioner Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 0
Description: Sets the signal source to define how values are transferred in the operating mode "direct setpoint input/MDI".
BI: p2649 = 1 signal
Values are continually transferred (refer to parameter under dependency).
BI: p2649 = 0 signal
The values are transferred for BI: p2650 = 0/1 signal.
Dependency: Refer to: p2642, p2643, p2644, p2645, p2648, p2650, p2651, p2652
Caution: For BI: p2649 = 1 signal, the following applies:
Motion starts without any explicit control signal.
Note: Parameter p2649 can only be changed when p0922 (p2079) = 999.

p2650 BI: EPOS direct setpoint input/MDI setpoint acceptance edge / MDI setp_accept
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3620
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 0
Description: Sets the signal source to accept the values for edge-triggered selection (BI: p2649 = 0 signal) in the operating mode
"direct setpoint input/MDI".

© Siemens AG 2012 All Rights Reserved 1-401

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

BI: p2650 = 0/1 signal and BI: p2649 = 0 signal

Values are accepted, edge-triggered (refer to parameter under dependency).
Dependency: Refer to: p2640, p2641, p2642, p2643, p2644, p2645, p2648, p2649, p2651, p2652, r2684
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: The status signal r2684.12 = 0/1 signal is used for acknowledgement.
The operating mode "direct setpoint input/MDI" can be influenced via the following signals:
- intermediate stop via BI: p2640.
- reject traversing task via BI: p2641.

p2651 BI: EPOS direct setpoint input/MDI direction selection, positive / MDI dir_sel pos
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3620
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 0
Description: Sets the signal source for the positive direction selection in the operating mode "direct setpoint input/MDI".
Dependency: Refer to: p2576, p2648, p2649, p2650, p2652, p2653, p2654
Note: The following applies for "setting-up":
- the traversing direction can be entered using this binector input.
- if both directions (p2651, p2652) are selected, then the axis remains stationary (zero speed).
- if both directions (p2651, p2652) are de-selected, then the axis remains stationary (zero speed).
The following applies for "positioning":
Using binector inputs p2651 and p2652, when the modulo correction (BI: p2577 = 1 signal) is activated and for
absolute positioning (BI: p2648 = 1 signal), the traversing direction is specified as follows:
BI: p2651 / BI: p2652
0 signal / 0 signal: Absolute positioning through the shortest distance.
1 signal / 0 signal: Absolute positioning in the positive direction.
0 signal / 1 signal: Absolute positioning in the negative direction.
1 signal / 1 signal: Absolute positioning through the shortest distance.

p2652 BI: EPOS direct setpoint input/MDI direction selection, negative / MDI dir_sel neg
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3620
SERVO_S110-DP
(EPOS), P-Group: Basic positioner Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 0
Description: Sets the signal source for the negative direction selection in the operating mode "direct setpoint input/MDI".
Dependency: Refer to: p2576, p2648, p2649, p2650, p2651, p2653, p2654
Note: The following applies for "setting-up":
- the traversing direction can be entered using this binector input.
- if both directions (p2651, p2652) are selected, then the axis remains stationary (zero speed).
- if both directions (p2651, p2652) are de-selected, then the axis remains stationary (zero speed).
The following applies for "positioning":
Using binector inputs p2651 and p2652, when the modulo correction (BI: p2577 = 1 signal) is activated and for
absolute positioning (BI: p2648 = 1 signal), the traversing direction is specified as follows:
BI: p2651 / BI: p2652
0 signal / 0 signal: Absolute positioning through the shortest distance.
1 signal / 0 signal: Absolute positioning in the positive direction.

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 Parameter
List of parameters

0 signal / 1 signal: Absolute positioning in the negative direction.

1 signal / 1 signal: Absolute positioning through the shortest distance.

p2653 BI: EPOS direct setpoint input/MDI setting-up selection / MDI setting-up sel
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3620
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 0
Description: Sets the signal source for setting-up in the operating mode "direct setpoint input/MDI".
BI: p2653 = 1 signal
Setting-up selected.
BI: p2653 = 0 signal
Positioning selected.
Dependency: Refer to: p2651, p2652
Note: In the operating mode "direct setpoint input/MDI", it is possible to make a flying changeover between setting-up and
positioning.
For "setup" (BI: p2653 = 1 signal), the following applies:
A traversing direction must be selected via binector inputs p2651 and p2652.

p2654 CI: EPOS direct setpoint input/MDI mode adaptation / MDI mode adapt
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Integer16 Dynamic index: - Func. diagram: 3620
SERVO_S110-DP
(EPOS), P-Group: Basic positioner Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 0
Description: Sets the signal source to interconnect the MDI mode to the operating mode "direct setpoint input MDI" via PROFI-
BUS telegram 110.
CI: p2654 = 0
The binector inputs listed below are evaluated.
CI: p2654 > 0
The following binector inputs are not evaluated:
- BI: p2648 (positioning type)
- BI: p2651 (direction selection, positive)
- BI: p2652 (direction selection, negative)
In this case, the following definitions apply:
Signal via CI: p2654 = xx0x hex -> absolute
Signal via CI: p2654 = xx1x hex -> relative
Signal via CI: p2654 = xx2x hex -> abs_pos (only for modulo correction)
Signal via CI: p2654 = xx3x hex -> abs_neg (only for modulo correction)
Dependency: Refer to: p2648, p2651, p2652

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 Parameter
List of parameters

p2655[0...1] BI: EPOS select tracking mode / Sel tracking mode

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3635
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - [0] 1
[1] 2526.7
Description: Sets the signal source to select tracking mode.
BI: p2655[0] or BI: p2655[1] = 1 signal
Tracking mode after withdrawing the enable signal from EPOS (BI: p2656 = 0 signal).
BI: p2655[0] and BI: p2655[1] = 0 signal
No tracking mode after withdrawing the enable signal from EPOS (BI: p2656 = 0 signal).
Dependency: Refer to: p2656
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: For the following events, independent of the signal that is present, tracking mode is selected:
- after booting.
- after a 0/1 signal at BI: p2658 (EPOS position actual value, valid feedback signal).
- while a fault is present.

p2656 BI: EPOS enable basic positioner / EPOS enable

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3635
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 2526.3
Description: Sets the signal source to enable the basic positioner.
BI: p2656 = 1 signal
The basic positioner is enabled.
BI: p2656 = 0 signal
The basic positioner is not enabled.
Dependency: Refer to: r2526, p2655

p2657 CI: EPOS position actual value/position setting value / Pos act/set value
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(EPOS), Data type: Unsigned32 / Integer32 Dynamic index: - Func. diagram: 3610, 3616,
SERVO_S110-DP 3620, 3635
(EPOS),
P-Group: Basic positioner Units group: - Unit selection: -
SERVO_S110-PN
(EPOS) Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 2521[0]
Description: Sets the signal source for the position actual value/position setting value.
Dependency: Refer to: r2521, p2658
Note: In the tracking mode, the position setpoint is taken from this connector input.

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 Parameter
List of parameters

p2658 BI: EPOS pos. actual value valid, feedback signal / Pos valid feedback
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3635
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 2526.0
Description: Sets the signal source for the feedback signal "position actual value is valid".
BI: p2658 = 1 signal
The position actual value received via CI: p2657 is valid.
BI: p2658 = 0 signal
The position actual value received via CI: p2657 is invalid.
Dependency: Refer to: r2526, p2657
Note: While a 0 signal is present, the position setpoint (p2665) is held at the value of 0.

p2659 BI: EPOS referencing active feedback signal / Ref act fdbk
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3612
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 2526.1
Description: Sets the signal source for the feedback signal "referencing active".
BI: p2659 = 1 signal
Referencing is active.
BI: p2659 = 0 signal
Referencing is not active.
Dependency: Refer to: r2526

p2660 CI: EPOS measured value referencing / Meas val ref

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(EPOS), Data type: Unsigned32 / Integer32 Dynamic index: - Func. diagram: 3612, 3614
SERVO_S110-DP
(EPOS), P-Group: Basic positioner Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 2523[0]
Description: Sets the signal source for the measured value for the function "referencing".
Dependency: Refer to: r2523

p2661 BI: EPOS measured value valid, feedback signal / MeasVal valid fdbk
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3612, 3614,
SERVO_S110-DP 3615
(EPOS),
P-Group: Basic positioner Units group: - Unit selection: -
SERVO_S110-PN
(EPOS) Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 2526.2
Description: Sets the signal source for the feedback signal "measured value valid".

© Siemens AG 2012 All Rights Reserved 1-405

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 Parameter
List of parameters

BI: p2661 = 1 signal

The measured value received via CI: p2660 is valid.
BI: p2661 = 0 signal
The measured value received via CI: p2660 is invalid.
Dependency: Refer to: r2526, p2660

p2662 BI: EPOS adjustment value valid feedback signal / Adj val valid FS
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: -
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 2526.9
Description: Sets the signal source for the feedback signal "adjustment value valid".
BI: p2662 = 1 signal
The adjustment value received via CI: p2660 is valid.
BI: p2662 = 0 signal
The adjustment value received via CI: p2660 is not valid.
Dependency: Refer to: r2526, p2660

p2663 BI: EPOS clamping active feedback signal / Clamping active FS

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
(EPOS), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 3616
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - 2526.8
Description: Sets the signal source for the feedback signal "clamping active for travel to fixed stop".
BI: p2663 = 1 signal
Clamping is active
BI: p2663 = 0 signal
Clamping is not active.
Dependency: Refer to: r2526
Note: The feedback signal from "terminals active" is, for the factory setting, dependent on the signal BO: r2526.8 (termi-
nals active when moving to a fixed stop).

r2665 CO: EPOS position setpoint / s_set

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 1
(EPOS), Data type: Integer32 Dynamic index: - Func. diagram: 3635
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- [LU] - [LU] - [LU]
Description: Displays the current absolute position setpoint.
Dependency: Refer to: p2530
Note: As standard, the following BICO interconnection is established: CI: p2530 = r2665

1-406 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

r2666 CO: EPOS velocity setpoint / v_set

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 1
(EPOS), Data type: Integer32 Dynamic index: - Func. diagram: 3635
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- [1000 LU/min] - [1000 LU/min] - [1000 LU/min]
Description: Displays the current velocity setpoint.
Dependency: Refer to: p2531
Note: As standard, the following BICO interconnection is established: CI: p2531 = r2666

r2667 CO: EPOS backlash compensation value / Backlash value

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 1
(EPOS), Data type: Integer32 Dynamic index: - Func. diagram: 3635
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- [LU] - [LU] - [LU]
Description: Displays the currently effective value for backlash compensation.
Dependency: Refer to: p2516
Note: As standard, the following BICO interconnection is established: CI: p2516 = r2667

r2669 CO: EPOS current operating mode / Op mode act

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 1
(EPOS), Data type: Integer32 Dynamic index: - Func. diagram: 3625, 3630
SERVO_S110-DP
(EPOS), P-Group: Basic positioner Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - -
Description: Displays the current active operating mode.
Value = 00 hex -> no operating mode active
Value = 01 hex -> jogging active
Value = 02 hex -> search for reference active
Value = 04 hex -> traversing blocks active
Value = 08 hex -> Positioning for direct setpoint input/MDI active
Value = 10 hex -> Setting-up for direct setpoint input/MDI active
Value = 20 hex -> flying referencing active
Dependency: Refer to: p2589, p2590, p2595, p2631, p2647, p2653

r2670.0...15 CO/BO: EPOS status word, active traversing block / ZSW act trav_block
SERVO_S110-CAN Can be changed: - Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 Dynamic index: - Func. diagram: 3615, 3625,
SERVO_S110-DP 3650
(EPOS),
P-Group: Basic positioner Units group: - Unit selection: -
SERVO_S110-PN
(EPOS) Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the status word for the active traversing block.

© Siemens AG 2012 All Rights Reserved 1-407

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r2670.0: Active traversing block, bit 0

...
r2670.5: Active traversing block, bit 5
r2670.15: MDI active
Bit field: Bit Signal name 1 signal 0 signal FP
00 Active traversing block, bit 0 Active Not active -
01 Active traversing block, bit 1 Active Not active -
02 Active traversing block, bit 2 Active Not active -
03 Active traversing block, bit 3 Active Not active -
04 Active traversing block, bit 4 Active Not active -
05 Active traversing block, bit 5 Active Not active -
15 MDI active Active Not active -
Dependency: Refer to: p2631, p2647
Note: Re bit 00 ... 05:
Displays the active traversing block in the traversing blocks operating mode.
Re bit 15:
For a 1 signal, the operating mode - direct setpoint input/MDI - is active

r2671 CO: EPOS current position setpoint / s_set act

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 1
(EPOS), Data type: Integer32 Dynamic index: - Func. diagram: 3610, 3616,
SERVO_S110-DP 3620
(EPOS),
SERVO_S110-PN P-Group: Basic positioner Units group: - Unit selection: -
(EPOS) Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [LU] - [LU] - [LU]
Description: Displays the position setpoint presently being processed.
Note: A position of 0 is displayed for non position-related tasks (e.g. ENDLESS_POS, ENDLESS_NEG).

r2672 CO: EPOS current velocity setpoint / v_set act

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 1
(EPOS), Data type: Integer32 Dynamic index: - Func. diagram: 3610, 3612,
SERVO_S110-DP 3616, 3620
(EPOS),
P-Group: Basic positioner Units group: - Unit selection: -
SERVO_S110-PN
(EPOS) Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [1000 LU/min] - [1000 LU/min] - [1000 LU/min]
Description: Displays the velocity setpoint presently being processed.

r2673 CO: EPOS current acceleration override / a_over act

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 1
(EPOS), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 3610, 3612,
SERVO_S110-DP 3616, 3620
(EPOS),
P-Group: Basic positioner Units group: - Unit selection: -
SERVO_S110-PN
(EPOS) Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the acceleration override presently being processed.
Note: An override of 100% is effective in the "jogging" and "search for reference" operating modes.

1-408 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

r2674 CO: EPOS current deceleration override / -a_over act

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 1
(EPOS), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 3610, 3612,
SERVO_S110-DP 3616, 3620
(EPOS),
P-Group: Basic positioner Units group: - Unit selection: -
SERVO_S110-PN
(EPOS) Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the deceleration override presently being processed.
Note: An override of 100% is effective in the "jogging" and "search for reference" operating modes.

r2675 CO: EPOS current task / Task cur

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 1
(EPOS), Data type: Integer16 Dynamic index: - Func. diagram: 3616
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
0 9 -
Description: Displays the task that is presently being processed.
Value: 0: Inactive
1: POSITIONING
2: FIXED STOP
3: ENDLESS_POS
4: ENDLESS_NEG
5: WAITING
6: GOTO
7: SET_O
8: RESET_O
9: JERK
Dependency: Refer to: p2621

r2676 CO: EPOS current task parameter / Task para cur

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 1
(EPOS), Data type: Integer32 Dynamic index: - Func. diagram: 3616
SERVO_S110-DP
(EPOS), P-Group: Basic positioner Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - -
Description: Displays the task parameter presently being processed in the "traversing blocks" operating mode.
Dependency: Refer to: p2622
Note: The following is displayed depending on the task:
FIXED STOP: Clamping torque (0 ... 65536 [0.01 Nm]) or clamping force (0 ... 65536 [N])
WAIT: Delay time [ms]
GOTO: Block number
SET_O: 1, 2, 3 --> direct output 1, 2 or 3 (both) is set
RESET_O: 1, 2, 3 --> direct output 1, 2 or 3 (both) is set
JERK: 0 --> de-activate, 1 --> activate

© Siemens AG 2012 All Rights Reserved 1-409

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r2677 CO: EPOS current task mode / Task mode cur

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 1
(EPOS), Data type: Unsigned16 Dynamic index: - Func. diagram: 3616
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- - -
Description: Displays the task mode presently being processed.
Dependency: Refer to: p2623

r2678 CO: EPOS external block change / Ext BlckChg s_act

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 1
(EPOS), Data type: Integer32 Dynamic index: - Func. diagram: 3615, 3616,
SERVO_S110-DP 3620
(EPOS),
SERVO_S110-PN P-Group: Basic positioner Units group: - Unit selection: -
(EPOS) Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [LU] - [LU] - [LU]
Description: Displays the actual position for the following events:
- external block change via measuring probe (p2632 = 0, BI: p2661 = 0/1 signal).
- external block change via BI: p2633 (p2632 = 1, BI: p2633 = 0/1 signal).
- activate traversing task (BI: p2631 = 0/1 signal).
Dependency: Refer to: p2631, p2632, p2633, p2661

r2680 CO: EPOS clearance, reference cam and zero mark / Clearance cam/ZM
SERVO_S110-CAN Can be changed: - Calculated: - Access level: 1
(EPOS), Data type: Integer32 Dynamic index: - Func. diagram: 3612
SERVO_S110-DP
(EPOS), P-Group: Basic positioner Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- [LU] - [LU] - [LU]
Description: Displays the clearance determined between the reference cam and zero mark in the search for reference.

r2681 CO: EPOS velocity override effective / v_over effective

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 1
(EPOS), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 3630
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the currently effective velocity override.
Dependency: Refer to: p2571, p2646
Note: The effective override can differ from the specified override due to limits (e.g. p2571, maximum velocity).

1-410 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r2682 CO: EPOS residual distance to go / Residual distance

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 1
(EPOS), Data type: Integer32 Dynamic index: - Func. diagram: 3635
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- [LU] - [LU] - [LU]
Description: Displays the current residual distance.
The remaining distance is the distance to still to be moved through up to the end of the current positioning task.
Dependency: Refer to: r2665, r2671, r2678

r2683.0...14 CO/BO: EPOS status word 1 / POS_ZSW1

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 1
(Pos ctrl), Data type: Unsigned16 Dynamic index: - Func. diagram: 3645
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
- - -
Description: Displays status word 1 for the basic positioner (EPOS).
Bit field: Bit Signal name 1 signal 0 signal FP
00 Tracking mode active Yes No 3635,
4020
01 Velocity limiting active Yes No 3630
02 Setpoint available Yes No 3635
03 Target position reached Yes No 3635
04 Axis moves forwards Yes No 3635
05 Axis moves backwards Yes No 3635
06 Software limit switch minus reached Yes No 3635
07 Software limit switch plus reached Yes No 3635
08 Position actual value <= cam switching posi- Yes No 4025
tion 1
09 Position actual value <= cam switching posi- Yes No 4025
tion 2
10 Direct output 1 via traversing block Yes No 3616
11 Direct output 2 via traversing block Yes No 3616
12 Fixed stop reached Yes No 3616,
3617
13 Fixed stop clamping torque reached Yes No 3616,
3617
14 Travel to fixed stop active Yes No 3616,
3617
Dependency: Refer to: r2684
Note: Re bit 02, 04, 05, 06, 07:
This signals designate the state after jerk limiting.
Re bit 08, 09:
These signals are generated in the "closed-loop position control" function module.

© Siemens AG 2012 All Rights Reserved 1-411

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r2684.0...15 CO/BO: EPOS status word 2 / POS_ZSW2

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 1
(Pos ctrl), Data type: Unsigned16 Dynamic index: - Func. diagram: 3646
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
- - -
Description: Displays status word 2 for the basic positioner (EPOS).
Bit field: Bit Signal name 1 signal 0 signal FP
00 Search for reference active Active Not active 3612
01 Flying referencing active Active Not active 3614
02 Referencing active Active Not active -
03 Printing mark outside outer window Yes No 3614
04 Axis accelerating Yes No 3635
05 Axis decelerating Yes No 3635
06 Jerk limiting active Yes No 3635
07 Activate correction Yes No 3635
08 Following error in tolerance Yes No 4025
09 Modulo correction active Yes No -
10 Target position reached Yes No 4020
11 Reference point set Yes No 3612,
3614,
3630
12 Acknowledgement, traversing block acti- Yes No 3616,
vated 3620
13 STOP cam minus active Yes No 3630
14 STOP cam plus active Yes No 3630
15 Traversing command active Yes No 3635
Note: Re bit 02:
The "referencing active" signal is an OR logic operation of "search for reference active" and "flying referencing
active".
Re bit 00 ... 07 and 11 ... 14:
These signals are generated in the function module "basic positioner".
Re bit 08:
The signal is generated in the "closed-loop position control" function module.

r2685 CO: EPOS corrective value / Corrective value

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 1
(EPOS), Data type: Integer32 Dynamic index: - Func. diagram: 3635
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- [LU] - [LU] - [LU]
Description: Displays the corrective value for the position actual value.
Dependency: Refer to: r2684
Note: As standard, the following BICO interconnection is established: CI: p2513 = r2685
Using this value, e.g. modulo corrections are carried out.

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 Parameter
List of parameters

r2686[0...1] CO: EPOS torque limiting effective / M_limit eff

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 3
(EPOS), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 3616, 3617
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the effective torque limiting.
r2686[0]: Displays the effective upper torque limiting when traversing to fixed stop (referred to CI: p1522, CI:
p1523).
r2686[1]: Displays the effective lower torque limiting when traversing to fixed stop (referred to CI: p1522, CI:
p1523).
Dependency: Refer to: p1520, p1521, p1522, p1523, r2676
Note: As standard, the following BICO interconnections are established:
CI: p1528 = r2686[0]
CI: p1529 = r2686[1]

r2687 CO: EPOS torque setpoint / M_set

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 3
(EPOS), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 3616, 3617
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
- [Nm] - [Nm] - [Nm]
Description: Displays the effective torque setpoint when reaching the fixed stop (referred to CI: p1522, CI: p1523).
Dependency: Refer to: p1520, p1521, p1522, p1523, r2676

p2690 CO: EPOS position fixed setpoint / Pos fixed value

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(EPOS), Data type: Integer32 Dynamic index: - Func. diagram: 3618
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
-2147482648 [LU] 2147482647 [LU] 0 [LU]
Description: Sets a fixed setpoint for the position.
Dependency: Refer to: p2642, p2648
Note: As standard, the following BICO interconnection is established: CI: p2642 = r2690

p2691 CO: EPOS velocity fixed setpoint / v fixed value

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(EPOS), Data type: Unsigned32 Dynamic index: - Func. diagram: 3618
SERVO_S110-DP
(EPOS), P-Group: Basic positioner Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
1 [1000 LU/min] 40000000 [1000 LU/min] 600 [1000 LU/min]
Description: Sets a fixed setpoint for the velocity.
Dependency: Refer to: p2643
Note: As standard, the following BICO interconnection is established: CI: p2643 = r2691

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 Parameter
List of parameters

p2692 CO: EPOS acceleration override, fixed setpoint / a_over fixed val
SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(EPOS), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 3618
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
0.100 [%] 100.000 [%] 100.000 [%]
Description: Sets a fixed setpoint for the acceleration override.
Dependency: Refer to: p2572, p2644
Note: As standard, the following BICO interconnection is established: CI: p2644 = r2692
The percentage value refers to the maximum acceleration (p2572).

p2693 CO: EPOS deceleration override, fixed setpoint / -a_over fixed val
SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 1
(EPOS), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 3618
SERVO_S110-DP
P-Group: Basic positioner Units group: - Unit selection: -
(EPOS),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(EPOS)
Min Max Factory setting
0.100 [%] 100.000 [%] 100.000 [%]
Description: Sets a fixed setpoint for the deceleration override.
Dependency: Refer to: p2573, p2645
Note: As standard, the following BICO interconnection is established: CI: p2645 = r2693
The percentage value refers to the maximum deceleration (p2573).

r2700 CO: Reference speed/reference frequency / n_ref/f_ref

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Display and connector output for the reference quantity for speed and frequency (p2000).
All speeds or frequencies specified as relative value are referred to this reference quantity.
The reference quantity in this parameter corresponds to 100% or 4000 hex or 4000 0000 hex.
The following applies: Reference frequency (in Hz) = reference speed (in rpm) / 60
This parameter has the unit rpm.
Dependency: Refer to: p2000
Note: This parameter provides the numerical value of the reference quantity p2000 as a connector output for interconnec-
tion with Drive Control Chart (DCC). The numerical value can be adopted unchanged from this connector output in
DCC.

r2701 CO: Reference voltage / Reference voltage

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Connector output of the reference quantity for voltages p2001.

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 Parameter
List of parameters

All voltages specified as relative value are referred to this reference quantity. The reference quantity in this param-
eter corresponds to 100% or 4000 hex or 4000 0000 hex.
This parameter has the unit Vrms.
Dependency: Refer to: p2001
Note: This parameter provides the numerical value of the reference quantity p2001 as a connector output for interconnec-
tion with Drive Control Chart (DCC). The numerical value can be adopted unchanged from this connector output in
DCC.

r2702 CO: Reference current / Reference current

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Connector output of the reference quantity for currents p2002.
All currents specified as relative value are referred to this reference quantity. The reference quantity in this parame-
ter corresponds to 100% or 4000 hex or 4000 0000 hex.
This parameter has the unit Arms.
Dependency: Refer to: p2002
Note: This parameter provides the numerical value of the reference quantity p2002 as a connector output for interconnec-
tion with Drive Control Chart (DCC). The numerical value can be adopted unchanged from this connector output in
DCC.

r2703 CO: Reference torque / Reference torque

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Connector output of the reference quantity p2003 for torque (r0108.12 = 0) or force (r0108.12 = 1).
All torques specified as relative values (r0108.12 = 0) or forces (r0108.12 = 1) are referred to this reference quan-
tity. The reference quantity in this parameter corresponds to 100% or 4000 hex or 4000 0000 hex.
The unit of this parameter is the same as the unit selected for p2003.
Dependency: p0505, r0108.12
Refer to: p2003
Note: This parameter provides the numerical value of the reference quantity p2003 in the currently selected unit as a con-
nector output for interconnection with Drive Control Chart (DCC). The numerical value can be adopted unchanged
from this connector output in DCC.

r2704 CO: Reference power / Reference power

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Connector output of the reference quantity for powers p2004.
All power ratings specified as relative value are referred to this reference quantity. The reference quantity in this
parameter corresponds to 100% or 4000 hex or 4000 0000 hex.
The unit of this parameter is the same as the unit selected for p2004.
Dependency: This value is calculated as voltage x current for the infeed and as torque x speed for closed-loop controls.
Refer to: r2004

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 Parameter
List of parameters

Note: This parameter provides the numerical value of the reference quantity p2004 in the currently selected unit as a con-
nector output for interconnection with Drive Control Chart (DCC). The numerical value can be adopted unchanged
from this connector output in DCC.
The reference power is calculated as follows:
- 2 * Pi * reference speed / 60 * reference torque (motor)
- reference voltage * reference current * root(3) (infeed)

r2705 CO: Reference angle / Reference angle

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Connector output of the reference quantity for angles p2005.
All angles specified as relative value are referred to this reference quantity. The reference quantity in this parameter
corresponds to 100% or 4000 hex or 4000 0000 hex.
This parameter has the unit degree.
Dependency: Refer to: p2005
Note: This parameter provides the numerical value of the reference quantity p2005 as a connector output for interconnec-
tion with Drive Control Chart (DCC). The numerical value can be adopted unchanged from this connector output in
DCC.

r2706 CO: Reference temp / Reference temp

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Connector output of the reference quantity for temperatures.
All temperatures specified as relative value are referred to this reference quantity. The reference quantity in this
parameter corresponds to 100% or 4000 hex or 4000 0000 hex.
This parameter has the unit degree Celsius.
Note: This parameter provides the numerical value of the reference quantity for the temperature as a connector output for
interconnection with Drive Control Chart (DCC). The numerical value can be adopted unchanged from this connec-
tor output in DCC.

r2707 CO: Reference acceleration / Ref accel

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Connector output of the reference quantity for accelerations p2007.
All acceleration rates specified as relative value are referred to this reference quantity. The reference quantity in
this parameter corresponds to 100% or 4000 hex or 4000 0000 hex.
The unit of this parameter is the same as the unit selected for p2007.
Dependency: r0108.12, p0505
Refer to: p2007
Note: This parameter provides the numerical value of the reference quantity p2007 as a connector output for interconnec-
tion with Drive Control Chart (DCC). The numerical value in the currently selected unit can be adopted unchanged
from this connector output in DCC.

1-416 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

p2720[0...n] Load gear configuration / Load gear config

SERVO_S110-CAN, Can be changed: C2(1, 4) Calculated: - Access level: 1
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: DDS, p0180 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 bin
Description: Sets the configuration for position tracking of a load gear.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Load gear, activate position tracking Yes No -
01 Axis type Linear axis Rotary axis -
02 Load gear, reset position Yes No -
Note: For the following events, the non-volatile, saved position values are automatically reset:
- when an encoder replacement has been identified.
- when changing the configuration of the Encoder Data Set (EDS).
- when adjusting the absolute encoder again

p2721[0...n] Load gear, rotary absolute gearbox, revolutions, virtual / Abs rot rev
SERVO_S110-CAN, Can be changed: C2(1, 4) Calculated: - Access level: 1
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: DDS, p0180 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 4194303 0
Description: Sets the number of rotations that can be resolved for a rotary absolute encoder with activated position tracking of
the load gear.
Dependency: This parameter is only of significance for an absolute encoder (p0404.1 = 1) with activated position tracking of the
load gear (p2720.0 = 1).
Note: The resolution that is set must be able to be represented using r2723.
For rotary axes/modulo axes, the following applies:
This parameter is pre-set with p0421 and can be changed.
For linear axes, the following applies:
This parameter is pre-assigned with p0421, expanded by 6 bits for multiturn information (maximum number of over-
flows) and cannot be changed.

p2722[0...n] Load gear, position tracking tolerance window / Pos track tol
SERVO_S110-CAN, Can be changed: C2(1, 4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 4294967300.00 0.00
Description: Sets a tolerance window for position tracking.
After the system is powered up, the difference between the saved position and the actual position is determined,
and depending on this, the following is initiated:
Difference within the tolerance window --> The position is reproduced as a result of the encoder actual value.
Difference outside the tolerance window --> An appropriate message is output.
Dependency: Refer to: F07449
Caution: Rotation, e.g. through a complete encoder range is not detected.

© Siemens AG 2012 All Rights Reserved 1-417

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 Parameter
List of parameters

Note: The value is entered in integer (complete) encoder pulses.

For p2720.0 = 1, the value is automatically pre-assigned quarter of the encoder range.
Example:
Quarter of the encoder range = (p0408 * p0421) / 4
It is possible that the tolerance window may not be able to be precisely set due to the data type (floating point num-
ber with 23 bit mantissa).

r2723[0...n] CO: Load gear absolute value / Load gear abs_val

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 1
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: DDS, p0180 Func. diagram: 4010, 4704
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the absolute value after the load gear.
Notice: The encoder position actual value must be requested using the encoder control word Gn_STW.13.
Note: The increments are displayed in the format the same as r0483.

r2724[0...n] CO: Load gear position difference / Load gear pos diff
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 1
SERVO_S110-DP, Data type: Integer32 Dynamic index: DDS, p0180 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the position difference before the load gear between powering down and powering up.
Note: The increments are displayed in the same format as for r0483/r2723.
If the measuring gear of the motor encoder is not activated, the position difference should be read in encoder incre-
ments.
If the measuring gear of the motor encoder is activated, the position difference is converted using the measuring
gear factor.

p2730[0...3] BI: LR pos. actual value preprocessing activate neg. corr. (edge) /
ActV_prep neg corr
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 1
(Pos ctrl), Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 4010, 4015
SERVO_S110-DP
P-Group: Closed loop position control Units group: - Unit selection: -
(Pos ctrl),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Pos ctrl)
Min Max Factory setting
- - 0
Description: Sets the signal source for the function "activate position actual value preprocessing, negative corrective value
(edge)".
0/1 signal:
The correction value available via CI: p2513 is negated and activated.
Index: [0] = Closed-loop position control
[1] = Encoder 1
[2] = Encoder 2
[3] = Reserved
Dependency: Refer to: p2502, p2513, r2684
Note: When the pulse/direction interface is activated in position control (p0184 > 0 and p0400 = 9000) the following BICO
interconnections are established:
BI:p2730[0] = r0722.2 and BI: p2730[p0184] = r0722.2

1-418 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

p2810[0...1] BI: AND logic operation inputs / AND inputs

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 2634
SERVO_S110-PN
P-Group: Functions Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal sources for the inputs of the AND logic operation.
Dependency: Refer to: r2811
Note: [0]: AND logic operation, input 1 --> the result is displayed in r2811.0.
[1]: AND logic operation, input 2 --> the result is displayed in r2811.0.

r2811.0 CO/BO: AND logic operation result / AND result

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 2634
SERVO_S110-PN
P-Group: Functions Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the result of the AND logic operation
Bit field: Bit Signal name 1 signal 0 signal FP
00 AND logic operation result Yes No -
Dependency: Refer to: p2810

p2816[0...1] BI: OR logic operation inputs / OR inputs

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 2634
SERVO_S110-PN
P-Group: Functions Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal sources for the inputs of the OR logic operation.
Dependency: Refer to: r2817
Note: [0]: OR logic operation, input 1 --> the result is displayed in r2817.0.
[1]: OR logic operation, input 2 --> the result is displayed in r2817.0.

r2817.0 CO/BO: OR logic operation result / OR result

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 2634
SERVO_S110-PN
P-Group: Functions Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the result of the OR logic operation.
Bit field: Bit Signal name 1 signal 0 signal FP
00 OR logic operation result Yes No -
Dependency: Refer to: p2816

© Siemens AG 2012 All Rights Reserved 1-419

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 Parameter
List of parameters

p2900[0...n] CO: Fixed value 1 [%] / Fixed value 1 [%]

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 1021
SERVO_S110-PN
P-Group: Free function blocks Units group: - Unit selection: -
Not for motor type: - Scaling: PERCENT Expert list: 1
Min Max Factory setting
-10000.00 [%] 10000.00 [%] 0.00 [%]
Description: Sets a fixed percentage.
Dependency: Refer to: p2901, p2930
Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.
Note: The value can be used to interconnect a scaling function (e.g. scaling of the main setpoint)

p2901[0...n] CO: Fixed value 2 [%] / Fixed value 2 [%]

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 1021
SERVO_S110-PN
P-Group: Free function blocks Units group: - Unit selection: -
Not for motor type: - Scaling: PERCENT Expert list: 1
Min Max Factory setting
-10000.00 [%] 10000.00 [%] 0.00 [%]
Description: Sets a fixed percentage.
Dependency: Refer to: p2900, p2930
Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.
Note: The value can be used to interconnect a scaling function (e.g. scaling of the supplementary setpoint)

r2902[0...14] CO: Fixed values [%] / Fixed values [%]

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 1
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 1021
SERVO_S110-PN
P-Group: Free function blocks Units group: - Unit selection: -
Not for motor type: - Scaling: PERCENT Expert list: 1
Min Max Factory setting
- [%] - [%] - [%]
Description: Signal sources for frequently used percentage values.
Index: [0] = Fixed value +0 %
[1] = Fixed value +5 %
[2] = Fixed value +10 %
[3] = Fixed value +20 %
[4] = Fixed value +50 %
[5] = Fixed value +100 %
[6] = Fixed value +150 %
[7] = Fixed value +200 %
[8] = Fixed value -5 %
[9] = Fixed value -10 %
[10] = Fixed value -20 %
[11] = Fixed value -50 %
[12] = Fixed value -100 %
[13] = Fixed value -150%
[14] = Fixed value -200 %
Dependency: Refer to: p2900, p2901, p2930
Note: The signal sources can, for example, be used to interconnect scalings.

1-420 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

p2930[0...n] CO: Fixed value M [Nm] / Fixed value M [Nm]

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 1021
SERVO_S110-PN
P-Group: Free function blocks Units group: 7_1 Unit selection: p0505
Not for motor type: REL Scaling: p2003 Expert list: 1
Min Max Factory setting
-100000.00 [Nm] 100000.00 [Nm] 0.00 [Nm]
Description: Sets a fixed value for torque.
Dependency: Refer to: p2900, p2901
Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.
Note: The value can, for example, be used to interconnect a supplementary torque.

p3016 MotId torque constant identified / kT ident

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_ALL Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: 28_1 Unit selection: p0100
Not for motor type: ASM, REL, FEM Scaling: - Expert list: 1
Min Max Factory setting
0.00 [Nm/A] 100.00 [Nm/A] 0.00 [Nm/A]
Description: Torque constant for the synchronous motor determined by the motor data identification.
This torque constant can be changed after the identification and accepted in p0316 with p1910/p1960 = -3.
Dependency: Refer to: p0316, r0334, r1937, p1960

p3017 MotId voltage constant identified / kE ident

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_ALL Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: ASM, REL, FEM Scaling: - Expert list: 1
Min Max Factory setting
0.0 [Vrms] 10000.0 [Vrms] 0.0 [Vrms]
Description: Voltage constant for a synchronous motor determined by the motor data identification.
This voltage constant can be changed after the identification and accepted in p0317 with p1910/p1960 = -3.
Units for rotating synchronous motors: Vrms/(1000 rpm), phase-to-phase
Dependency: Refer to: r1938, p1960

p3020 MotId magnetizing current identified / I_mag ident

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_ALL Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: REL, FEM Scaling: - Expert list: 1
Min Max Factory setting
0.000 [Arms] 5000.000 [Arms] 0.000 [Arms]
Description: Magnetizing current for an induction motor determined by the motor data identification.
This magnetizing current can be changed after the identification and accepted in p0320 with p1910/p1960 = -3.
Dependency: Refer to: p0320, r0331, p1910, r1948, p1960

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 Parameter
List of parameters

p3027 MotId optimum load angle identified / phi_load opt ident

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_ALL Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: ASM, REL, FEM Scaling: - Expert list: 1
Min Max Factory setting
0.0 [°] 135.0 [°] 0.0 [°]
Description: Optimum load angle for a synchronous motor determined by the motor data identification.
This optimum load angle can be changed after the identification and accepted in p0327 with p1910/p1960 = -3.
Dependency: Refer to: p0327, r1947, p1960

p3028 MotId reluctance torque constant identified / kT_reluct ident

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_ALL Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: ASM, REL, FEM Scaling: - Expert list: 1
Min Max Factory setting
-1000.00 [mH] 1000.00 [mH] 0.00 [mH]
Description: Reluctance torque constant for a synchronous motor determined by the motor data identification.
This reluctance torque constant can be changed after the identification and accepted in p0328 with p1910/p1960 =
-3.
Dependency: Refer to: p0328, r1939, p1960

p3030 MotId angular commutation offset identified / Ang_com offset

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_ALL Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-180.00 [°] 180.00 [°] 0.00 [°]
Description: Angular commutation offset for a synchronous motor determined by the motor data identification.
This angular commutation offset can be changed after the identification and accepted in p0431 with p1910/p1960 =
-3.
Dependency: Refer to: p0431, p1910, p1960, r1984

p3031 MotId encoder inversion actual value identified / EncInvActVal ident

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_ALL Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 bin
Description: Inversion of the encoder actual value determined by the motor data identification.
This inversion can be changed after the identification and accepted in p0410 with p1910/p1960 = -3.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Invert speed actual value Yes No 4710,
4715
01 Invert position actual value Yes No 4704
Dependency: Refer to: p0410, p1910, p1960

1-422 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p3041 MotId moment of inertia identified / M_inertia ident

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_ALL Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: 25_1 Unit selection: p0100
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.000000 [kgm²] 100000.000000 [kgm²] 0.000000 [kgm²]
Description: Motor moment of inertia determined by the motor data identification.
This motor moment of inertia can be changed after the identification and accepted in p0341 with p1910/p1960 = -3.
Dependency: Refer to: p0341, p1960, r1969

p3042 MotId load moment of inertia identified / Load mom ident

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_ALL Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: 25_1 Unit selection: p0100
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00000 [kgm²] 100000.00000 [kgm²] 0.00000 [kgm²]
Description: Load moment of inertia determined by the motor data identification.
This load moment of inertia can be changed after the identification and accepted in p1498 with p1910/p1960 = -3.
Dependency: Refer to: p0342, p1498, p1960, r1969
Note: For p1910/p1960 = -3, p0342 is set to 1 (ratio between the total and motor).

p3049[0...n] MotId Speed at start of field weakening identified / ident

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_ALL Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00000 [rpm] 210000.00000 [rpm] 0.00000 [rpm]
Description: Speed at the start of field weakening determined by the motor data identification.
This start speed can be changed after the identification and accepted in p0348 with p1910/p1960 = -3.
Dependency: Refer to: p0348, p1910, p1960

p3050[0...n] MotorId stator resistance identified / R_stator ident

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_ALL Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: 16_1 Unit selection: p0349
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00000 [ohm] 2000.00000 [ohm] 0.00000 [ohm]
Description: Stator resistance determined by the motor data identification.
This stator resistance can be changed after the identification and accepted in p0350 with p1910/p1960 = -3.
Dependency: Refer to: p0350, p1910, r1912

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 Parameter
List of parameters

p3054[0...n] MotId rotor resistance identified / R_rotor ident

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_ALL Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: 16_1 Unit selection: p0349
Not for motor type: PEM, REL Scaling: - Expert list: 1
Min Max Factory setting
0.00000 [ohm] 300.00000 [ohm] 0.00000 [ohm]
Description: Rotor resistance for an induction motor determined by the motor data identification.
This stator resistance can be changed after the identification and accepted in p0354 with p1910/p1960 = -3.
Dependency: Refer to: p0354, p0625, p1910, r1927, p1960
Note: The parameter is not used for synchronous motors (p0300 = 2xx).

p3056[0...n] MotId stator leakage inductance identified / L_stator leak

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_ALL Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: 15_1 Unit selection: p0349
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00000 [mH] 1000.00000 [mH] 0.00000 [mH]
Description: Stator leakage inductance determined by the motor data identification.
This stator leakage inductance can be changed after the identification and accepted in p0356 with p1910/p1960 = -
3.
Dependency: Refer to: p0356, p1910, r1932

p3058[0...n] MotId rotor leakage inductance identified / L_rotor leak

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_ALL Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: 15_1 Unit selection: p0349
Not for motor type: PEM, REL Scaling: - Expert list: 1
Min Max Factory setting
0.00000 [mH] 1000.00000 [mH] 0.00000 [mH]
Description: Rotor leakage induction for an induction motor determined by the motor data identification.
This rotor leakage inductance can be changed after the identification and accepted in p0358 with p1910/p1960 = -3.
Dependency: Refer to: p0358, p1910, r1932

p3060[0...n] MotId magnetizing inductance identified / MotId Lh ident

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_ALL Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: 15_1 Unit selection: p0349
Not for motor type: PEM, REL Scaling: - Expert list: 1
Min Max Factory setting
0.00000 [mH] 10000.00000 [mH] 0.00000 [mH]
Description: Magnetizing inductance for an induction motor determined by the motor data identification.
This magnetizing inductance can be changed after the identification and accepted in p0360 with p1910/p1960 = -3.
Dependency: Refer to: p0360, p1910, r1936, p1960

1-424 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p3080 MotId flux controller P gain identified / Flux ctrl Kp ident

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_ALL Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: PEM, REL Scaling: - Expert list: 1
Min Max Factory setting
0.0 [A/Vs] 999999.0 [A/Vs] 0.0 [A/Vs]
Description: P gain of the flux controller for an induction motor determined by the motor data identification.
This P gain can be changed after the identification and accepted in p1590 with p1910/p1960 = -3.
Dependency: Refer to: p1590, p1910

p3081 MotId flux controller integral time identified / Flux ctrl Tn ident
SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_ALL Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: PEM, REL Scaling: - Expert list: 1
Min Max Factory setting
0 [ms] 10000 [ms] 0 [ms]
Description: Integral time of the flux controller for an induction motor determined by the motor data identification.
This integral time can be changed after the identification and accepted in p1592 with p1910/p1960 = -3.
Dependency: Refer to: p1592, p1910

p3082 MotId current controller P gain identified / I_ctrl Kp ident

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_ALL Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: 18_1 Unit selection: p0505
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.000 [V/A] 100000.000 [V/A] 0.000 [V/A]
Description: P gain of the current controller determined by the motor data identification.
This P gain can be changed after the identification and accepted in p1715 with p1910/p1960 = -3.
Dependency: Refer to: p1715, p1910

p3083 MotId current controller integral time identified / I_ctrl Tn ident

SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_ALL Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
0.00 [ms] 1000.00 [ms] 0.00 [ms]
Description: Integral time of the current controller determined by the motor data identification.
This integral time can be changed after the identification and accepted in p1717 with p1910/p1960 = -3.
Dependency: Refer to: p1717, p1910

© Siemens AG 2012 All Rights Reserved 1-425

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 Parameter
List of parameters

p3088 MotId Motor model changeover speed operation with encoder ident. /
MotMod n_chgSnsorl
SERVO_S110-CAN, Can be changed: U, T Calculated: CALC_MOD_ALL Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00000 [rpm] 210000.00000 [rpm] 0.00000 [rpm]
Description: Changeover speed for the motor model with encoder determined by the motor data identification.
This changeover speed can be changed after the identification and accepted in p1752 with p1910/p1960 = -3.
Dependency: Refer to: p1752, p1910

p3100 RTC time stamp mode / RTC t_stamp mode

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Sets the mode for the time stamp
p3100 = 0: Time stamp, operating hours
p3100 = 1: Time stamp, UTC format
Note: RTC: Real-time clock
UTC: Universal Time Coordinates
The UTC time started, according to the definition on 01.01.1970 at 00:00:00 and is output in days and milliseconds.

p3101[0...1] RTC set UTC time / RTC set UTC

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
0 4294967295 0
Description: Setting the UTC time.
This means that the drive system is synchronized to the time specified by the time master. To start p3101[1] must
be written to followed by p3101[0]. After writing to p3101[0], the UTC time is accepted.
p3101[0]: Milliseconds
p3101[1]: Days

r3102[0...1] RTC read UTC time / RTC read UTC

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the current UTC time in the drive system.
p3102[0]: Milliseconds
p3102[1]: Days

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p3103 RTC synchronization source / RTC sync_source

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 3 0
Description: Sets the synchronization source/technique.
Value: 0: PROFIBUS
1: PROFINET
2: PPI
3: PROFINET PTP

p3104 BI: RTC real time synchronization PING / RTC PING

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for the PING event to set the UTC time.
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.

r3108[0...1] RTC last synchronization deviation / RTC sync_dev

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the last synchronization deviation that was determined.
r3108[0]: Milliseconds
r3108[1]: Days

p3109 RTC real time synchronization, tolerance window / RTC sync tol
CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 [ms] 1000 [ms] 100 [ms]
Description: Sets the tolerance window for time synchronization.
When this tolerance window is exceeded, an appropriate alarm is output.
Dependency: Refer to: A01099

© Siemens AG 2012 All Rights Reserved 1-427

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 Parameter
List of parameters

r3114.9...11 CO/BO: Messages status word global / Msg ZSW global

CU_S110-CAN, Can be changed: - Calculated: - Access level: 2
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the global status word for messages.
The appropriate bit is set if at least one message is present at the drive objects.
Bit field: Bit Signal name 1 signal 0 signal FP
09 Alarm present Yes No 8065
10 Fault present Yes No 8060
11 Safety message present Yes No -
Note: The status bits are displayed with delay.

r3115[0...63] Fault drive object initiating / F DO initiating

All objects Can be changed: - Calculated: - Access level: 3
Data type: Integer32 Dynamic index: - Func. diagram: 1750, 8060
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the drive object number of the initiating drive object for this fault as integer number.
Value = 63:
The fault was initiated by the drive object itself.
Dependency: Refer to: r0945, r0947, r0948, r0949, r2109, r2130, r2133, r2136, r3120, r3122
Note: The buffer parameters are cyclically updated in the background (refer to status signal in r2139).
The structure of the fault buffer and the assignment of the indices is shown in r0945.

p3116 BI: Acknowledgement automatically suppressed / Ackn suppress

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 8060
CU_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for the automatic acknowledgement on the device drive object.
BI: p3116 = 0 signal
Faults present are automatically acknowledged on the device drive object. Local device faults are forwarded to the
first active drive object.
BI: p3116 = 1 signal
Faults present are not automatically acknowledged on the device drive object. Local device faults are not for-
warded.
Dependency: Refer to: p2102, p2103, p2104, p2105, p3981
Note: When selecting a standard telegram, the BICO interconnection for control signal STW1.10 (master control by PLC)
is automatically established.

1-428 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p3117 Change safety message type / Ch. SI mess type

CU_S110-CAN, Can be changed: C1(1) Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Sets the re-parameterization of all safety messages for faults and alarms.
The relevant message type during changeover is selected by the firmware.
0: Safety messages are not re-parameterized
1: Safety messages are re-parameterized
Note: A change only becomes effective after a POWER ON.

r3120[0...63] Component number fault / Comp_num flt

All objects Can be changed: - Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 8060
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the component number of the fault which has occurred.
Dependency: Refer to: r0945, r0947, r0948, r0949, r2109, r2130, r2133, r2136, r3122
Note: Value = 0: Assignment to a component not possible.
The buffer parameters are cyclically updated in the background (refer to status signal in r2139).
The structure of the fault buffer and the assignment of the indices is shown in r0945.

r3121[0...63] Component number alarm / Comp_num alarm

All objects Can be changed: - Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 8065
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the component number of the alarm which has occurred.
Dependency: Refer to: r2110, r2122, r2123, r2124, r2125, r2134, r2145, r2146, r3123
Note: Value = 0: Assignment to a component not possible.
The buffer parameters are cyclically updated in the background (refer to status signal in r2139).
The structure of the alarm buffer and the assignment of the indices is shown in r2122.

r3122[0...63] Diagnostic attribute fault / Diag_attr fault

All objects Can be changed: - Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 8060
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the diagnostic attribute of the fault which has occurred.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Hardware replacement recommended Yes No -
Dependency: Refer to: r0945, r0947, r0948, r0949, r2109, r2130, r2133, r2136, r3120

© Siemens AG 2012 All Rights Reserved 1-429

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 Parameter
List of parameters

Note: The buffer parameters are cyclically updated in the background (refer to status signal in r2139).
The structure of the fault buffer and the assignment of the indices is shown in r0945.

r3123[0...63] Diagnostic attribute alarm / Diag_attr alarm

All objects Can be changed: - Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 8065
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the diagnostic attribute of the alarm which has occurred.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Hardware replacement recommended Yes No -
Dependency: Refer to: r2110, r2122, r2123, r2124, r2125, r2134, r2145, r2146, r3121
Note: The buffer parameters are cyclically updated in the background (refer to status signal in r2139).
The structure of the alarm buffer and the assignment of the indices is shown in r2122.

r3131 CO: Current flt value / Current flt value

All objects Can be changed: - Calculated: - Access level: 3
Data type: Integer32 Dynamic index: - Func. diagram: 8060
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the fault value of the oldest active fault.
Dependency: Refer to: r2131, r3132

r3132 CO: Actual component number / Act comp_no.

All objects Can be changed: - Calculated: - Access level: 3
Data type: Integer32 Dynamic index: - Func. diagram: 8060
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the component number of the oldest fault that is still active.
Dependency: Refer to: r2131, r3131

p3135 Suppress active fault / Supp act flt

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 8060
SERVO_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 0000 0000 0000 bin
Description: Sets the suppression of r2139.3 "Fault present" for certain fault responses.
Bit field: Bit Signal name 1 signal 0 signal FP
08 Suppression of fault response ENCODER ON OFF -
10 Suppression of fault response NONE ON OFF -
Dependency: Refer to: p0491, r2139
Note: Depending on the suppression of a fault reaction in this parameter, r2139.1 "Acknowledgement required" is set
when at least one fault occurs.
Re bit 08:
The suppression is only effective if p0491 = 1.

1-430 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p3233[0...n] Torque actual value filter, time constant / M_act_filt T

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 3
(Ext msg), Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 8013
SERVO_S110-DP
P-Group: Messages Units group: - Unit selection: -
(Ext msg),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Ext msg)
Min Max Factory setting
0 [ms] 1000000 [ms] 0 [ms]
Description: Sets the time constant of the PT1 element to smooth the torque actual value.
The smoothed actual torque is compared with the threshold values and is only used for messages and signals.

p3235 Phase failure signal motor monitoring time / Ph_fail t_monit

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 [ms] 2000 [ms] 320 [ms]
Description: Sets the monitoring time for phase failure detection of the motor.
Notice: After the value has been modified, no further parameter modifications can be made and the status is shown in
r3996. Modifications can be made again when r3996 = 0.
Note: For p3235 = 0 the function is deactivated.

p3290 Variable signaling function start / Var sig start

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned8 Dynamic index: - Func. diagram: 5301
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0010 bin
Description: Settings for start/stop and the comparison type for the variable signaling function.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Activate function Active Not active -
01 Comparison with sign With sign Without sign -

p3291 CI: Variable signaling function signal source / Var sig S_src
SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Integer16 Dynamic index: - Func. diagram: 5301
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for the variable signaling function.
Dependency: Refer to: p3292, p3293
Note: Re p3291 = 1:
In this case, the signal source is defined using p3292 and p3293.

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 Parameter
List of parameters

p3292 Variable signaling function signal source address / Var sig S_src addr
SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 5301
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex FFFF FFFF hex 0000 hex
Description: Sets the address of the signal source for the variable signaling function.
Dependency: Refer to: p3291
Caution: If an incorrect address and data type are set, then this can cause the software to crash.

Note: This parameter should only be set for p3291 = 1.

p3293 Variable signaling function signal source data type / Var sig S_src type
SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 5301
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 7 0
Description: Sets the data type of the signal source for the variable signaling function.
Value: 0: Unknown
1: U8, Unsigned8
2: I8, Signed8
3: U16, Unsigned16
4: I16, Signed16
5: U32, Unsigned32
6: I32, Signed32
7: Float, FloatingPoint32
Dependency: Refer to: p3291
Caution: If an incorrect address and data type are set, then this can cause the software to crash.

Note: This parameter should only be set for p3291 = 1.

r3294 BO: Variable signaling function output signal / Var sig outp_sig
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned8 Dynamic index: - Func. diagram: 5301
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the output signal for the variable signaling function.
Dependency: Refer to: p3290, p3291, p3295, p3296, p3297, p3298

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 Parameter
List of parameters

p3295 Variable signaling function threshold value / Var sig thresh_val

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5301
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-340.28235E36 340.28235E36 0.000
Description: Sets the threshold value for the variable signaling function.

p3296 Variable signaling function hysteresis / Var sig hyst

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5301
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.000 340.28235E36 0.000
Description: Sets the hysteresis for the variable signaling function.

p3297 Variable signaling function pickup delay / Var sig t_pickup

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 5301
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 [ms] 10000 [ms] 0 [ms]
Description: Sets the pickup delay for the variable signaling function.
Notice: Values that do not comply with the following condition are treated just like value 0:
Pickup delay (p3297) >= sampling time (p3299)
Note: For a value of 0, the pickup delay is disabled.
The output signal is set if the condition for the 1 signal is fulfilled for longer than the selected time.

p3298 Variable signaling function dropout delay / Var sig t_dropout

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 5301
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 [ms] 10000 [ms] 0 [ms]
Description: Sets the dropout delay for the variable signaling function.
Notice: Values that do not comply with the following condition are treated just like value 0:
Dropout delay (p3298) >= sampling time (p3299)
Note: For a value of 0, the dropout delay is disabled.
The output signal is reset if the condition for the 0 signal is fulfilled for longer than the selected time.

© Siemens AG 2012 All Rights Reserved 1-433

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 Parameter
List of parameters

p3299 Variable signaling function, sampling time / Var sig t_sample

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5301
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
1.000 [ms] 4.000 [ms] 4.000 [ms]
Description: Sets the sampling time for the variable signaling function.
Notice: The following must apply for the setting:
Sampling time (p3299) <= pickup delay (p3297), dropout delay (p3298)
Note: Only the following values can be set:
1.000, 2.000, 3.000, 4.000

p3900 Completion of quick commissioning / Compl quick_comm

SERVO_S110-CAN, Can be changed: C2(1) Calculated: - Access level: 1
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 3 0
Description: Exits quick commissioning (p0010 = 1) with automatic calculation of all parameters of all existing drive data sets
that depend on the entries made during quick commissioning.
p3900 = 1 initially includes a parameter reset (factory setting, the same as p0970 = 1) for all parameters of the drive
object; however, without overwriting the entries made during the quick commissioning.
The interconnections of PROFIBUS PZD telegram selection (p0922) and the interconnections via p0700, p1000
and p1500 are re-established and all of the dependent motor, open-loop and control-loop control parameters are
calculated (corresponding to p0340 = 1).
p3900 = 2 includes the restoration of the interconnections of PROFIBUS PZD telegram selection (p0922) and the
interconnections via p0700, p1000 and p1500 and the calculations corresponding to p0340 = 1.
p3900 = 3 only includes the calculations associated with the motor, open-loop and closed-loop control parameters
corresponding to p0340 = 1.
Value: 0: No quick parameterization
1: Quick parameterization after parameter reset
2: Quick parameterization (only) for BICO and motor parameters
3: Quick parameterization for motor parameters (only)
Notice: After the value has been modified, no further parameter modifications can be made and the status is shown in
r3996. Modifications can be made again when r3996 = 0.
Note: When the calculations have been completed, p3900 and p0010 are automatically reset to a value of 0.
When calculating motor, open-loop and closed-loop control parameters (such as for p0340 = 1) parameters associ-
ated with a selected Siemens catalog motor are not overwritten.
If a catalog motor has not been selected (see p0300), then the following parameters are reset with p3900 > 0 in
order to restore the situation that applied when commissioning the drive for the first time:
for induction motors p0320, p0352, p0353, p0604, p0605, p0626 ... p0628.
for synchronous motors p0326, p0327, p0352, p0353, p0391 ... p0393, p0604, p0605.

r3925[0...n] Identification final display / Ident final_disp

SERVO_S110-CAN, Can be changed: - Calculated: CALC_MOD_ALL Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: DDS, p0180 Func. diagram: -
SERVO_S110-PN
P-Group: Motor Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the commissioning steps that have been carried out.

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 Parameter
List of parameters

Bit field: Bit Signal name 1 signal 0 signal FP

00 Motor/control parameters calculated (p0340 Yes No -
= 1, p3900 > 0)
02 Motor data identification carried out at Yes No -
standstill (p1910 = 1)
03 Rotating measurement carried out (p1960 = Yes No -
1, 2)
04 Motor encoder adjustment carried out Yes No -
(p1960 = 1, p1990 = 1)
05 Motor encoder manually adjusted Yes No -
15 Motor equivalent circuit diagram parameters Changed Not changed -
changed
Note: The individual bits are only set if the appropriate action has been initiated and successfully completed.
When motor rating plate parameters are changed, the final display is reset.
When setting the individual bits, all of the most significant bits are reset.

r3927[0...n] Motor data identification induction motor data determined / MotID ASM dat det
SERVO_S110-CAN, Can be changed: - Calculated: CALC_MOD_ALL Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: DDS, p0180 Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the data of an induction motor determined and accepted from the stationary motor data identification or
rotating measurement.
Bit field: Bit Signal name 1 signal 0 signal FP
00 p0350 accepted Yes No -
01 p0354 accepted Yes No -
02 p0356 accepted Yes No -
03 p0358 accepted Yes No -
04 p0360 accepted Yes No -
05 p0320 accepted Yes No -
06 p0410 accepted Yes No -
12 p1715 accepted Yes No -
13 p1717 accepted Yes No -
14 p1590 accepted Yes No -
15 p1592 accepted Yes No -
22 p0341 accepted Yes No -
24 p0348 accepted Yes No -
25 p1752 accepted Yes No -
Dependency: Refer to: r3925

r3928[0...n] Motor data identification synchronous motor data determined / MotId PEM dat det
SERVO_S110-CAN, Can be changed: - Calculated: CALC_MOD_ALL Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: DDS, p0180 Func. diagram: -
SERVO_S110-PN
P-Group: Motor identification Units group: - Unit selection: -
Not for motor type: REL Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Successfully completed component of the last rotating measurement carried out.
Bit field: Bit Signal name 1 signal 0 signal FP
00 p0350 accepted Yes No -
02 p0356 accepted Yes No -
06 p0410 accepted Yes No -
07 p0431 accepted Yes No -
08 p1952 accepted Yes No -
09 p1953 accepted Yes No -
12 p1715 accepted Yes No -

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 Parameter
List of parameters

13 p1717 accepted Yes No -

18 p0316 accepted Yes No -
19 p0317 accepted Yes No -
20 p0327 accepted Yes No -
21 p0328 accepted Yes No -
22 p0341 accepted Yes No -
23 kT characteristic parameter accepted Yes No -
24 p0348 accepted Yes No -
Dependency: Refer to: r3925

r3930[0...4] Power unit EEPROM characteristics / PU characteristics

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the characteristics (A5E number and versions) of the power unit.
[0]: A5E number xxxx (A5Exxxxyyyy)
[1]: A5E number yyyy (A5Exxxxyyyy)
[2]: File version (logistic)
[3]: File version (fixed data)
[4]: File version (calib data)

p3950 Service parameter / Serv. par.

CU_S110-CAN, Can be changed: C1, U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: For service personnel only.

r3974 Drive unit status word / Drv_unit ZSW

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the status word for the drive unit.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Software reset active Yes No -
01 Writing of parameters disabled as parame- Yes No -
ter save in progress
02 Writing of parameters disabled as macro is Yes No -
running

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 Parameter
List of parameters

r3977 BICO counter, topology / BICO counter topo

CU_S110-CAN, Can be changed: - Calculated: - Access level: 4
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the BICO interconnections that have been parameterized in the complete (overall) topology.
The counter is incremented by one for each modified BICO interconnection.
Dependency: Refer to: r3978

r3978 BICO CounterDevice / BICO CounterDevice

CU_S110-CAN, Can be changed: - Calculated: - Access level: 4
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the counter reading for modified BICO interconnections on this device.
The counter is incremented by one for each modified BICO interconnection.

p3981 Faults, acknowledge drive object / Faults ackn DO

All objects Can be changed: U, T Calculated: - Access level: 2
Data type: Unsigned8 Dynamic index: - Func. diagram: 8060
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Setting to acknowledge all active faults of a drive object.
Note: Parameter should be set from 0 to 1 to acknowledge.
After acknowledgement, the parameter is automatically reset to 0.

p3985 Master control mode selection / PcCtrl mode select

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Setpoints Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Sets the mode to change over the master control / LOCAL mode.
Value: 0: Change master control for STW1.0 = 0
1: Change master control in operation
Danger: When changing the master control in operation, the drive can manifest undesirable behavior - e.g. it can accelerate
up to another setpoint.

© Siemens AG 2012 All Rights Reserved 1-437

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 Parameter
List of parameters

r3986 Parameter count / Parameter No.

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the number of parameters for this drive unit.
The number comprises the device-specific and the drive-specific parameters.
Dependency: Refer to: r0980, r0981, r0989

r3988[0...1] Boot state / Boot_state

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 10800 -
Description: Index 0:
Displays the boot state.
Index 1:
Displays the partial boot state
Value: 0: Not active
1: Fatal fault
10: Fault
20: Reset all parameters
30: Drive object modified
40: Download using commissioning software
50: Parameter download using commissioning software
90: Reset Control Unit and delete drive objects
100: Start initialization
110: Instantiate Control Unit basis
150: Wait until actual topology determined
160: Evaluate topology
170: Instantiate Control Unit reset
180: Initialization YDB configuration information
200: First commissioning
210: Create drive packages
250: Wait for topology acknowledge
325: Wait for input of drive type
350: Determine drive type
360: Write into topology-dependent parameters
370: Wait until p0009 = 0 is set
380: Check topology
550: Call conversion functions for parameter
625: Wait non-cyclic starting DRIVE-CLiQ
650: Start cyclic operation
660: Evaluate drive commissioning status
670: Autom. FW update DRIVE-CLiQ components
680: Wait for CU LINK slaves
690: Wait non-cyclic starting DRIVE-CLiQ
700: Save parameters
725: Wait until DRIVE-CLiQ cyclic
740: Check the ability to operate
745: Start of the time slices
750: Interrupt enable
800: Initialization finished
10050: Wait for synchronization

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 Parameter
List of parameters

10100: Wait for CU LINK slaves

10150: Wait until actual topology determined
10200: Evaluation component status
10250: Call conversion functions for parameter
10300: Preparation cyclic operation
10350: Autom. FW update DRIVE-CLiQ components
10400: Wait for slave properties
10450: Check CX/NX status
10500: Wait until DRIVE-CLiQ cyclic
10550: Carry out warm start
10600: Evaluate, encoder status
10800: Partial boot completed
Index: [0] = System
[1] = Partial boot

r3998[0...n] First drive commissioning / First drv_comm

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: DDS, p0180 Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 65535 -
Description: Displays whether the drive still has to be commissioned for the first time.
0 = Yes
2 = No

r4640[0...95] Encoder diagnostics state machine / Enc diag SM

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 4
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the encoder diagnostics for the PROFIdrive interface.

p4650 Encoder functional reserve component number / Enc fct_res num

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 399 0
Description: Sets the component number (p0141) of the encoder whose functional reserve is to be displayed (r4651).
Dependency: Refer to: r4651

r4651[0...3] Encoder functional reserve / Enc fct_reserve

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the functional reserve of the encoder selected via p4650.
0 ... 25 %:
The function limit has been reached. A service is recommended.

© Siemens AG 2012 All Rights Reserved 1-439

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 Parameter
List of parameters

26 ... 100 %:
The encoder is working in the specified range.
Index: [0] = Incremental
[1] = Reserved
[2] = Abs track
[3] = Code conn
Dependency: Refer to: p4650
Note: Value = 999 means:
- the component specified in p4650 is not connected
- the encoder does not support the display of the functional reserve

p4660[0...2] Sensor Module filter bandwidth / SM Filt_bandw

SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [kHz] 20000.00 [kHz] 0.00 [kHz]
Description: Sets the filter bandwidth for Sensor Module SMx10 (resolver) and SMx20 (sin/cos).
The value set on the Sensor Module is displayed in r4661.
The Sensor Module hardware only supports the following values:
- 0: The Sensor Module's default is used.
- 50 kHz
- 170 kHz
- 500 kHz
- Unlimited: Only the bandwidth of the operational amplifier is effective.
Index: [0] = Encoder 1
[1] = Encoder 2
[2] = Reserved
Dependency: Refer to: r4661
Note: A value of zero is displayed if an encoder is not present.

r4661[0...2] Sensor Module filter bandwidth display / SM Filt_bandw disp

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [kHz] - [kHz] - [kHz]
Description: Display of the effective filter bandwidth for Sensor Module SMx10 (resolver) and SMx20 (sin/cos).
The bandwidth of the filter is set using p4660.
Index: [0] = Encoder 1
[1] = Encoder 2
[2] = Reserved
Dependency: Refer to: p4660
Note: A value of zero is displayed if an encoder is not present.

1-440 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

p4662[0...n] Encoder characteristic type / Enc char_type

SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 4
SERVO_S110-DP, Data type: Integer16 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Sets the characteristic type.
For non-linear sensors, the interrelationship between the signal voltage and the position can be defined using a
third degree polynomial.
Value: 0: Characteristic inactive
1: Characteristic polynomial third degree
Dependency: Refer to: p4663, p4664, p4665, p4666
Note: If value = 1:
A third degree polynomial is defined as follows:
F(x) = K3 * x^3 + K2 * x^2 + K1 * x + K0
Coefficients K0 ... K3 should be defined and entered into p4663 ... p4666.
The sensor range is emulated to x = -0.5 ... +0.5.

p4663[0...n] Encoder characteristic K0 / Enc char K0

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Setting for coefficient K0 to calculate the characteristic (p4662).
Dependency: Refer to: p4662, p4664, p4665, p4666

p4664[0...n] Encoder characteristic K1 / Enc char K1

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Setting for coefficient K1 to calculate the characteristic (p4662).
Dependency: Refer to: p4662, p4663, p4665, p4666

p4665[0...n] Encoder characteristic K2 / Enc char K2

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Setting for coefficient K2 to calculate the characteristic (p4662).
Dependency: Refer to: p4662, p4663, p4664, p4666

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 Parameter
List of parameters

p4666[0...n] Encoder characteristic K3 / Enc char K3

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Setting for coefficient K3 to calculate the characteristic (p4662).
Dependency: Refer to: p4662, p4663, p4664, p4665

p4670[0...n] Analog sensor configuration / Ana_sens config

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 0000 0000 0000 bin
Description: Sets the configuration for evaluation on the analog sensor.
Bit field: Bit Signal name 1 signal 0 signal FP
06 Set velocity to 0 Yes No -
08 Pos val range 0.0 / 1.0 pulse -0.5 / +0.5 pulse -
09 Fault/alarm messages Alarm Fault -
10 Chann B act Yes No -
11 Chann A act Yes No -
13 Commutation angle constant Yes No -
Notice: Re bit 06:
Setting the bit sets the velocity actual value (r0061) permanently to 0.
Re bit 13:
Setting the bit sets the commutation angle permanently to the commutation angle offset (p0431).
Note: Re bit 09:
A setting of bit = 0 will trigger a fault for the relevant channel if the actual value is invalid.
A setting of bit = 1 will trigger an alarm for the relevant channel if the actual value is invalid.
Re bit 10, 11:
If both channels are activated, the actual value is generated from the mean value of both channels. If a channel fails
(actual value invalid), it is not included when the mean value is generated.

p4671[0...n] Analog sensor input / Ana_sens inp

SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 4
SERVO_S110-DP, Data type: Integer16 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 3 0
Description: Sets the input circuit for the analog sensor.
Value: 0: Differential
1: Single-ended A, B
2: Single-ended A*, B*
3: Single-ended A, B sensitive
Note: p4671 = 0:
The two signals on a track are evaluated differentially.
p4671 = 1:
Only the non-inverted signal on a track is evaluated.

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 Parameter
List of parameters

p4671 = 2:
Only the inverted signal on a track is evaluated.
p4671 = 3:
Only the non-inverted signal on a track (high resolution) is evaluated.

p4672[0...n] Analog sensor channel A voltage at actual value zero / Ana_sens A U at 0

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-10.0000 [V] 10.0000 [V] 0.0000 [V]
Description: Sets the voltage when the connected sensor is at actual value zero.
At this voltage channel A supplies an actual value of zero.

p4673[0...n] Analog sensor channel A voltage per encoder period / Ana_sens A U/per
SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-10.0000 [V] 10.0000 [V] 6.0000 [V]
Description: Sets the output voltage range to be mapped for the connected analog sensor.
The voltage range is determined by the following parameters:
- p4672 (voltage at actual value 0)
- p4673 (voltage per encoder period)
Note: The minimum actual value which can be mapped is equal to p4672 - p4673/2.
The maximum actual value which can be mapped is equal to p4672 + p4673/2.

p4674[0...n] Analog sensor channel B voltage at actual value zero / Ana_sens B U at 0

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-10.0000 [V] 10.0000 [V] 0.0000 [V]
Description: Sets the voltage when the connected sensor is at actual value zero.
At this voltage channel B supplies an actual value of zero.

p4675[0...n] Analog sensor channel B voltage per encoder period / Ana_sens B U/per
SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-10.0000 [V] 10.0000 [V] 6.0000 [V]
Description: Sets the output voltage range to be mapped for the connected analog sensor.
The voltage range is determined by the following parameters:
- p4674 (voltage at actual value 0)
- p4675 (voltage per encoder period)
Note: The minimum actual value which can be mapped is equal to p4674 - p4675/2.
The maximum actual value which can be mapped is equal to p4674 + p4675/2.

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 Parameter
List of parameters

p4676[0...n] Analog sensor range limit threshold / Ana_sens lim thr

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.0 [%] 100.0 [%] 100.0 [%]
Description: Sets the threshold for limit monitoring of the absolute actual value on the analog sensor.
If this threshold is overshot by the actual value of a channel, a corresponding fault/alarm (p4670.9) is output.
Dependency: Refer to: p4673, p4675

p4677[0...n] Analog sensor LVDT configuration / Ana_sens LVDT conf

SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 4
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 bin
Description: Sets the configuration for LVDT mode on the analog sensor.
Bit field: Bit Signal name 1 signal 0 signal FP
00 LVDT ON Yes No -
01 Track B excitation Yes No -
02 Fixed value amplitude Yes No -
03 Fixed value amplitude and phase Yes No -

p4678[0...n] Analog sensor LVDT ratio / An_sens LVDT ratio

SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 4
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [%] 200.00 [%] 50.00 [%]
Description: Sets the ratio for the LVDT sensor.

p4679[0...n] Analog sensor LVDT phase / An_sens LVDT ph

SERVO_S110-CAN, Can be changed: C2(4), T Calculated: - Access level: 4
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-360.00 [°] 360.00 [°] 0.00 [°]
Description: Sets the phase for the LVDT sensor.

p4680[0...n] Zero mark monitoring tolerance permissible / ZM_monit tol perm

SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1000 4
Description: Sets the permissible tolerance in encoder pulses for the zero mark distance in the context of zero mark monitoring.
Causes fault F3x100 to appear less frequently.

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 Parameter
List of parameters

Dependency: Refer to: p0430

Refer to: F31100
Note: The parameter is activated using p0430.21 = 1 (zero mark tolerance).

p4681[0...n] Zero mark monitoring, tolerance window limit 1 positive / ZM tol lim 1 pos
SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1000 2
Description: Sets the positive tolerance window in encoder pulses for limit 1 for the zero mark monitoring.
If the deviation is less than this limit, the PPR is not corrected. If it is higher than this limit, fault F3x131 is triggered.
If fault F3x131 is re-parameterized to alarm (A) or no message (N), the encoder pulses which have not been cor-
rected are added to the accumulator (p4688). The accumulator can be de-activated using p0437.7.
Dependency: Refer to: p0437, p4688
Refer to: F31131
Note: This monitoring is activated by setting p0437.2 = 1 (position actual value correction).
The positive limit describes additional pulses due to EMC.

p4682[0...n] Zero mark monitoring, tolerance window limit 1 negative / ZM tol lim 1 neg
SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer32 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-1001 0 -1001
Description: Sets the negative tolerance window in encoder pulses for limit 1 for the zero mark monitoring.
If the deviation is less than this limit, the PPR is not corrected. If it is higher than this limit, fault F3x131 is triggered.
If fault F3x131 is re-parameterized to alarm (A) or no message (N), the encoder pulses which have not been cor-
rected are added to the accumulator (p4688). The accumulator can be de-activated using p0437.7.
Dependency: Refer to: p0437, p4681, p4688
Refer to: F31131
Note: This monitoring is activated by setting p0437.2 = 1 (position actual value correction).
For a set value = -1001, the negated value of p4681 is effective.
The negative limit describes the pulses lost due to a covered glass panel in the incremental encoder.

p4683[0...n] Zero mark monitoring tolerance window alarm threshold positive / ZM tol A_thr pos
SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 100000 0
Description: Sets the positive tolerance window in encoder pulses for limit 2 for the zero mark monitoring.
If the zero mark deviation is higher than the tolerance set in p4681 and p4682 and fault F3x131 is re-parameterized
to alarm (A) or no message (N), the accumulator p4688 is compared with this parameter and, if applicable, alarm
A3x422 is output for 5 seconds.
Dependency: Refer to: p0437, p4681, p4682, p4688
Refer to: F31131, A31422
Note: Zero mark monitoring is activated by setting p0437.2 = 1 (position actual value correction).

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 Parameter
List of parameters

p4684[0...n] Zero mark monitoring tolerance window alarm threshold negative / ZM tol A_thr neg
SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer32 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-100001 0 -100001
Description: Sets the negative tolerance window in encoder pulses for limit 2 for the zero mark monitoring.
If the zero mark deviation is higher than the tolerance set in p4681 and p4682 and fault F3x131 is re-parameterized
to alarm (A) or no message (N), the accumulator p4688 is compared with this parameter and, if applicable, alarm
A3x422 is output for 5 seconds.
Dependency: Refer to: p0437, p4683, p4688
Refer to: F31131, A31422
Note: Zero mark monitoring is activated by setting p0437.2 = 1 (position actual value correction).
For a set value = -100001, the negated value of p4683 is effective.

p4685[0...n] Speed actual value mean value generation / n_act mean val
SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 20 0
Description: Sets the number of current controller clock cycles for mean value generation of the speed actual value.
Note: Value = 0, 1: No mean value generation.
Higher values also mean higher dead times for the speed actual value.

p4686[0...n] Zero mark minimum length / ZM min length

SERVO_S110-CAN, Can be changed: C2(4) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: EDS, p0140 Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 10 1
Description: Sets the minimum length for the zero mark.
Dependency: Refer to: p0425, p0437
Note: The value for the minimum length of the zero mark must be set less than p0425.
The parameter is activated using p0437.1 = 1 (zero mark edge detection).

p4688[0...2] CO: Zero mark monitoring, differential pulse count / ZM diff_pulse qty
SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-2147483648 2147483647 0
Description: Displays the number of differential pulses for the zero mark monitoring that have accumulated.
If fault F3x131 is re-parameterized to alarm (A) or no message (N), the encoder pulses which have not been cor-
rected are added to the accumulator (p4688).
Index: [0] = Encoder 1
[1] = Encoder 2
[2] = Reserved

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 Parameter
List of parameters

Dependency: Refer to: p4681, p4682, p4683, p4684

Note: The display can only be reset to zero.

r4689[0...2] CO: Squarewave encoder, diagnostics / Sq-wave enc diag

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 4
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Encoder Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the encoder status according to PROFIdrive for a squarewave encoder.
Index: [0] = Encoder 1
[1] = Encoder 2
[2] = Reserved
Dependency: Refer to: A31422
Note: After alarm A3x422 is output, this parameter is set for 100 ms.

p4690 SMI spare part component number / SMI comp_no

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 399 0
Description: Sets the component number for the SMI/DQI for which motor and/or encoder data should be saved, deleted or
downloaded.
Dependency: Refer to: p4691, p4692, p4693
Note: DQI: DRIVE-CLiQ Sensor Integrated
SMI: SINAMICS Sensor Module Integrated

p4691 SMI spare part save/download data / Save/DL SMI data

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 38 0
Description: Setting to save/download the data for the Sensor Module Integrated (SMI) specified in p4690.
Procedure:
p4690 = set component number
p4691 = 1, 2, 3, 30 set the required procedure (save/download/delete)
p4691 = 9, 10, 36 automatic on successful completion of the procedure
p4691 = 11... 22, 37, 38 --> error values if the procedure could not be executed
Value: 0: Inactive
1: Save SMI data
2: Download SMI data
3: Download SMI data from memory card
9: SMI data downloaded and POWER ON required for component
10: SMI data backup complete
11: SMI data backup for selected component not found
12: Selected component not available or not connected
13: Insufficient memory space for backup
14: Format of saved data is incompatible
15: Transfer fault during data download
16: Transfer fault during data backup

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 Parameter
List of parameters

17: Data backup does not match parameterized encoder/motor

18: Data backup directory not permissible
19: Component already contains data
20: Component does not contain any data
21: Component is not an SMI or a DQI
22: SMI data cannot be downloaded for component
30: Delete SMI data
35: Confirmation of SMI data delete required
36: SMI data deleted and POWER ON required for component
37: Access level not sufficient for delete
38: Delete SMI data not permitted for component
Dependency: Refer to: p4690, p4692, p4693
Notice: Once SMI/DQI data has been deleted or downloaded successfully, the component has to be powered up.
Note: SMI: SINAMICS Sensor Module Integrated
DLQ encoder: DRIVE-CLiQ encoder
Help for error value = 11:
- Save the data for the original SMI on the memory card.
- Use an SMI with a suitable hardware version.
Help for error value = 12:
- Set the correct component number or connect the component.
Help for error value = 15:
- Check the DRIVE-CLiQ wiring for the component.
Help for error value = 16:
- Check the DRIVE-CLiQ wiring for the component.
Help for error value = 17:
- Save the data for the original SMI on the memory card.
Help for error value = 18:
- Set parameter p4693 to an appropriate value.
Help for error value = 19:
- Perform an SMI delete or use a blank SMI.
Help for error value = 20:
- Use an SMI card that is not blank.
Help for error value = 21:
- Set the correct component number (p4690).
Note for error value = 22:
- Data cannot be downloaded for component.
Help for error value = 35:
- Reset parameter p4691 to 30.
Help for error value = 37:
- Set the access level to Expert or higher.
Help for error value = 38:
- Set the correct component number (p4690 >= 200).

p4692 SMI spare part save data of all SMIs / Save SMI data
CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 29 0
Description: Setting to back up the data of all SMIs and DQIs featured in the target topology.
Value: 0: Inactive
1: Save data of all SMIs and DQIs
10: Save all data successful
13: Insufficient memory space for backup

1-448 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

16: Transfer fault during data backup

20: Component does not contain any data
29: Not all components from target topology saved
Note: SMI: SINAMICS Sensor Module Integrated
p4692 = 10: Automatic on successful completion of backup procedure.
p4692 = 13, 16, 20, 29: Error vales if the procedure could not be executed successfully.
The procedure must be repeated if the data save operation was interrupted (e.g. if the power supply voltage failed).
Help for error value = 13:
- Use a memory card with more memory space.
Help for error value = 16:
- check the DRIVE-CLiQ connection.
Help for error value = 20:
- Use an SMI card that is not blank.
Help for error value = 29:
- Check and correct the target and actual topologies for the SMIs.
- Repeat the save procedure.

p4693[0...1] SMI spare part data backup directory/storage location / SMI bkup dir/loc
CU_S110-CAN, Can be changed: T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 399 0
Description: Sets the directory and storage location for downloading and saving data.
Example:
The SMI has the component number 5 and the SMI data (motor/encoder data) is to be stored in subdirectory C205.
--> p4690 = 5, p4693[0] = 205, p4691 = 1
Index: [0] = Subdirectory selection
[1] = Memory location
Dependency: Refer to: p4691, r4694
Notice: If p4693[0] is not equal to 0 and p4693[0] is not equal to p4690, the following applies:
- Only a number >= 200 may be selected for the subdirectory when saving.
- In the case of downloads, a selection for the subdirectory may only be made for an SMI/DQI with a component
number >= 200 (preliminary component number) (p4690 >= 200).
Note: SMI: SINAMICS Sensor Module Integrated
Re index 0:
This index is used to select the subdirectory for saving and downloading data; in the event of access to r4694 the
motor order number (MLFB) of the corresponding data backup is displayed.
Re index 1:
This index is used to set the memory location for the subdirectory for downloading data and the display of the motor
order number (MLFB).
0: Non-volatile device memory
1: Memory card (optional)

r4694[0...19] SMI spare part data backup motor order number / SMI dat_bkup MLFB
CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned8 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Displays, signals Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the motor order number (MLFB) of the data backup selected with p4693.
Dependency: Refer to: p4691, p4692

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Caution: If the selected subdirectory contains a number of data sets, "More Datasets" is displayed in r4694[0...19].
If there is no SMI data (motor/encoder data) in the selected subdirectory or if the selected subdirectory does not
exist, the following applies:
- The number of the next subdirectory located is displayed.
- This subdirectory is not checked for valid SMI data.
- If another subdirectory cannot be located, nothing is displayed in r4694[0...19].
Note: SMI: SINAMICS Sensor Module Integrated

p4700[0...1] Trace control / Trace control

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
0 1 0
Description: Setting to control the trace function.
Value: 0: Stop trace
1: Start trace
Index: [0] = Trace 0
[1] = Trace 1

p4701 Measuring function, control / Meas fct ctrl

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
0 3 0
Description: Setting to control the measurement function.
Value: 0: Stop measuring function
1: Start measuring function
2: Measuring function, check parameterization
3: Start measuring function without enable signals

r4705[0...1] Trace status / Trace status

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
0 4 -
Description: Displays the actual status of the trace.
Value: 0: Trace inactive
1: Trace is recording presamples
2: Trace is waiting for trigger event
3: Trace is recording
4: Recording (trace) ended
Index: [0] = Trace 0
[1] = Trace 1

1-450 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

r4706 Measuring function, status / Meas fct status

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
0 5 -
Description: Displays the actual status of the measuring function.
Value: 0: Measurement function inactive
1: Measuring function, parameterization checked
2: Measuring function waits for stabilizing time
3: Measuring function recording (tracing)
4: Measuring function, trace ended with error
5: Measuring function, trace successfully completed

p4707 Measurement function configuration / Meas fct config

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Setting to configure the measurement function.
Value: 0: Standard
1: Free meas fct
Note: The parameter cannot be changed when the measurement function has been started (r4706 = 2, 3).
For value = 0:
The system injection point selected to inject the function generator signal is used.
For value = 1:
No system injection point is used.
When using the measuring function in the STARTER commissioning software, the following applies:
A change to a value only becomes effective after first closing and opening the measuring function screen form.
For value = 0:
The master control must be fetched.
There are two fixed and two freely selectable signals for recording.
For value = 1:
Master control does not have to be fetched.
There are four freely selectable signals for recording.

r4708[0...1] Trace memory space required / Trace mem required

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the required memory in bytes for the actual parameterization.
Index: [0] = Trace 0
[1] = Trace 1
Dependency: Refer to: r4799

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 Parameter
List of parameters

r4709[0...1] Trace memory space required for measuring functions / Trace mem required
CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the memory space required for the current parameter setting in bytes, if the trace is used for the measur-
ing functions.
Index: [0] = Trace 0
[1] = Trace 1
Dependency: Refer to: r4799

p4710[0...1] Trace trigger condition / Trace Trig_cond

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
1 7 2
Description: Sets the trigger condition for the trace.
Value: 1: Immediate start
2: Positive edge
3: Negative edge
4: Entry to hysteresis band
5: Leaving hysteresis band
6: Trigger at bit mask
7: Start with function generator
Index: [0] = Trace 0
[1] = Trace 1

p4711[0...5] Trace trigger signal / Trace trig_signal

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - 0
Description: Selects the trigger signal for the trace.
Index: [0] = Trace 0 parameter in BICO format
[1] = Trace 1 parameter in BICO format
[2] = Trace 0 PINx with DO Id and chart Id
[3] = Trace 0 PINx with block Id and PIN Id
[4] = Trace 1 PINy with DO Id and chart Id
[5] = Trace 1 PINy with block Id and PIN Id
Dependency: Only effective when p4710 does not equal 1.
Note: It only makes sense to trace the PINs using the commissioning software.
For index 2(4) and 3(5) equal to zero, index 0(1) can only be written and vice versa.
Re index 0 ... 1:
Here, the trigger signal for trace 0 or 1 is entered as parameter in the BICO format.
For trace with a physical address (p4789), the data type of the trigger signal is set here.

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 Parameter
List of parameters

Re index 2 ...3:
The triggering PIN for trace 0 is entered here.
Index 2 bit 31 ... 16: Number of the Drive Object (DO), bit 15 ... 0: Number of the chart
Index 3 bit 31 ... 16: Number of the block, bit 15 ... 0: Number of the PIN
Re index 4 ... 5:
The triggering PIN for trace 1 is entered here.
Index 4 bit 31 ... 16: Number of the Drive Object (DO), bit 15 ... 0: Number of the chart
Index 5 bit 31 ... 16: Number of the block, bit 15 ... 0: Number of the PIN

p4712[0...1] Trace trigger threshold / Trace trig_thresh

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
-340.28235E36 340.28235E36 0.00
Description: Sets the trigger threshold for the trace.
Index: [0] = Trace 0
[1] = Trace 1
Dependency: Only effective when p4710 = 2, 3.

p4713[0...1] Trace tolerance band trigger threshold / Trace trig thresh

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
-340.28235E36 340.28235E36 0.00
Description: Sets the first trigger threshold for trigger via tolerance band.
Index: [0] = Trace 0
[1] = Trace 1
Dependency: Only effective when p4710 = 4, 5.

p4714[0...1] Trace tolerance band trigger threshold / Trace trig thresh

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
-340.28235E36 340.28235E36 0.00
Description: Sets the second trigger threshold for trigger via tolerance band
Index: [0] = Trace 0
[1] = Trace 1
Dependency: Only effective when p4710 = 4, 5.

p4715[0...1] Trace bit mask trigger, bit mask / Trace trig mask
CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
0 4294967295 0
Description: Sets the bit mask for the bit mask trigger.

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 Parameter
List of parameters

Index: [0] = Trace 0

[1] = Trace 1
Dependency: Only effective when p4710 = 6.

p4716[0...1] Trace, bit mask trigger, trigger condition / Trace Trig_cond

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
0 4294967295 0
Description: Sets the trigger condition for bit mask trigger.
Index: [0] = Trace 0
[1] = Trace 1
Dependency: Only effective when p4710 = 6.

p4717 Measuring function, number of averaging operations / Meas fct avg qty
CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned8 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
0 255 0
Description: Sets the number of averaging operations for the measuring function.

p4718 Measuring function, number of stabilizing periods / MeasFct StabPerQty

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned8 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
0 255 0
Description: Sets the number of stabilizing periods for the measuring function.

r4719[0...1] Trace trigger index / Trace Trig_index

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the trigger index in the trace buffer. The trigger event occurred at this point.
Index: [0] = Trace 0
[1] = Trace 1
Dependency: Only valid when p4705 = 4.

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 Parameter
List of parameters

p4720[0...1] Trace recording cycle / Trace record_cyc

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
0.000 [ms] 60000.000 [ms] 1.000 [ms]
Description: Sets the recording cycle for the trace.
Index: [0] = Trace 0
[1] = Trace 1

p4721[0...1] Trace recording time / Trace record_time

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
0.000 [ms] 3600000.000 [ms] 1000.000 [ms]
Description: Sets the recording time for the trace.
Index: [0] = Trace 0
[1] = Trace 1

p4722[0...1] Trace trigger delay / Trace trig_delay

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
-3600000.000 [ms] 3600000.000 [ms] 0.000 [ms]
Description: Sets the trigger delay for the trace.
Trigger delay < 0:
Pretrigger: Tracing (recording) starts the selected time before the trigger event actually occurs.
Trigger delay > 0:
Post trigger: Tracing does not start until the set time after the trigger event.
Index: [0] = Trace 0
[1] = Trace 1

p4723[0...1] Time slice cycle for trace / Trace cycle

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
0.03125 [ms] 4.00000 [ms] 0.12500 [ms]
Description: Sets the time slice cycle in which the trace is called.
Index: [0] = Trace 0
[1] = Trace 1

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 Parameter
List of parameters

p4724[0...1] Trace average in the time range / Trace average

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned8 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
0000 bin 0001 bin 0000 bin
Index: [0] = Trace 0
[1] = Trace 1

r4725[0...1] Trace, data type 1 traced / Trace rec type 1

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Index: [0] = Trace 0
[1] = Trace 1

r4726[0...1] Trace, data type 2 traced / Trace rec type 2

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Index: [0] = Trace 0
[1] = Trace 1

r4727[0...1] Trace, data type 3 traced / Trace rec type 3

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Index: [0] = Trace 0
[1] = Trace 1

r4728[0...1] Trace, data type 4 traced / Trace rec type 4

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Index: [0] = Trace 0
[1] = Trace 1

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 Parameter
List of parameters

r4729[0...1] Trace number of recorded values / Trace rec values

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the number of traced values for each signal.
Index: [0] = Trace 0
[1] = Trace 1
Dependency: Only valid when p4705 = 4.

p4730[0...5] Trace record signal 0 / Trace record sig 0

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - 0
Description: Selects the first signal to be traced.
Index: [0] = Trace 0 parameter in BICO format
[1] = Trace 1 parameter in BICO format
[2] = Trace 0 PINx with DO Id and chart Id
[3] = Trace 0 PINx with block Id and PIN Id
[4] = Trace 1 PINy with DO Id and chart Id
[5] = Trace 1 PINy with block Id and PIN Id

p4731[0...5] Trace record signal 1 / Trace record sig 1

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - 0
Description: Selects the second signal to be traced.
Index: [0] = Trace 0 parameter in BICO format
[1] = Trace 1 parameter in BICO format
[2] = Trace 0 PINx with DO Id and chart Id
[3] = Trace 0 PINx with block Id and PIN Id
[4] = Trace 1 PINy with DO Id and chart Id
[5] = Trace 1 PINy with block Id and PIN Id

p4732[0...5] Trace record signal 2 / Trace record sig 2

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - 0
Description: Selects the third signal to be traced.
Index: [0] = Trace 0 parameter in BICO format
[1] = Trace 1 parameter in BICO format
[2] = Trace 0 PINx with DO Id and chart Id
[3] = Trace 0 PINx with block Id and PIN Id

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 Parameter
List of parameters

[4] = Trace 1 PINy with DO Id and chart Id

[5] = Trace 1 PINy with block Id and PIN Id

p4733[0...5] Trace record signal 3 / Trace record sig 3

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - 0
Description: Selects the fourth signal to be traced.
Index: [0] = Trace 0 parameter in BICO format
[1] = Trace 1 parameter in BICO format
[2] = Trace 0 PINx with DO Id and chart Id
[3] = Trace 0 PINx with block Id and PIN Id
[4] = Trace 1 PINy with DO Id and chart Id
[5] = Trace 1 PINy with block Id and PIN Id

p4734[0...5] Trace record signal 4 / Trace record sig 4

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - 0
Description: Selects the fifth signal to be traced.
Index: [0] = Trace 0 parameter in BICO format
[1] = Trace 1 parameter in BICO format
[2] = Trace 0 PINx with DO Id and chart Id
[3] = Trace 0 PINx with block Id and PIN Id
[4] = Trace 1 PINy with DO Id and chart Id
[5] = Trace 1 PINy with block Id and PIN Id

p4735[0...5] Trace record signal 5 / Trace record sig 5

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - 0
Description: Selects the sixth signal to be traced.
Index: [0] = Trace 0 parameter in BICO format
[1] = Trace 1 parameter in BICO format
[2] = Trace 0 PINx with DO Id and chart Id
[3] = Trace 0 PINx with block Id and PIN Id
[4] = Trace 1 PINy with DO Id and chart Id
[5] = Trace 1 PINy with block Id and PIN Id

p4736[0...5] Trace record signal 6 / Trace record sig 6

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - 0
Description: Selects the seventh signal to be traced.

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 Parameter
List of parameters

Index: [0] = Trace 0 parameter in BICO format

[1] = Trace 1 parameter in BICO format
[2] = Trace 0 PINx with DO Id and chart Id
[3] = Trace 0 PINx with block Id and PIN Id
[4] = Trace 1 PINy with DO Id and chart Id
[5] = Trace 1 PINy with block Id and PIN Id

p4737[0...5] Trace record signal 7 / Trace record sig 7

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - 0
Description: Selects the eighth signal to be traced.
Index: [0] = Trace 0 parameter in BICO format
[1] = Trace 1 parameter in BICO format
[2] = Trace 0 PINx with DO Id and chart Id
[3] = Trace 0 PINx with block Id and PIN Id
[4] = Trace 1 PINy with DO Id and chart Id
[5] = Trace 1 PINy with block Id and PIN Id

r4740[0...16383] Trace 0 trace buffer signal 0 floating point / Trace 0 trace sig0
CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the trace buffer (record buffer) for trace 0 and signal 0.
The trace (record) buffer is sub-divided into memory banks, each containing 16384 values. Parameter p4795 can
be used to toggle between the individual banks.
Example A:
The first 16384 values of signal 0, trace 0 are to be read out.
In this case, memory bank 0 is set with p4795 = 0. The first 16384 values can now be read out using r4740[0] to
r4740[16383].
Example B:
The values 16385 to 32768 from signal 0, trace 0 are to be read out.
In this case, memory bank 1 is set with p4795 = 1. The values can now be read out in r4740[0] to r4740[16383].
Dependency: Refer to: p4795

r4741[0...16383] Trace 0 trace buffer signal 1 floating point / Trace 0 trace sig1
CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the trace buffer (record buffer) for trace 0 and signal 1.
Dependency: Refer to: r4740, p4795

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 Parameter
List of parameters

r4742[0...16383] Trace 0 trace buffer signal 2 floating point / Trace 0 trace sig2
CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the trace buffer (record buffer) for trace 0 and signal 2.
Dependency: Refer to: r4740, p4795

r4743[0...16383] Trace 0 trace buffer signal 3 floating point / Trace 0 trace sig3
CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the trace buffer (record buffer) for trace 0 and signal 3.
Dependency: Refer to: r4740, p4795

r4744[0...16383] Trace 0 trace buffer signal 4 floating point / Trace 0 trace sig4
CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the trace buffer (record buffer) for trace 0 and signal 4.
Dependency: Refer to: r4740, p4795

r4745[0...16383] Trace 0 trace buffer signal 5 floating point / Trace 0 trace sig5
CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the trace buffer (record buffer) for trace 0 and signal 5.
Dependency: Refer to: r4740, p4795

r4746[0...16383] Trace 0 trace buffer signal 6 floating point / Trace 0 trace sig6
CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the trace buffer (record buffer) for trace 0 and signal 6.
Dependency: Refer to: r4740, p4795

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 Parameter
List of parameters

r4747[0...16383] Trace 0 trace buffer signal 7 floating point / Trace 0 trace sig7
CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the trace buffer (record buffer) for trace 0 and signal 7.
Dependency: Refer to: r4740, p4795

r4750[0...16383] Trace 1 trace buffer signal 0 floating point / Trace 1 trace sig0
CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the trace buffer (record buffer) for trace 1 and signal 0.
Dependency: Refer to: r4740, p4795

r4751[0...16383] Trace 1 trace buffer signal 1 floating point / Trace 1 trace sig1
CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the trace buffer (record buffer) for trace 1 and signal 1.
Dependency: Refer to: r4740, p4795

r4752[0...16383] Trace 1 trace buffer signal 2 floating point / Trace 1 trace sig2
CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the trace buffer (record buffer) for trace 1 and signal 2.
Dependency: Refer to: r4740, p4795

r4753[0...16383] Trace 1 trace buffer signal 3 floating point / Trace 1 trace sig3
CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the trace buffer (record buffer) for trace 1 and signal 3.
Dependency: Refer to: r4740, p4795

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r4754[0...16383] Trace 1 trace buffer signal 4 floating point / Trace 1 trace sig4
CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the trace buffer (record buffer) for trace 1 and signal 4.
Dependency: Refer to: r4740, p4795

r4755[0...16383] Trace 1 trace buffer signal 5 floating point / Trace 1 trace sig5
CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the trace buffer (record buffer) for trace 1 and signal 5.
Dependency: Refer to: r4740, p4795

r4756[0...16383] Trace 1 trace buffer signal 6 floating point / Trace 1 trace sig6
CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the trace buffer (record buffer) for trace 1 and signal 6.
Dependency: Refer to: r4740, p4795

r4757[0...16383] Trace 1 trace buffer signal 7 floating point / Trace 1 trace sig7
CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the trace buffer (record buffer) for trace 1 and signal 7.
Dependency: Refer to: r4740, p4795

r4760[0...16383] Trace 0 trace buffer signal 0 / Trace 0 trace sig0

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the trace buffer (record buffer) for trace 0 and signal 0 as integer number.

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Note: For signals, data type I32 or U32, the trace buffer is assigned as follows:
r4760[0] = value 0
r4760[1] = value 1
...
r4760[8191] = value 8191
For signals, data type I16 or U16, the trace buffer is assigned as follows:
r4760[0] = value 0 (bit 31 ... 16) and value 1 (bit 15 ... 0)
r4760[1] = value 2 (bit 31 ... 16) and value 3 (bit 15 ... 0)
...
r4760[8191] = value 16382 (bit 31 ... 16) and value 16383 (bit 15 ... 0)
For signals, data type I8 or U8, the trace buffer is assigned as follows:
r4760[0] = value 0 (bit 31 ... 24) value 1 (bit 23 ... 16) value 2 (bit 15 ... 8) value 3 (bit 7 ... 0)
r4760[1] = value 4 (bit 31 ... 24) value 5 (bit 23 ... 16) value 6 (bit 15 ... 8) value 7 (bit 7 ... 0)
...
r4760[8191] = value 32764 (bit 31 ... 24) value 32765 (bit 23 ... 16) value 32766 (bit 15 ... 8) value 32767 (bit 7 ... 0)

r4761[0...16383] Trace 0 trace buffer signal 1 / Trace 0 trace sig1

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the trace buffer (record buffer) for trace 0 and signal 1.
Dependency: Refer to: r4760

r4762[0...16383] Trace 0 trace buffer signal 2 / Trace 0 trace sig2

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the trace buffer (record buffer) for trace 0 and signal 2.
Dependency: Refer to: r4760

r4763[0...16383] Trace 0 trace buffer signal 3 / Trace 0 trace sig3

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the trace buffer (record buffer) for trace 0 and signal 3.
Dependency: Refer to: r4760

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r4764[0...16383] Trace 0 trace buffer signal 4 / Trace 0 trace sig4

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the trace buffer (record buffer) for trace 0 and signal 4.
Dependency: Refer to: r4760

r4765[0...16383] Trace 0 trace buffer signal 5 / Trace 0 trace sig5

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the trace buffer (record buffer) for trace 0 and signal 5.
Dependency: Refer to: r4760

r4766[0...16383] Trace 0 trace buffer signal 6 / Trace 0 trace sig6

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the trace buffer (record buffer) for trace 0 and signal 6.
Dependency: Refer to: r4760

r4767[0...16383] Trace 0 trace buffer signal 7 / Trace 0 trace sig7

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the trace buffer (record buffer) for trace 0 and signal 7.
Dependency: Refer to: r4760

r4770[0...16383] Trace 1 trace buffer signal 0 / Trace 1 trace sig0

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the trace buffer (record buffer) for trace 1 and signal 0.
Dependency: Refer to: r4760

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r4771[0...16383] Trace 1 trace buffer signal 1 / Trace 1 trace sig1

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the trace buffer (record buffer) for trace 1 and signal 1.
Dependency: Refer to: r4760

r4772[0...16383] Trace 1 trace buffer signal 2 / Trace 1 trace sig2

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the trace buffer (record buffer) for trace 1 and signal 2.
Dependency: Refer to: r4760

r4773[0...16383] Trace 1 trace buffer signal 3 / Trace 1 trace sig3

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the trace buffer (record buffer) for trace 1 and signal 3.
Dependency: Refer to: r4760

r4774[0...16383] Trace 1 trace buffer signal 4 / Trace 1 trace sig4

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the trace buffer (record buffer) for trace 1 and signal 4.
Dependency: Refer to: r4760

r4775[0...16383] Trace 1 trace buffer signal 5 / Trace 1 trace sig5

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the trace buffer (record buffer) for trace 1 and signal 5.
Dependency: Refer to: r4760

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r4776[0...16383] Trace 1 trace buffer signal 6 / Trace 1 trace sig6

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the trace buffer (record buffer) for trace 1 and signal 6.
Dependency: Refer to: r4760

r4777[0...16383] Trace 1 trace buffer signal 7 / Trace 1 trace sig7

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the trace buffer (record buffer) for trace 1 and signal 7.
Dependency: Refer to: r4760

p4780[0...1] Trace physical address signal 0 / Trace PhyAddr Sig0

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
0000 bin 1111 1111 1111 1111 1111 1111 0000 bin
1111 1111 bin
Description: Sets the physical address for the first signal to be traced.
The data type is defined using p4730.
Index: [0] = Trace 0
[1] = Trace 1

p4781[0...1] Trace physical address signal 1 / Trace PhyAddr Sig1

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
0000 bin 1111 1111 1111 1111 1111 1111 0000 bin
1111 1111 bin
Description: Sets the physical address for the second signal to be traced.
The data type is defined using p4731.
Index: [0] = Trace 0
[1] = Trace 1

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p4782[0...1] Trace physical address signal 2 / Trace PhyAddr Sig2

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
0000 bin 1111 1111 1111 1111 1111 1111 0000 bin
1111 1111 bin
Description: Sets the physical address for the third signal to be traced.
The data type is defined using p4732.
Index: [0] = Trace 0
[1] = Trace 1

p4783[0...1] Trace physical address signal 3 / Trace PhyAddr Sig3

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
0000 bin 1111 1111 1111 1111 1111 1111 0000 bin
1111 1111 bin
Description: Sets the physical address for the fourth signal to be traced.
The data type is defined using p4733.
Index: [0] = Trace 0
[1] = Trace 1

p4784[0...1] Trace physical address signal 4 / Trace PhyAddr Sig4

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
0000 bin 1111 1111 1111 1111 1111 1111 0000 bin
1111 1111 bin
Description: Sets the physical address for the fifth signal to be traced.
The data type is defined using p4734.
Index: [0] = Trace 0
[1] = Trace 1

p4785[0...1] Trace physical address signal 5 / Trace PhyAddr Sig5

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
0000 bin 1111 1111 1111 1111 1111 1111 0000 bin
1111 1111 bin
Description: Sets the physical address for the sixth signal to be traced.
The data type is defined using p4735.
Index: [0] = Trace 0
[1] = Trace 1

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p4786[0...1] Trace physical address signal 6 / Trace PhyAddr Sig6

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
0000 bin 1111 1111 1111 1111 1111 1111 0000 bin
1111 1111 bin
Description: Sets the physical address for the seventh signal to be traced.
The data type is defined using p4736.
Index: [0] = Trace 0
[1] = Trace 1

p4787[0...1] Trace physical address signal 7 / Trace PhyAddr Sig7

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
0000 bin 1111 1111 1111 1111 1111 1111 0000 bin
1111 1111 bin
Description: Sets the physical address for the eighth signal to be traced.
The data type is defined using p4737.
Index: [0] = Trace 0
[1] = Trace 1

p4789[0...1] Trace physical address trigger signal / Trace PhyAddr Trig

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
0000 hex FFFF FFFF hex 0000 hex
Description: Sets the physical address for the trigger signal.
The data type is defined by making the appropriate selection in p4711.
Index: [0] = Trace 0
[1] = Trace 1

r4790[0...1] Trace, data type 5 traced / Trace rec type 5

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Index: [0] = Trace 0
[1] = Trace 1

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r4791[0...1] Trace, data type 6 traced / Trace rec type 6

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Index: [0] = Trace 0
[1] = Trace 1

r4792[0...1] Trace, data type 7 traced / Trace rec type 7

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Index: [0] = Trace 0
[1] = Trace 1

r4793[0...1] Trace, data type 8 traced / Trace rec type 8

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Index: [0] = Trace 0
[1] = Trace 1

p4795 Trace memory bank changeover / Trace mem changeov

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
0 500 0
Description: Changes over the memory bank to read out the contents of the trace buffer.
Dependency: Refer to: r4740, r4741, r4742, r4743, r4750, r4751, r4752, r4753

r4799 Trace memory location free / Trace mem free

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the free memory for the trace in bytes.
Dependency: Refer to: r4708

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p4800 Function generator control / FG control

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
0 3 0
Description: The function generator is started with p4800 = 1.
The signal is only generated for a 1 signal of binector input p4819.
Value: 0: Stop function generator
1: Start function generator
2: Check function generator parameterization
3: Start function generator without enable signals
Dependency: Refer to: p4819

r4805 Function generator status / FG status

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
0 6 -
Description: Displays the actual status of the function generator.
Value: 0: Inactive
1: Generate accelerating ramp to offset
2: Generate parameterized signal shape
3: Generate braking ramp
4: Function generator stopped due to missing enable signals
5: Function generator waits for BI: p4819
6: Function generator parameterization has been checked
Dependency: Refer to: p4800, p4819

r4806.0 BO: Function generator status signal / FG status signal

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the status of the function generator.
0 signal: Function generator inactive
1 signal: Function generator running
Bit field: Bit Signal name 1 signal 0 signal FP
00 Bit 0 ON OFF -

p4810 Function generator mode / FG operating mode

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
0 99 0
Description: Sets the operating mode of the function generator.

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Value: 0: Connection at connector output r4818

1: Connection at current setpoint after filter and r4818
2: Connection as disturbing torque and r4818
3: Connection at speed setpoint after filter and r4818
4: Connection at current setpoint before filter and r4818
5: Connection at speed setpoint before filter and r4818
6: Connection for free measurement function r4818 and r4834
99: Connection at physical address and r4818

p4812 Function generator physical address / FG phys address

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
0 4294967295 0
Description: Sets the physical address where the function generator is to be connected.
Dependency: Only effective when p4810 = 99.

p4813 Function generator physical address reference value / FG phys addr ref
CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
1.00 1000000.00 1.00
Description: Sets the reference value for 100 % for referred inputs.
Dependency: Only effective when p4810 = 99.

p4815[0...2] Function generator drive number / FG drive number

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
0 65535 0
Description: Selects the required drive where the function generator is to be connected.
Index: [0] = First drive for connection
[1] = Second drive for connection
[2] = Third drive for connection
Dependency: Only effective when p4810 = 1, 2, 3, 4 or 5.
Note: For the function generator, only type SERVO, VECTOR or DC_CTRL type drives can be used.

p4816 Function generator output signal integer number scaling / FG outp integ scal
CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
CU_S110-DP, Data type: Integer32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-2147483648 2147483647 0
Description: Sets the scaling for the integer number of the output signal for the function generator.
Dependency: Refer to: r4805, r4817
Note: The parameter can only be changed in the following operating states:
r4805 = 0, 4, 6

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 Parameter
List of parameters

r4817 CO: Function generator output signal integer number / FG outp integ no.
CU_S110-CAN, Can be changed: - Calculated: - Access level: 4
CU_S110-DP, Data type: Integer32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Display and connector output for the integer number of the output signal for the function generator.
Dependency: Refer to: p4816
Note: The value is output independent of the function generator operating mode.

r4818 CO: Function generator output signal / FG outp_sig

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: PERCENT Expert list: 0
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the output signal for the function generator.
Dependency: Refer to: p4810
Note: The value is displayed independently of the function generator mode.

p4819 BI: Function generator control / FG control

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - 1
Description: Sets the signal source to control the function generator.
When the function generator is running, signal generation is stopped with a 0 signal from BI: p4819 and p4800 is
set to 0.
Dependency: Refer to: p4800

p4820 Function generator signal shape / FG signal shape

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
1 5 1
Description: Sets the signal to be generated for the function generator.
Value: 1: Square-wave
2: Staircase
3: Delta
4: Binary noise - PRBS (Pseudo Random Binary Signal)
5: Sine-wave

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 Parameter
List of parameters

p4821 Function generator period / FG period duration

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
0.00 [ms] 60000.00 [ms] 1000.00 [ms]
Description: Sets the period of the signal to be generated for the function generator.
Dependency: Ineffective when p4820 = 4 (PRBS).

p4822 Function generator pulse width / FG pulse width

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
0.00 [ms] 60000.00 [ms] 500.00 [ms]
Description: Sets the pulse width for the signal to be generated for the function generator.
Dependency: Only effective when p4820 = 1 (square-wave).

p4823 Function generator bandwidth / FG bandwidth

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
0.0025 [Hz] 16000.0000 [Hz] 4000.0000 [Hz]
Description: Sets the bandwidth for the signal to be generated for the function generator.
Dependency: Only effective when p4820 = 4 (PRBS).
Refer to: p4830
Refer to: A02041

p4824 Function generator amplitude / FG amplitude

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
-1600.00 [%] 1600.00 [%] 5.00 [%]
Description: Sets the amplitude for the signal to be generated for the function generator.
Dependency: Units are dependent on p4810.
If p4810 = 1, 2, 4: The amplitude is referred to p2002 (reference current).
If p4810 = 3, 5: The amplitude is referred to p2000 (reference speed).

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 Parameter
List of parameters

p4825 Function generator 2nd amplitude / FG 2nd amplitude

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
-1600.00 [%] 1600.00 [%] 7.00 [%]
Description: Sets the second amplitude for the signal to be generated for the function generator.
Dependency: Only effective for p4820 = 2 (staircase).
Units are dependent on p4810.
If p4810 = 1, 2, 4: The amplitude is referred to p2002 (reference current).
If p4810 = 3, 5: The amplitude is referred to p2000 (reference speed).

p4826 Function generator offset / FG offset

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
-1600.00 [%] 1600.00 [%] 0.00 [%]
Description: Sets the offset (DC component) of the signal to be generated for the function generator.
Dependency: Units are dependent on p4810.
If p4810 = 1, 2, 4: The offset is referred to p2002 (reference current).
If p4810 = 3, 5: The offset is referred to p2000 (reference speed).
If p4810 = 2: In order to avoid the undesirable effects of play (backlash), the offset does not act on the current set-
point, but instead on the speed setpoint.

p4827 Function generator ramp-up time to offset / FG ramp-up offset

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
0.00 [ms] 100000.00 [ms] 32.00 [ms]
Description: Sets the ramp-up time to the offset for the function generator.

p4828 Function generator lower limit / FG lower limit

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
-10000.00 [%] 0.00 [%] -100.00 [%]
Description: Sets the lower limit for the function generator.
Dependency: For p4810 = 2 the limit only applies to the current setpoint, but not the speed setpoint (offset).

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 Parameter
List of parameters

p4829 Function generator upper limit / FG upper limit

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
0.00 [%] 10000.00 [%] 100.00 [%]
Description: Sets the upper limit for the function generator.
Dependency: For p4810 = 2 the limit only applies to the current setpoint, but not the speed setpoint (offset).

p4830 Function generator time slice cycle / FG time slice

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
0.03125 [ms] 2.00000 [ms] 0.12500 [ms]
Description: Sets the time slice cycle in which the function generator is called.

p4831 Function generator amplitude scaling / FG amplitude scal

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
0.00000 [%] 200.00000 [%] 100.00000 [%]
Description: Sets the scaling for the amplitude of the signal waveforms for all output channels.
The value can be changed while the function generator is running.

p4832[0...2] Function generator amplitude scaling / FG amplitude scal

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
-340.28235E36 [%] 340.28235E36 [%] 100.00000 [%]
Description: Sets the scaling for the amplitude of the signal waveforms separately for each output channel.
The value cannot be changed while the function generator is running.
Index: [0] = First drive for connection
[1] = Second drive for connection
[2] = Third drive for connection

p4833[0...2] Function generator offset scaling / FG offset scal

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
-340.28235E36 [%] 340.28235E36 [%] 100.00000 [%]
Description: Sets the scaling for the offset of the signal waveforms separately for each output channel.
The value cannot be changed while the function generator is running.

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 Parameter
List of parameters

Index: [0] = First drive for connection

[1] = Second drive for connection
[2] = Third drive for connection

r4834[0...4] CO: Function generator free measurement output signal / FG fr MeasFct outp
CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Trace and function generator Units group: - Unit selection: -
Not for motor type: - Scaling: PERCENT Expert list: 0
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the output signal for the free measurement function.
Index: [0] = Signal 1
[1] = Signal 2
[2] = Signal 3
[3] = Signal 4
[4] = Signal 5
Dependency: Refer to: p4810
Note: The signals are only output in the "free measurement function" operating mode (p4810 = 6)

p4835[0...4] Function generator free measurement function scaling / FG fr MeasFct scal

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-200.00000 [%] 200.00000 [%] 100.00000 [%]
Description: Sets the scaling of the output signals for the free measurement function.
Index: [0] = Signal 1
[1] = Signal 2
[2] = Signal 3
[3] = Signal 4
[4] = Signal 5
Note: The parameter cannot be changed when the measurement function has been started (r4706 = 2, 3).

r5005 Spindle file system status / File sys stat

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the status for the file system on the non-volatile memory.
The individual result data and characteristic data are summarized in a corresponding file.
Bit field: Bit Signal name 1 signal 0 signal FP
01 Result data clamping cycle thresholds avail- Yes No -
able
02 Result data clamping cycle counter avail- Yes No -
able
03 Result data operating hours counter avail- Yes No -
able
04 Result data temperature diagnostics avail- Yes No -
able
05 Result data real time clock synchronization Yes No -
available
06 Result data speed/torque matrix available Yes No -

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 Parameter
List of parameters

16 Characteristic data spindle available Yes No -

17 Characteristic data clamping cycle counter Yes No -
available
19 Characteristic data operating hours counter Yes No -
available
20 Characteristic data temperature diagnostics Yes No -
available
22 Characteristic data speed/torque matrix Yes No -
available
30 Characteristic data sensor description avail- Yes No -
able
31 Characteristic data sensor calibration data Yes No -
available

p5007 Spindle file system selection / File sys select

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 0000 0000 0000 0000
0000 0000 0000 bin
Description: Sets the files to adapt the file system.
Bit field: Bit Signal name 1 signal 0 signal FP
01 Result data clamping cycle thresholds Yes No -
selected
02 Result data clamping cycle counter selected Yes No -
03 Result data operating hours counter Yes No -
selected
04 Result data temperature diagnostics Yes No -
selected
05 Result data real time clock synchronization Yes No -
selected
06 Result data speed/torque matrix selected Yes No -
17 Characteristic data clamping cycle counter Yes No -
selected
19 Characteristic data operating hours counter Yes No -
selected
20 Characteristic data temperature diagnostics Yes No -
selected
22 Characteristic data speed/torque matrix Yes No -
selected

p5009 Adapt spindle file system / Adapt file sys

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 53 0
Description: Setting to adapt the file system on the non-volatile memory.
Example:
The result data "clamping cycle thresholds" are available (r5005.1 = 1) and should be reset.
--> set p5007.1 = 1: select result data "clamping cycle thresholds".
--> set p5009 = 1: initiate "reset" function for the file selected in p5007.
--> p5009 = 40: feedback signal during "operation running".
--> p5009 = 20: feedback signal for a successfully completed operation.

© Siemens AG 2012 All Rights Reserved 1-477

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 Parameter
List of parameters

--> p5009 = 51 ... 53: fault values if the operation was not able to be successfully completed.
--> carry out a POWER ON (switch-off/switch-on).
Value: 0: No function
1: Reset
2: Set invalid
3: Reserved
5: Set valid
20: Operation successfully completed.
40: Operation running
51: Function not supported
52: File access unsuccessful
53: Operation unsuccessful
Note: Help for fault value = 51 ... 53:
- repeat the operation.

p5016 Enable spindle commissioning / Enable comm

SERVO_S110-CAN, Can be changed: C2, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Setting to enable/inhibit spindle commissioning.
Value: 0: Spindle commissioning enabled
1: Spindle commissioning inhibited
Note: The parameter is automatically set to a value of 1 after exiting commissioning (p0009 = 0).

r7760 Write protection status / Write prot stat

All objects Can be changed: - Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the status for write protection of adjustable parameters.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Write protection active -
Note: Write protection can be activated/deactivated via p7760 on the Control Unit.

p7761 Write protection / Write protection

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Setting for activating/de-activating the write protection for adjustable parameters.
Value: 0: Inactive
1: Active
Note: The following parameters are excluded from the write protection:
- p0003 (BOP access level)
- p0971 (drive object save parameters)
- p0977 (save all parameters)
- p3950 (service parameters)

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 Parameter
List of parameters

- p3981 (acknowledge fault, drive object)

- p7760 (adjustable parameters write protection)

p7820 DRIVE-CLiQ component component number / DLQ comp_no

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 65535 0
Description: Sets the component number of the DRIVE-CLiQ component whose parameters are to be accessed.
Dependency: Refer to: p7821, p7822, r7823

p7821 DRIVE-CLiQ component parameter number / DLQ para_no

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 65535 0
Description: Sets the parameter number to access a parameter of a DRIVE-CLiQ component.
Dependency: Refer to: p7820, p7822, r7823

p7822 DRIVE-CLiQ component parameter index / DLQ para_index

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 65535 0
Description: Sets the parameter index to access a parameter of a DRIVE-CLiQ component.
Dependency: Refer to: p7820, p7821, r7823

r7823 DRIVE-CLiQ component read parameter value / Read DLQ value

CU_S110-CAN, Can be changed: - Calculated: - Access level: 4
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the parameter value read from the DRIVE-CLiQ component.
Dependency: Refer to: p7820, p7821, p7822

r7825[0...6] DRIVE-CLiQ component versions / DLQ version

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the firmware and EPROM versions of the DRIVE-CLiQ component selected using p7828[1].

© Siemens AG 2012 All Rights Reserved 1-479

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 Parameter
List of parameters

Index: [0] = Reference firmware version

[1] = Actual firmware version
[2] = EPROM0 version
[3] = EPROM1 version
[4] = EPROM2 version
[5] = EPROM3 version
[6] = EPROM4 version
Note: Reference firmware version: Version on the memory card/device memory.
Current firmware version: Actual version of the DRIVE-CLiQ component.
EPROM version: Current EPROM version of the DRIVE-CLiQ component.

r7827 Firmware update progress display / FW update progress

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the progress when updating the firmware of the DRIVE-CLiQ components.

p7830 Diagnostics telegram selection / Diag telegram

SERVO_S110-CAN, Can be changed: T Calculated: - Access level: 4
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 3 0
Description: Selects a telegram whose contents should be shown in p7831 ... p7836.
Value: 0: Reserved
1: First cyclic receive telegram sensor 1
2: First cyclic receive telegram sensor 2
3: First cyclic receive telegram sensor 3
Dependency: Refer to: r7831, r7832, r7833, r7834, r7835, r7836

r7831[0...15] Telegram diagnostics signals / Tel diag signals

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 4
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 15157 -
Description: Displays the signals contained in the selected telegram (p7830).
Value: 0: UNUSED
1: UNKNOWN
102: SAPAR_ID_DSA_ALARM
110: SAPAR_ALARMBITS_FLOAT_0
111: SAPAR_ALARMBITS_FLOAT_1
112: SAPAR_ALARMBITS_FLOAT_2
113: SAPAR_ALARMBITS_FLOAT_3
114: SAPAR_ALARMBITS_FLOAT_4
115: SAPAR_ALARMBITS_FLOAT_5
10500: ENC_ID_TIME_PRETRIGGER
10501: ENC_ID_TIME_SEND_TELEG_1
10502: ENC_ID_TIME_CYCLE_FINISHED
10503: ENC_ID_TIME_DELTA_FUNMAN
10504: ENC_ID_SUBTRACE_CALCTIMES

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 Parameter
List of parameters

10505: ENC_ID_SYNO_PERIOD
10516: ENC_ID_ADC_TRACK_A
10517: ENC_ID_ADC_TRACK_B
10518: ENC_ID_ADC_TRACK_C
10519: ENC_ID_ADC_TRACK_D
10520: ENC_ID_ADC_TRACK_A_SAFETY
10521: ENC_ID_ADC_TRACK_B_SAFETY
10523: ENC_ID_ADC_TEMP_1
10526: ENC_ID_ADC_TRACK_R
10532: ENC_ID_TRACK_AB_X
10533: ENC_ID_TRACK_AB_Y
10534: ENC_ID_OFFSET_CORR_AB_X
10535: ENC_ID_OFFSET_CORR_AB_Y
10536: ENC_ID_AB_ABS_VALUE
10537: ENC_ID_TRACK_CD_X
10538: ENC_ID_TRACK_CD_Y
10539: ENC_ID_TRACK_CD_ABS
10542: ENC_ID_AB_RAND_X
10543: ENC_ID_AB_RAND_Y
10544: ENC_ID_AB_RAND_ABS_VALUE
10545: ENC_ID_SUBTRACE_ABS_ARRAY
10546: ENC_ID_PROC_OFFSET_0
10547: ENC_ID_PROC_OFFSET_4
10564: ENC_SELFTEMP_ACT
10565: ENC_ID_MOTOR_TEMP_TOP
10566: ENC_ID_MOTOR_TEMP_1
10580: ENC_ID_RESISTANCE_1
10590: ENC_ID_ANA_CHAN_A
10591: ENC_ID_ANA_CHAN_B
10592: ENC_ID_ANA_CHAN_X
10593: ENC_ID_ANA_CHAN_Y
10596: ENC_ID_AB_ANGLE
10597: ENC_ID_CD_ANGLE
10598: ENC_ID_MECH_ANGLE_HI
10599: ENC_ID_RM_POS_PHI_COMMU
10600: ENC_ID_PHI_COMMU
10612: ENC_ID_DIFF_CD_INC
10613: ENC_ID_RM_POS_PHI_COMMU_RFG
10628: ENC_ID_MECH_ANGLE
10629: ENC_ID_MECH_RM_POS
10644: ENC_ID_INIT_VECTOR
10645: FEAT_INIT_VEKTOR
10660: ENC_ID_SENSOR_STATE
10661: ENC_ID_BASIC_SYSTEM
10662: ENC_ID_REFMARK_STATUS
10663: ENC_ID_DSA_STATUS1_SENSOR
10664: ENC_ID_DSA_RMSTAT_HANDSHAKE
10665: ENC_ID_DSA_CONTROL1_SENSOR
10667: ENC_ID_SAFETY
10676: ENC_ID_COUNTCORR_SAW_VALUE
10677: ENC_ID_COUNTCORR_ABS_VALUE
10678: ENC_ID_SAWTOOTH_CORR
10692: ENC_ID_RESISTANCE_CALIB_INSTANT
10693: ENC_ID_SERPROT_POS
10724: ENC_ID_ACT_FUNMAN_FUNCTION
10725: ENC_ID_SAFETY_COUNTER_CRC
10740: ENC_ID_POS_ABSOLUTE
10741: ENC_ID_POS_REFMARK
10742: ENC_ID_SAWTOOTH
10743: ENC_ID_SAFETY_PULSE_COUNTER
10756: ENC_ID_DSA_ACTUAL_SPEED
10757: ENC_ID_SPEED_DEV_ABS
10772: ENC_ID_DSA_POS_XIST1
10788: ENC_ID_AB_CROSS_CORR

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 Parameter
List of parameters

10789: ENC_ID_AB_GAIN_Y_CORR
10790: ENC_ID_AB_PEAK_CORR
11825: ENC_ID_RES_TRANSITION_RATIO
11826: ENC_ID_RES_PHASE_SHIFT
15150: ENC_ID_SPINDLE_S1_RAW
15151: ENC_ID_SPINDLE_S4_RAW
15152: ENC_ID_SPINDLE_S5_RAW
15155: ENC_ID_SPINDLE_S1_CAL
15156: ENC_ID_SPINDLE_S4_CAL
15157: ENC_ID_SPINDLE_S5_CAL

r7832[0...15] Telegram diagnostics numerical format / tel diag format

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 4
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-1 14 -
Description: Displays the original numerical format of the signals contained in the telegram.
The associated signal number is represented in the appropriate index of r7831.
Value: -1: Unknown
0: Boolean
1: Signed 1 byte
2: Signed 2 byte
3: Signed 4 byte
4: Signed 8 byte
5: Unsigned 1 byte
6: Unsigned 2 byte
7: Unsigned 4 byte
8: Unsigned 8 byte
9: Float 4 byte
10: Double 8 byte
11: mm dd yy HH MM SS MS DOW
12: ASCII string
13: SIMUMERIK frame type
14: SIMUMERIK axis type
Dependency: Refer to: r7831

r7833[0...15] Telegram diagnostics unsigned / Tel diag unsigned

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 4
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Parameter to display a DSA signal in the unsigned-integer format.
The associated signal number is represented at the appropriate index in r7831.

r7834[0...15] Telegram diagnostics signed / Tel diag signed

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 4
SERVO_S110-DP, Data type: Integer32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Parameter to display a DSA signal in the signed-integer format.
The associated signal number is represented at the appropriate index in r7831.

1-482 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r7835[0...15] Telegram diagnostics real / Tel diag real

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 4
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Parameter to display a DSA signal in the float format.
The associated signal number is represented at the appropriate index in r7831.

r7836[0...15] Telegram diagnostics unit / Tel diag unit

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 4
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-1 147 -
Description: Displays the units of a DSA signal.
The associated signal number is represented at the appropriate index in r7831.
Value: -1: Unknown
0: None
1: Millimeter or degrees
2: Millimeter
3: Degrees
4: mm/min or RPM
5: Millimeter / min
6: Revolutions / min
7: m/sec^2 or U/sec^2
8: m/sec^2
9: U/sec^2
10: m/sec^3 or U/sec^3
11: m/sec^3
12: U/sec^3
13: sec
14: 16.667 / sec
15: mm/revolution
16: ACX_UNIT_COMPENSATION_CORR
18: Newton
19: Kilogram
20: Kilogram meter^2
21: Percent
22: Hertz
23: Volt peak-to-peak
24: Amps peak-to-peak
25: Degrees Celsius
26: Degrees
28: Millimeter or degrees
29: Meters / minute
30: Meters / second
31: ohm
32: Millihenry
33: Newton meter
34: Newton meter/Ampere
35: Volt/Ampere
36: Newton meter second / rad
38: 31.25 microseconds
39: Microseconds
40: Milliseconds

© Siemens AG 2012 All Rights Reserved 1-483

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Parameter
List of parameters

42: Kilowatt
43: Micro amps peak-to-peak
44: Volt seconds
45: Microvolt seconds
46: Micro newton meters
47: Amps / volt seconds
48: Per mille
49: Hertz / second
53: Micrometer or millidegrees
54: Micrometer
55: Millidegrees
59: Nanometer
61: Newton/Amps
62: Volt seconds/meter
63: Newton seconds/meter
64: Micronewton
65: Liters / minute
66: Bar
67: Cubic centimeters
68: Millimeter / volt minute
69: Newton/Volt
80: Millivolts peak-to-peak
81: Volt rms
82: Millivolts rms
83: Amps rms
84: Micro amps rms
85: Micrometers / revolution
90: Tenths of a second
91: Hundredths of a second
92: 10 microseconds
93: Pulses
94: 256 pulses
95: Tenths of a pulse
96: Revolutions
97: 100 revolutions / minute
98: 10 revolutions / minute
99: 0.1 revolutions / minute
100: Thousandth revolution / minute
101: Pulses / second
102: 100 pulses / second
103: 10 revolutions / (minute x seconds)
104: 10000 pulses/second^2
105: 0.1 Hertz
106: 0.01 Hertz
107: 0.1 / seconds
108: Factor 0.1
109: Factor 0.01
110: Factor 0.001
111: Factor 0.0001
112: 0.1 Volt peak-to-peak
113: 0.1 Volt peak-to-peak
114: 0.1 amps peak-to-peak
115: Watt
116: 100 Watt
117: 10 Watt
118: 0.01 percent
119: 1/second^3
120: 0.01 percent/millisecond
121: Pulses / revolution
122: Microfarads
123: Milliohm
124: 0.01 Newton meter
125: Kilogram millimeter^2
126: Rad / (seconds newton meter)

1-484 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

127: Henry
128: Kelvin
129: Hours
130: Kilohertz
131: Milliamperes peak-to-peak
132: Millifarads
133: Meter
135: Kilowatt hours
136: Percent
137: Amps / Volt
138: Volt
139: Millivolts
140: Microvolts
141: Amps
142: Milliamperes
143: Micro amps
144: Milliamperes rms
145: Millimeter
146: Nanometer
147: Joules

r7843[0...20] Memory card serial number / Mem_card ser.no

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned8 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the actual serial number of the memory card.
The individual characters of the serial number are displayed in the ASCII code in the indices.
Dependency: Refer to: p9920, p9921
Notice: An ASCII table (excerpt) can be found, for example, in the appendix to the List Manual.
Note: Example: displaying the serial number for a memory card:
r7843[0] = 49 dec --> ASCII characters = "1" --> serial number, character 1
r7843[1] = 49 dec --> ASCII characters = "1" --> serial number, character 2
r7843[2] = 49 dec --> ASCII characters = "1" --> serial number, character 3
r7843[3] = 57 dec --> ASCII characters = "9" --> serial number, character 4
r7843[4] = 50 dec --> ASCII characters = "2" --> serial number, character 5
r7843[5] = 51 dec --> ASCII characters = "3" --> serial number, character 6
r7843[6] = 69 dec --> ASCII characters = "E" --> serial number, character 7
r7843[7] = 0 dec --> ASCII characters = " " --> serial number, character 8
...
r7843[19] = 0 dec --> ASCII characters = " " --> serial number, character 20
r7843[20] = 0 dec
Serial number = 111923E

r7844[0...1] Memory card/device memory firmware version / Mem_crd/dev_mem FW

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the version of the firmware stored on the memory card/device memory.
Index 0: Firmware version internal (e.g. 01203300)
Index 1: Firmware version external (e.g. 01020000 -> 1.2)

© Siemens AG 2012 All Rights Reserved 1-485

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 Parameter
List of parameters

r7850[0...23] Drive object operational/not operational / DO ready for oper

CU_S110-CAN, Can be changed: - Calculated: - Access level: 4
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-32786 32767 -
Description: Displays whether, for an activated drive object, all activated topology components are available or not (or whether
these can be addressed).
0: Drive object not ready for operation
1: Drive object ready for operation

p7852 Number of indices for r7853 / Qty indices r7853

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
1 200 1
Description: Displays the number of indices for r7853[0...n].
This corresponds to the number of DRIVE-CLiQ components that are in the target topology.
Dependency: Refer to: r7853
Note: The values are valid if all available Control Units adopt the "Initialization finished" state (r3988 = 800) following
power-up.

r7853[0...n] Component available/not available / Comp present

CU_S110-CAN, Can be changed: - Calculated: - Access level: 4
CU_S110-DP, Data type: Unsigned16 Dynamic index: p7852 Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex FFFF hex -
Description: Displays the component and whether this component is currently present.
High byte: Component number
Low byte: 0/1 (not available/available)
Dependency: Refer to: p7852
Note: The values are valid if all available Control Units adopt the "Initialization finished" state (r3988 = 800) following
power-up.

p7857 Sub-boot mode / Sub-boot mode

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 1
Description: Sets the mode for the sub-boot.
Value: 0: Sub-boot manual
1: Sub-boot automatic
Note: For p7857 = 0 (manual sub-boot) the following applies:
The parameter should be set to 1 to start the sub-boot.

1-486 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p7859[0...199] Component number global / Comp_nr global

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
-32786 32767 0
Description: Sets the global and unique component number in a drive system with several Control Units.
Each index of the parameter corresponds to a possible local component number on the corresponding Control Unit.
The indices are allocated to the global component numbers as follows:
p7859[0]: Not used
p7859[1]: Sets the global component number for the local component number 1
p7859[2]: Sets the global component number for the local component number 2
...
p7859[199]: Sets the global component number for the local component number 199
Notice: This parameter is preferably set via suitable commissioning software (e.g. UpdateAgent, STARTER, SCOUT).
Changing the parameter via the AOP (Advanced Operator Panel) or BOP (Basic Operator Panel) can destroy a
valid unique setting.
Note: The parameter is not influenced by setting the factory setting.

r7867 Status/configuration changes global / Changes global

CU_S110-CAN, Can be changed: - Calculated: - Access level: 4
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays status and configuration changes of all of the drive objects in the complete unit.
When changing the status or the configuration of the Control Unit or a drive object, the value of this parameter is
incremented.
Dependency: Refer to: r7868, r7869, r7870

r7868[0...24] Configuration changes drive object reference / Config_chng DO ref

CU_S110-CAN, Can be changed: - Calculated: - Access level: 4
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Reference to the drive objects whose configuration has changed.
Index 0:
When changing one of the following indices, then the value in this index is increased.
Index 1...n:
The drive object with object number in p0101[n-1] has changed its configuration.
Example:
r7868[3] was incremented since the last time it was read.
--> the configuration of the drive object with object number in p0101[2] was changed.
Index: [0] = Sum of the following indices
[1] = Object number in p0101[0]
[2] = Object number in p0101[1]
[3] = Object number in p0101[2]
[4] = Object number in p0101[3]
[5] = Object number in p0101[4]

© Siemens AG 2012 All Rights Reserved 1-487

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

[6] = Object number in p0101[5]

[7] = Object number in p0101[6]
[8] = Object number in p0101[7]
[9] = Object number in p0101[8]
[10] = Object number in p0101[9]
[11] = Object number in p0101[10]
[12] = Object number in p0101[11]
[13] = Object number in p0101[12]
[14] = Object number in p0101[13]
[15] = Object number in p0101[14]
[16] = Object number in p0101[15]
[17] = Object number in p0101[16]
[18] = Object number in p0101[17]
[19] = Object number in p0101[18]
[20] = Object number in p0101[19]
[21] = Object number in p0101[20]
[22] = Object number in p0101[21]
[23] = Object number in p0101[22]
[24] = Object number in p0101[23]
Dependency: Refer to: p0101, r7867, r7871

r7869[0...24] Status changes drive object reference / Status_chng DO ref

CU_S110-CAN, Can be changed: - Calculated: - Access level: 4
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Reference to the drive objects whose status has changed.
Index 0:
When changing one of the following indices, then the value in this index is increased.
Index 1...n:
The drive object with object number in p0101[n-1] has changed its status.
Example:
r7868[3] was incremented since the last time it was read.
--> the status of the drive object with object number in p0101[2] was changed.
Index: [0] = Sum of the following indices
[1] = Object number in p0101[0]
[2] = Object number in p0101[1]
[3] = Object number in p0101[2]
[4] = Object number in p0101[3]
[5] = Object number in p0101[4]
[6] = Object number in p0101[5]
[7] = Object number in p0101[6]
[8] = Object number in p0101[7]
[9] = Object number in p0101[8]
[10] = Object number in p0101[9]
[11] = Object number in p0101[10]
[12] = Object number in p0101[11]
[13] = Object number in p0101[12]
[14] = Object number in p0101[13]
[15] = Object number in p0101[14]
[16] = Object number in p0101[15]
[17] = Object number in p0101[16]
[18] = Object number in p0101[17]
[19] = Object number in p0101[18]
[20] = Object number in p0101[19]
[21] = Object number in p0101[20]
[22] = Object number in p0101[21]

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 Parameter
List of parameters

[23] = Object number in p0101[22]

[24] = Object number in p0101[23]
Dependency: Refer to: p0101, r7867, r7872

r7870[0...7] Configuration changes global / Config_chng global

CU_S110-CAN, Can be changed: - Calculated: - Access level: 4
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the configuration changes of all of the drive objects in the complete unit.
Index: [0] = Sum of the following indices
[1] = r7871[0] of a drive object
[2] = p0101 or r0102
[3] = PROFIBUS configuration (p0978)
[4] = DRIVE-CLiQ actual topology (r9900 or r9901)
[5] = DRIVE-CLiQ target topology (r9902 or r9903)
[6] = DRIVE-CLiQ ports (p0109)
[7] = OA applications
Dependency: Refer to: r7867, r7871
Note: Index 0:
When changing one of the following indices, then the value in this index is incremented.
Index 1:
Drive object configuration. When changing r7871[0] on a drive object, the value in this index is incremented.
Index 2:
Drive object, configuration unit. When changing either p0101 or r0102, the value in this index is incremented.
Index 3:
PROFIBUS configuration unit. When changing p0978, the value in this index is incremented.
Index 4:
DRIVE-CLiQ actual topology. When changing either r9900 or r9901, the value in this index is incremented.
Index 5:
DRIVE-CLiQ target topology. When changing either p9902 or p9903, the value in this index is incremented.
Index 6:
DRIVE-CLiQ ports. When changing p0109, the value in this index is incremented.
Index 7:
OA applications. When changing OA applications, the value in this index is incremented.

r7871[0...10] Configuration changes drive object / Config_chng DO

CU_S110-CAN, Can be changed: - Calculated: - Access level: 4
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the configuration changes on the drive object.
Index: [0] = Sum of the following indices
[1] = p0107 or p0108
[2] = Drive object name (p0199)
[3] = Structure-relevant parameters (e.g. p0180)
[4] = BICO interconnections
[5] = Activate/de-activate drive object
[6] = Data backup required
[7] = Reserved
[8] = Reference or changeover parameters (e.g. p2000)

© Siemens AG 2012 All Rights Reserved 1-489

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 Parameter
List of parameters

[9] = Parameter count through Drive Control Chart (DCC)

[10] = p0107 or p0108
Dependency: Refer to: r7868, r7870
Note: Re index 0:
When changing one of the following indices, then the value in this index is incremented.
Re index 1:
Drive object commissioning: When changing either p0107 or p0108, the value in this index is incremented.
Re index 2:
Drive object name. When changing p0199, the value in this index is incremented.
Re index 3:
Drive object structure. When changing a parameter that is relevant for the structure (e.g. number of data sets), the
value in this index is incremented.
Re index 4:
Drive object BICO interconnections. When changing r3977, the value in this index is incremented.
Re index 5:
Drive object activity: When changing p0105, the value in this index is incremented.
Re index 6:
Drive object, data save.
0: There are no parameter changes to save.
1: There are parameter changes to save.
Re index 8:
Drive object changeover of units. When changing reference or changeover parameters (e.g. p2000, p0304), the
value in this index is incremented.
Re index 9:
Drive object parameter count. When changing the number of parameters by loading Drive Control Chart (DCC), the
value in this index is incremented.
Re index 10:
Drive object configuration. When changing either p0107 or p0108, the value in this index is incremented.

r7871[0...15] Configuration changes drive object / Config_chng DO

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 4
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the configuration changes on the drive object.
Index: [0] = Sum of the following indices
[1] = p0010, p0107 or p0108
[2] = Drive object name (p0199)
[3] = Structure-relevant parameters (e.g. p0180)
[4] = BICO interconnections
[5] = Activate/de-activate drive object
[6] = Data backup required
[7] = Activate/de-activate component
[8] = Reference or changeover parameters (e.g. p2000)
[9] = Parameter count through Drive Control Chart (DCC)
[10] = p0107 or p0108
[11] = p0530 or p0531
[12] = Reserved
[13] = Reserved
[14] = Reserved
[15] = SERVO or VECTOR (e.g. p0300)
Dependency: Refer to: r7868, r7870

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 Parameter
List of parameters

Note: Re index 0:
When changing one of the following indices, then the value in this index is incremented.
Re index 1:
Drive object commissioning: When changing p0010, p0107 or p0108, the value in this index is incremented.
Re index 2:
Drive object name. When changing p0199, the value in this index is incremented.
Re index 3:
Drive object structure. When changing a parameter that is relevant for the structure (e.g. number of data sets), the
value in this index is incremented.
Re index 4:
Drive object BICO interconnections. When changing r3977, the value in this index is incremented.
Re index 5:
Drive object activity: When changing p0105, the value in this index is incremented.
Re index 6:
Drive object, data save.
0: There are no parameter changes to save.
1: There are parameter changes to save.
Re index 7:
Drive object component activity: When changing either p0125 or p0145, the value in this index is incremented.
Re index 8:
Drive object changeover of units. When changing reference or changeover parameters (e.g. p2000, p0304), the
value in this index is incremented.
Re index 9:
Drive object parameter count. When changing the number of parameters by loading Drive Control Chart (DCC), the
value in this index is incremented.
Re index 10:
Drive object configuration. When changing either p0107 or p0108, the value in this index is incremented.
Re index 11:
Drive object bearing. When changing p0530 or p0531, the value in this index is incremented.
Re index 15:
SERVO/VECTOR configuration. When changing p0300, p0301 or p0400, the value in this index is incremented.

r7872[0...3] Status changes drive object / Status_chng DO

All objects Can be changed: - Calculated: - Access level: 4
Data type: Unsigned32 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the status changes on the drive object.
Index 0:
When changing one of the following indices, then the value in this index is incremented.
Index 1:
Drive object faults. When changing r0944, the value in this index is incremented.
Index 2:
Drive object alarms. When changing r2121, the value in this index is incremented.
Index 3:
Drive object safety messages. When changing r9744, the value in this index is incremented.
Index: [0] = Sum of the following indices
[1] = Faults (r0944)
[2] = Alarms (r2121)
[3] = Safety messages (r9744)
Dependency: Refer to: r7869

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 Parameter
List of parameters

p7900[0...23] Drive objects priority / DO priority

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 65535 0
Description: Sets the priority for processing the existing drive objects in the system.
The parameter enables a free sequence to be set for processing the drive objects. For this purpose all the drive
object numbers existing in the system have to be written in the desired sequence into the corresponding indices of
the parameter. After re-booting this sequence will be effective without a plausibility check.
With the factory setting the following priorities regarding processing are applicable:
- The drive objects are pre-sorted according to their type as follows: CONTROL UNIT, INFEED, SERVO, VECTOR,
TM, HUB, CU-LINK
- If they are of the same type, they are sorted in ascending order according to their drive object number, i.e. the
lower the number, the higher the priority for processing.
Index: [0] = Drive object number Control Unit
[1] = Drive object number object 1
[2] = Drive object number object 2
[3] = Drive object number object 3
[4] = Drive object number object 4
[5] = Drive object number object 5
[6] = Drive object number object 6
[7] = Drive object number object 7
[8] = Drive object number object 8
[9] = Drive object number object 9
[10] = Drive object number object 10
[11] = Drive object number object 11
[12] = Drive object number object 12
[13] = Drive object number object 13
[14] = Drive object number object 14
[15] = Drive object number object 15
[16] = Drive object number object 16
[17] = Drive object number object 17
[18] = Drive object number object 18
[19] = Drive object number object 19
[20] = Drive object number object 20
[21] = Drive object number object 21
[22] = Drive object number object 22
[23] = Drive object number object 23
Notice: This parameter may only be used by qualified service personnel.
Note: If the same drive object numbers are used and if the existing drive object numbers in the system are entered incom-
pletely, the content of this parameter is ignored entirely. The behavior as with factory setting will then become effec-
tive.

r7901[0...43] Sampling times / t_sample

CU_S110-CAN, Can be changed: - Calculated: - Access level: 4
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [µs] - [µs] - [µs]
Description: Displays the sampling times currently present on the drive unit.
For r7901[x] = 0, the following applies: The time slice is not active.

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 Parameter
List of parameters

r7903 Hardware sampling times still cannot be assigned / HW t_samp free

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the number of hardware sampling times that can still be assigned.
These free sampling times can be used by OA applications such as DCC (Drive Control Chart) or FBLOCKS (free
function blocks).
Note: OA: Open Architecture

p8500[0...7] BI: Data transfer 0 bitwise / Transfer 0 bit

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for bitwise data transfer.
These signals are available in BO: r8510.0 ... 7 for further interconnection.
Index: [0] = Send signal to BO: r8510.0
[1] = Send signal to BO: r8510.1
[2] = Send signal to BO: r8510.2
[3] = Send signal to BO: r8510.3
[4] = Send signal to BO: r8510.4
[5] = Send signal to BO: r8510.5
[6] = Send signal to BO: r8510.6
[7] = Send signal to BO: r8510.7
Dependency: Refer to: r8510

p8501[0...21] BI: Data transfer 1 bitwise / Transfer 1 bit

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for bitwise data transfer.
These signals are available in BO: r8511.0 ... 15 for further interconnection.
Index: [0] = Send signal to BO: r8511.0
[1] = Send signal to BO: r8511.1
[2] = Send signal to BO: r8511.2
[3] = Send signal to BO: r8511.3
[4] = Send signal to BO: r8511.4
[5] = Send signal to BO: r8511.5
[6] = Send signal to BO: r8511.6
[7] = Send signal to BO: r8511.7
[8] = Send signal to BO: r8511.8
[9] = Send signal to BO: r8511.9
[10] = Send signal to BO: r8511.10
[11] = Send signal to BO: r8511.11
[12] = Send signal to BO: r8511.12
[13] = Send signal to BO: r8511.13
[14] = Send signal to BO: r8511.14

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 Parameter
List of parameters

[15] = Send signal to BO: r8511.15

[16] = Send signal to BO: r8511.16
[17] = Send signal to BO: r8511.17
[18] = Send signal to BO: r8511.18
[19] = Send signal to BO: r8511.19
[20] = Send signal to BO: r8511.20
[21] = Send signal to BO: r8511.21
Dependency: Refer to: r8511

p8502 CI: Data transfer 0 wordwise / Transfer 0 word

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
CU_S110-DP, Data type: Unsigned32 / Integer32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: PERCENT Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for the wordwise data transfer (process signal).
This signal value is available in CO: r8512 for further interconnection.
Dependency: Refer to: r8512

p8503 CI: Data transfer 1 wordwise / Transfer 1 word

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
CU_S110-DP, Data type: Unsigned32 / Integer32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: PERCENT Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for the wordwise data transfer (process signal).
This signal value is available in CO: r8513 for further interconnection.
Dependency: Refer to: r8513

p8504 CI: Data transfer 2 wordwise / Transfer 2 word

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
CU_S110-DP, Data type: Unsigned32 / Integer32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: PERCENT Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for the wordwise data transfer (process signal).
This signal value is available in CO: r8514 for further interconnection.
Dependency: Refer to: r8514

p8505 CI: Data transfer 3 wordwise / Transfer 3 word

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
CU_S110-DP, Data type: Unsigned32 / Integer32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: PERCENT Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for the wordwise data transfer (process signal).
This signal value is available in CO: r8515 for further interconnection.
Dependency: Refer to: r8515

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 Parameter
List of parameters

r8510.0...7 BO: Data transfer 0 receive bitwise / Trans 0 recv bit

CU_S110-CAN, Can be changed: - Calculated: - Access level: 2
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the signals of the bitwise received data.
These signals were interconnected and transferred via BI: p8500[0...7].
Bit field: Bit Signal name 1 signal 0 signal FP
00 Receive signal from BI: p8500 ON OFF -
01 Receive signal from BI: p8500 ON OFF -
02 Receive signal from BI: p8500 ON OFF -
03 Receive signal from BI: p8500 ON OFF -
04 Receive signal from BI: p8500 ON OFF -
05 Receive signal from BI: p8500 ON OFF -
06 Receive signal from BI: p8500 ON OFF -
07 Receive signal from BI: p8500 ON OFF -
Dependency: Refer to: p8500

r8511.0...21 BO: Data transfer 1 receive bitwise / Trans 1 recv bit

CU_S110-CAN, Can be changed: - Calculated: - Access level: 2
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the signals of the bitwise received data.
These signals were interconnected and transferred via BI: p8501[0...15].
Bit field: Bit Signal name 1 signal 0 signal FP
00 Receive signal from BI: p8501 ON OFF -
01 Receive signal from BI: p8501 ON OFF -
02 Receive signal from BI: p8501 ON OFF -
03 Receive signal from BI: p8501 ON OFF -
04 Receive signal from BI: p8501 ON OFF -
05 Receive signal from BI: p8501 ON OFF -
06 Receive signal from BI: p8501 ON OFF -
07 Receive signal from BI: p8501 ON OFF -
08 Receive signal from BI: p8501 ON OFF -
09 Receive signal from BI: p8501 ON OFF -
10 Receive signal from BI: p8501 ON OFF -
11 Receive signal from BI: p8501 ON OFF -
12 Receive signal from BI: p8501 ON OFF -
13 Receive signal from BI: p8501 ON OFF -
14 Receive signal from BI: p8501 ON OFF -
15 Receive signal from BI: p8501 ON OFF -
16 Receive signal from BI: p8501 ON OFF -
17 Receive signal from BI: p8501 ON OFF -
18 Receive signal from BI: p8501 ON OFF -
19 Receive signal from BI: p8501 ON OFF -
20 Receive signal from BI: p8501 ON OFF -
21 Receive signal from BI: p8501 ON OFF -
Dependency: Refer to: p8501

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 Parameter
List of parameters

r8512 CO: Data transfer 0 receive wordwise / Trans 0 recv word

CU_S110-CAN, Can be changed: - Calculated: - Access level: 2
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: PERCENT Expert list: 1
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the signals of the wordwise received data (process signal).
This signal value is interconnected and transferred via CI: p8502.
Dependency: Refer to: p8502

r8513 CO: Data transfer 1 receive wordwise / Trans 1 recv word

CU_S110-CAN, Can be changed: - Calculated: - Access level: 2
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: PERCENT Expert list: 1
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the signals of the wordwise received data (process signal).
This signal value is interconnected and transferred via CI: p8503.
Dependency: Refer to: p8503

r8514 CO: Data transfer 2 receive wordwise / Trans 2 recv word

CU_S110-CAN, Can be changed: - Calculated: - Access level: 2
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: PERCENT Expert list: 1
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the signals of the wordwise received data (process signal).
This signal value is interconnected and transferred via CI: p8504.
Dependency: Refer to: p8504

r8515 CO: Data transfer 3 receive wordwise / Trans 3 recv word

CU_S110-CAN, Can be changed: - Calculated: - Access level: 2
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: PERCENT Expert list: 1
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the signals of the wordwise received data (process signal).
This signal value is interconnected and transferred via CI: p8505.
Dependency: Refer to: p8505

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 Parameter
List of parameters

p8550 AOP LOCAL/REMOTE / AOP LOCAL/REMOTE

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 0000 0000 1001 bin
Description: Setting for saving the actual configuration of the Advanced Operator Panel (AOP).
Bit field: Bit Signal name 1 signal 0 signal FP
00 LOCAL save Yes No -
01 Start in LOCAL Yes No -
02 Change in oper. Yes No -
03 OFF acts like OFF1 Yes No -
04 OFF acts like OFF2 Yes No -
05 OFF acts like OFF3 Yes No -
06 Reserved Yes No -
07 CW/CCW active Yes No -
08 Jog active Yes No -
09 Save speed setpoint Yes No -
14 Inhibit operation Yes No -
15 Inhibit parameterization Yes No -

r8571[0...39] Macro Binector Input (BI) / Macro BI

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 1
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the ACX file saved in the appropriate directory in the non-volatile memory.
Note: For a value = 9999999, the following applies: The read operation is still running.

r8572[0...39] Macro Connector Inputs (CI) for speed setpoints / Macro CI n_set
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 1
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the ACX file saved in the appropriate directory in the non-volatile memory.
Note: For a value = 9999999, the following applies: The read operation is still running.

r8573[0...39] Macro Connector Inputs (CI) for torque setpoints / Macro CI M_set
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 1
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the ACX file saved in the appropriate directory in the non-volatile memory.
Note: For a value = 9999999, the following applies: The read operation is still running.

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 Parameter
List of parameters

r8600 CAN device type / Device type

CU_S110-CAN Can be changed: - Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays all of the devices connected to the CAN bus after run-up.
r8600
= 00000000 hex: No drive recognized.
= 00020192 hex: 1 Servo drive
Note: Corresponds to the CANopen object 1000 hex.
For each detected drive, the device type is displayed in object 67FF hex.

r8601 CAN error register / Error register

CU_S110-CAN Can be changed: - Calculated: - Access level: 3
Data type: Unsigned8 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the error register for CANopen.
Bit 0: Generic error
0 signal: No error present.
1 signal: Generic error present.
Bit 1 ... 3: Not supported (always a 0 signal)
Bit 4: Communications error
0 signal: There is no message in the range 8700 ... 8799.
1 signal: There is at least one message (fault or alarm) in the range 8700 ... 8799.
Bit 5 ... 6: Not supported (always a 0 signal)
Bit 7:; Fault outside the range 8700 ... 8799
0 signal: There is no fault outside the range 8700 ... 8799.
1 signal: There is at least one fault outside the range 8700 ... 8799.
Note: Corresponds to the CANopen object 1001 hex.

p8602 CAN SYNC object / SYNC object

CU_S110-CAN Can be changed: T Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex FFFF FFFF hex 0080 hex
Description: Sets the SYNC object parameter for the following CANopen objects:
- 1005 hex: COB-ID
Note: SINAMICS operates as SYNC load.
COB-ID: CAN object identification

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 Parameter
List of parameters

p8603 CAN COB-ID Emergency Message / COB-ID EMCY Msg

CU_S110-CAN Can be changed: T Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex FFFF FFFF hex 0000 hex
Description: Sets the COB-ID for the emergency message (error telegram).
It corresponds to the CANopen objects:
- 1014 hex: COB-ID
Note: If, when downloading, the pre-set value 0 is downloaded, then the CANopen pre-set value 80 hex + Node-ID is
automatically set.
Online, the value 0 is rejected as, according to the CANopen Standard, COB-ID 0 is not permitted here.
The changeover of the node ID using the hardware switch at the Control Unit or per software has no effect on the
COB-ID EMCY. The saved value remains effective.

p8604[0...1] CAN node guarding / Node guarding

CU_S110-CAN Can be changed: T Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 65535 0
Description: Sets the node guarding parameter for the following CANopen objects:
- 100C hex: Guard Time
- 100D hex: Life Time Factor
The life time is derived by multiplying guard time by the life time factor.
Index: [0] = Time interval [ms] for new node guarding telegram
[1] = Factor for failure of the node guarding telegram
Dependency: Only adjustable if heartbeat time = 0 (heartbeat is disabled).
Refer to: p8606
Note: For p8604[0] = 0 and/or p8604[1] = 0, the node guarding protocol is not used.
Either node guarding or heartbeat can be used.

p8606 CAN Producer Heartbeat Time / Prod Heartb Time

CU_S110-CAN Can be changed: T Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 [ms] 65535 [ms] 0 [ms]
Description: Sets the time [ms] to cyclically send heartbeat telegrams.
The smallest cycle time is 100 ms.
When a 0 is written, then heartbeat telegrams are not sent.
Dependency: Only adjustable if guard time = 0 (node guarding disabled).
Refer to: p8604
Note: Corresponds to the CANopen object 1017 hex.
Either node guarding or heartbeat can be used.

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 Parameter
List of parameters

r8607[0...3] CAN Identity Object / Identity object

CU_S110-CAN Can be changed: - Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: General device information display.
Index: [0] = Vendor ID
[1] = Product code
[2] = Revision number
[3] = Serial number
Note: Corresponds to the CANopen object 1018 hex.
Re index 3:
The SINAMICS serial number comprises 60 bits. Of these bits, the following are displayed in this index:
Bits 0 ... 19: Consecutive number
Bits 20 ... 23: Production ID
- 0 hex: Development
- 1 hex: P1 unique number
- 2 hex: P2 unique number
- 3 hex: WA unique number
- 9 hex: Pattern
- F hex: All others
Bits 24 ... 27: Month of manufacture (0 means January, B means December)
Bits 28 ... 31: Year of manufacture (0 means 2002)

p8608[0...1] CAN Clear Bus Off Error / Clear bus off err
CU_S110-CAN Can be changed: U, T Calculated: - Access level: 3
Data type: Integer16 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: As a result of a Bus Off error, the CAN controller is set into the initialization state.
Index 0:
The CAN controller is manually started after resolving the cause of the error with p8608[0] = 1
Index 1:
The automatic CAN bus start function is activated using p8608[1] = 1.
At 2 second intervals, the CAN controller is automatically restarted until the cause of the error has been resolved
and a CAN connection has been established.
Value: 0: Inactive
1: Start CAN controller
Index: [0] = Manual controller start function
[1] = Activating the automatic controller start function
Note: Index 0:
This parameter is automatically reset to 0 after start.

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 Parameter
List of parameters

p8609[0...1] CAN Error Behavior / Error behavior

CU_S110-CAN Can be changed: T Calculated: - Access level: 3
Data type: Integer16 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 2 1
Description: Sets the behavior of the CAN node referred to the communications error or equipment fault.
Value: 0: Pre-operational
1: No change
2: Stopped
Index: [0] = Behavior for communication errors
[1] = Behavior for device faults
Note: Corresponds to the CANopen object 1029 hex.

r8610[0...1] CAN First Server SDO / First server SDO

CU_S110-CAN Can be changed: - Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the identifier (client/server and server/client) of the SDO channel.
Index: [0] = Displays the COB ID from client to server
[1] = Displays the COB ID from server to client
Note: Corresponds to the CANopen object 1200 hex.
SDO: Service Data Object

p8611[0...82] CAN Pre-defined Error Field / Pre_def err field

CU_S110-CAN Can be changed: U, T Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex FFFF 1000 hex 0000 hex
Description: Displays the Pre-defined Error Field of the CAN node.
It includes the number of all errors that have occurred, the number of errors that have occurred for each drive and
the errors according to their history.
The first 16 bits represent the CANopen error code and the second 16 bits the SINAMICS error code.
Index 1 has the same structure - however, the drive object ID is in the second 16 bits instead of the SINAMICS error
code.
CANopen error code:
0000 hex: No error present
8110 hex: Alarm A08751 present
8120 hex: Alarm A08752 present
8130 hex: Alarm A08700(F) with alarm value = 2 present
1000 hex: Generic error 1 present (there is at least one fault outside the range 8700 ... 8799)
1001 hex: Generic error 2 present (there is at least one alarm in the range 8700 ... 8799 with the exception of
A08751, A08752, A08700)
All drive objects are acknowledged by writing the value 0 to the index 0. As soon as a fault has been acknowledged
or an alarm cleared, then it is also cleared from the fault list.

© Siemens AG 2012 All Rights Reserved 1-501

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 Parameter
List of parameters

Index: [0] = Number of all faults in the drive unit

[1] = Most recent drive number / fault number
[2] = Number of faults drive 1
[3] = Fault 1/ drive 1
[4] = Fault 2/ drive 1
[5] = Fault 3/ drive 1
[6] = Fault 4/ drive 1
[7] = Fault 5/ drive 1
[8] = Fault 6/ drive 1
[9] = Fault 7/ drive 1
[10] = Fault 8/ drive 1
[11] = Number of faults drive 2
[12] = Fault 1/ drive 2
[13] = Fault 2/ drive 2
[14] = Fault 3/ drive 2
[15] = Fault 4/ drive 2
[16] = Fault 5/ drive 2
[17] = Fault 6/ drive 2
[18] = Fault 7/ drive 2
[19] = Fault 8/ drive 2
[20] = Number of faults drive 3
[21] = Fault 1/ drive 3
[22] = Fault 2/ drive 3
[23] = Fault 3/ drive 3
[24] = Fault 4/ drive 3
[25] = Fault 5/ drive 3
[26] = Fault 6/ drive 3
[27] = Fault 7/ drive 3
[28] = Fault 8/ drive 3
[29] = Number of faults drive 4
[30] = Fault 1/ drive 4
[31] = Fault 2/ drive 4
[32] = Fault 3/ drive 4
[33] = Fault 4/ drive 4
[34] = Fault 5/ drive 4
[35] = Fault 6/ drive 4
[36] = Fault 7/ drive 4
[37] = Fault 8/ drive 4
[38] = Number of faults drive 5
[39] = Fault 1/ drive 5
[40] = Fault 2/ drive 5
[41] = Fault 3/ drive 5
[42] = Fault 4/ drive 5
[43] = Fault 5/ drive 5
[44] = Fault 6/ drive 5
[45] = Fault 7/ drive 5
[46] = Fault 8/ drive 5
[47] = Number of faults drive 6
[48] = Fault 1/ drive 6
[49] = Fault 2/ drive 6
[50] = Fault 3/ drive 6
[51] = Fault 4/ drive 6
[52] = Fault 5/ drive 6
[53] = Fault 6/ drive 6
[54] = Fault 7/ drive 6
[55] = Fault 8/ drive 6
[56] = Number of faults drive 7
[57] = Fault 1/ drive 7
[58] = Fault 2/ drive 7
[59] = Fault 3/ drive 7
[60] = Fault 4/ drive 7
[61] = Fault 5/ drive 7
[62] = Fault 6/ drive 7
[63] = Fault 7/ drive 7

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 Parameter
List of parameters

[64] = Fault 8/ drive 7

[65] = Number of faults drive 8
[66] = Fault 1/ drive 8
[67] = Fault 2/ drive 8
[68] = Fault 3/ drive 8
[69] = Fault 4/ drive 8
[70] = Fault 5/ drive 8
[71] = Fault 6/ drive 8
[72] = Fault 7/ drive 8
[73] = Fault 8/ drive 8
[74] = Number of faults Control Unit
[75] = Fault 1/Control Unit
[76] = Fault 2/Control Unit
[77] = Fault 3/Control Unit
[78] = Fault 4/Control Unit
[79] = Fault 5/Control Unit
[80] = Fault 6/Control Unit
[81] = Fault 7/Control Unit
[82] = Fault 8/Control Unit
Note: Corresponds to the CANopen object 1003 hex.

p8620 CAN Node-ID / Node ID

CU_S110-CAN Can be changed: T Calculated: - Access level: 2
Data type: Unsigned8 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
1 127 126
Description: Display or setting of the CANopen Node ID.
The Node ID can be set as follows:
1) Using the address switch on the Control Unit.
--> p8620 can then only be read and displays the selected Node ID.
--> A change only becomes effective after a POWER ON.
--> CANopen Node ID and PROFIBUS address are identical.
2) Using p8620
--> Only if address 0 is set using the address switch.
--> the Node ID is set as standard to 126.
--> A change only becomes effective after save and POWER ON.
Dependency: Refer to: r8621
Note: Every node ID change only becomes effective after a POWER ON.
The active node ID is displayed in r8621.
The parameter is not influenced by setting the factory setting.
It is only possible to independently set CANopen node ID and the PROFIBUS address using p0918 and p8620 (pre-
requisite: the address 0 is set for the address switch).

r8621 CAN Node-ID active / Node ID active

CU_S110-CAN Can be changed: - Calculated: - Access level: 3
Data type: Unsigned8 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the active CANopen Node ID.
Dependency: Refer to: p8620

© Siemens AG 2012 All Rights Reserved 1-503

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 Parameter
List of parameters

p8622 CAN bit rate / Bit rate

CU_S110-CAN Can be changed: T Calculated: - Access level: 3
Data type: Integer16 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 7 6
Description: Setting the bit rate for the CAN bus.
The appropriate bit timings are selected that are defined in p8623 in the associated sub-index.
Example:
Bit rate = 20 kbit/s --> p8622 = 6 --> associated bit timing is in p8623[6].
Value: 0: 1 Mbit/s
1: 800 kbit/s
2: 500 kbit/s
3: 250 kbit/s
4: 125 kbit/s
5: 50 kbit/s
6: 20 kbit/s
7: 10 kbit/s
Dependency: Refer to: p8623
Note: The parameter is not influenced by setting the factory setting.

p8623[0...7] CAN Bit Timing selection / Bit timing select

CU_S110-CAN Can be changed: T Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex 000F 7FFF hex [0] 1405 hex
[1] 1605 hex
[2] 1C05 hex
[3] 1C0B hex
[4] 1C17 hex
[5] 1C3B hex
[6] 0002 1C15 hex
[7] 0004 1C2B hex
Description: Sets the bit timing for the C_CAN controller to the associated and selected bit rate (p8622).
Bits are distributed to the following parameters of the C_CAN controller in p8623[0...7]:
Bit 0 ... 5: BRP (Baud Rate Prescaler)
Bit 6 ... 7: SJW (Synchronization Jump Width)
Bit 8 ... 11: TSEG1 (Time Segment 1, before the sampling point)
Bit 12 ... 14: TSEG2 (Time Segment 2, after the sampling point)
Bit 15: Reserved
Bit 16 ... 19: BRPE (Baud Rate Prescaler Extension)
Bit 20 ... 31: Reserved
Example:
Bit rate = 20 kbit/s --> p8622 = 6 --> associated bit timing is in p8623[6] --> 0001 2FB6
Recommend.: Use the factory setting when setting the bit timing.
Index: [0] = 1 Mbit/s
[1] = 800 kbit/s
[2] = 500 kbit/s
[3] = 250 kbit/s
[4] = 125 kbit/s
[5] = 50 kbit/s

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 Parameter
List of parameters

[6] = 20 kbit/s
[7] = 10 kbit/s
Dependency: Refer to: p8622
Note: The parameter is not influenced by setting the factory setting.

p8630[0...2] CAN virtual objects / Virtual objects

CU_S110-CAN Can be changed: U, T Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 65535 0
Description: Sets the drive object selection (index 0), the sub-index area (index 1) and the parameter area (index 2) when using
virtual objects.
This means that it is possible to access all SINAMICS parameters via CAN.
Index 0 (drive object number):
0: Not possible to access virtual CANopen objects
1: Device
2 ... 65535: drive object number of drive 1 ... 8
Index 1 (sub-index area):
0: 0 ... 255
1: 256 ... 511
2: 512 ... 767
3: 768 ... 1023
Index 2 (parameter area):
0: 1 ... 9999
1: 10000 ... 19999
2: 20000 ... 29999
3: 30000 ... 39999
Index: [0] = Drive object number
[1] = Sub-index range
[2] = Parameter range

p8641 CAN Abort Connection Option Code / Abort con opt code
SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
Data type: Integer16 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 3 3
Description: Sets the drive behavior if a CAN communication error occurs.
Value: 0: No response
1: OFF1
2: OFF2
3: OFF3
Dependency: Refer to: F08700

© Siemens AG 2012 All Rights Reserved 1-505

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r8680[0...36] CAN Diagnosis Hardware / Diagnostics HW

CU_S110-CAN Can be changed: - Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the register of the CAN controller C_CAN:
Register, Message Interface Register and Message Handler Register - referred to the CAN protocol.
Index: [0] = Control register
[1] = Status register
[2] = Error counter
[3] = Bit timing register
[4] = Interrupt register
[5] = Test register
[6] = Baud rate prescaler extension register
[7] = Interface 1 command request register
[8] = Interface 1 command mask register
[9] = Interface 1 mask 1 register
[10] = Interface 1 mask 2 register
[11] = Interface 1 arbitration 1 register
[12] = Interface 1 arbitration 2 register
[13] = Interface 1 message control register
[14] = Interface 1 data A1 register
[15] = Interface 1 data A2 register
[16] = Interface 1 data B1 register
[17] = Interface 1 data B2 register
[18] = Interface 2 command request register
[19] = Interface 2 command mask register
[20] = Interface 2 mask 1 register
[21] = Interface 2 mask 2 register
[22] = Interface 2 arbitration 1 register
[23] = Interface 2 arbitration 2 register
[24] = Interface 2 message control register
[25] = Interface 2 data A1 register
[26] = Interface 2 data A2 register
[27] = Interface 2 data B1 register
[28] = Interface 2 data B2 register
[29] = Transmission request 1 register
[30] = Transmission request 2 register
[31] = New data 1 register
[32] = New data 2 register
[33] = Interrupt pending 1 register
[34] = Interrupt pending 2 register
[35] = Message valid 1 register
[36] = Message valid 2 register
Note: A description of the individual registers of the C_CAN controller can be taken from "C_CAN User's Manual".

p8684 CAN NMT state after booting / NMT state aft boot
CU_S110-CAN Can be changed: T Calculated: - Access level: 3
Data type: Integer16 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
4 127 127
Description: Sets the CANopen NMT state that is effective after booting.

1-506 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

Value: 4: Stopped
5: Operational
127: Pre-operational
Dependency: Refer to: p8685
Note: Booting in the NMT state pre-operational corresponds to the CANopen standard

p8685 CAN NMT states / NMT states

CU_S110-CAN Can be changed: U, T Calculated: - Access level: 3
Data type: Integer16 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 129 127
Description: Sets and displays the CANopen NMT state.
Value: 0: Initializing
4: Stopped
5: Operational
127: Pre-operational
128: Reset node
129: Reset Communication
Note: The value 0 (initialization) is only displayed and cannot be set.

p8699 CAN: RPDO monitoring time / RPDO t_monit

CU_S110-CAN Can be changed: U, T Calculated: - Access level: 3
Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 [ms] 65535000 [ms] 0 [ms]
Description: Sets the monitoring time to monitor the process data received via the CAN bus.
A value that is not a multiple integer of CANopen (p2048) is rounded-off.
If no process data is received within this time, fault F08702 is output.
Dependency: Refer to: p2048
Refer to: F08702
Note: 0: The monitoring is de-activated.

p8700[0...1] CAN Receive PDO 1 / Receive PDO 1

SERVO_S110-CAN Can be changed: C1(3), T Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 9204, 9206
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex 8000 06DF hex [0] 8000 06DF hex
[1] 00FE hex
Description: Sets the communication parameters for CANopen Receive Process Data Object 1 (RPDO 1).
Index: [0] = PDO COB-ID
[1] = PDO transmission type
Dependency: A valid COB-ID can only be set for the available (existing) channel.
Refer to: p8741
Note: Corresponds to the CANopen object 1400 hex + 40 hex * x (x: Drive number 0 ... 7).
Transmission types 0, 1, FE and FF can be set.
PDO: Process Data Object

© Siemens AG 2012 All Rights Reserved 1-507

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p8701[0...1] CAN Receive PDO 2 / Receive PDO 2

SERVO_S110-CAN Can be changed: C1(3), T Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 9204, 9206
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex 8000 06DF hex [0] 8000 06DF hex
[1] 00FE hex
Description: Sets the communication parameters for CANopen Receive Process Data Object 2 (RPDO 2).
Index: [0] = PDO COB-ID
[1] = PDO transmission type
Dependency: A valid COB-ID can only be set for the available (existing) channel.
Refer to: p8741
Note: Corresponds to the CANopen object 1401 hex + 40 hex * x (x: Drive number 0 ... 7).
Transmission types 0, 1, FE and FF can be set.
PDO: Process Data Object

p8702[0...1] CAN Receive PDO 3 / Receive PDO 3

SERVO_S110-CAN Can be changed: C1(3), T Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 9204, 9206
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex 8000 06DF hex [0] 8000 06DF hex
[1] 00FE hex
Description: Sets the communication parameters for CANopen Receive Process Data Object 3 (RPDO 3).
Index: [0] = PDO COB-ID
[1] = PDO transmission type
Dependency: A valid COB-ID can only be set for the available (existing) channel.
Refer to: p8741
Note: Corresponds to the CANopen object 1402 hex + 40 hex * x (x: Drive number 0 ... 7).
Transmission types 0, 1, FE and FF can be set.
PDO: Process Data Object

p8703[0...1] CAN Receive PDO 4 / Receive PDO 4

SERVO_S110-CAN Can be changed: C1(3), T Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 9204, 9206
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex 8000 06DF hex [0] 8000 06DF hex
[1] 00FE hex
Description: Sets the communication parameters for CANopen Receive Process Data Object 4 (RPDO 4).
Index: [0] = PDO COB-ID
[1] = PDO transmission type
Dependency: A valid COB-ID can only be set for the available (existing) channel.
Refer to: p8741
Note: Corresponds to the CANopen object 1403 hex + 40 hex * x (x: Drive number 0 ... 7).
Transmission types 0, 1, FE and FF can be set.
PDO: Process Data Object

1-508 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

p8704[0...1] CAN Receive PDO 5 / Receive PDO 5

SERVO_S110-CAN Can be changed: C1(3), T Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 9204
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex 8000 06DF hex [0] 8000 06DF hex
[1] 00FE hex
Description: Sets the communication parameters for CANopen Receive Process Data Object 5 (RPDO 5).
Index: [0] = PDO COB-ID
[1] = PDO transmission type
Dependency: A valid COB-ID can only be set for the available (existing) channel.
Refer to: p8741
Note: Corresponds to the CANopen object 1404 hex + 40 hex * x (x: Drive number 0 ... 7).
Transmission types 0, 1, FE and FF can be set.
PDO: Process Data Object

p8705[0...1] CAN Receive PDO 6 / Receive PDO 6

SERVO_S110-CAN Can be changed: C1(3), T Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 9204
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex 8000 06DF hex [0] 8000 06DF hex
[1] 00FE hex
Description: Sets the communication parameters for CANopen Receive Process Data Object 6 (RPDO 6).
Index: [0] = PDO COB-ID
[1] = PDO transmission type
Dependency: A valid COB-ID can only be set for the available (existing) channel.
Refer to: p8741
Note: Corresponds to the CANopen object 1405 hex + 40 hex * x (x: Drive number 0 ... 7).
Transmission types 0, 1, FE and FF can be set.
PDO: Process Data Object

p8706[0...1] CAN Receive PDO 7 / Receive PDO 7

SERVO_S110-CAN Can be changed: C1(3), T Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 9204
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex 8000 06DF hex [0] 8000 06DF hex
[1] 00FE hex
Description: Sets the communication parameters for CANopen Receive Process Data Object 7 (RPDO 7).
Index: [0] = PDO COB-ID
[1] = PDO transmission type
Dependency: A valid COB-ID can only be set for the available (existing) channel.
Refer to: p8741
Note: Corresponds to the CANopen object 1406 hex + 40 hex * x (x: Drive number 0 ... 7).
Transmission types 0, 1, FE and FF can be set.
PDO: Process Data Object

© Siemens AG 2012 All Rights Reserved 1-509

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 Parameter
List of parameters

p8707[0...1] CAN Receive PDO 8 / Receive PDO 8

SERVO_S110-CAN Can be changed: C1(3), T Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 9204
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex 8000 06DF hex [0] 8000 06DF hex
[1] 00FE hex
Description: Sets the communication parameters for CANopen Receive Process Data Object 8 (RPDO 8).
Index: [0] = PDO COB-ID
[1] = PDO transmission type
Dependency: A valid COB-ID can only be set for the available (existing) channel.
Refer to: p8741
Note: Corresponds to the CANopen object 1407 hex + 40 hex * x (x: Drive number 0 ... 7).
Transmission types 0, 1, FE and FF can be set.
PDO: Process Data Object

p8710[0...3] CAN Receive Mapping for RPDO 1 / Mapping RPDO 1

SERVO_S110-CAN Can be changed: C1(3), T Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 9204, 9206
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex FFFF FFFF hex 0000 hex
Description: Sets the mapping parameters for CANopen Receive Process Data Object 1 (RPDO 1).
Index: [0] = Mapped object 1
[1] = Mapped object 2
[2] = Mapped object 3
[3] = Mapped object 4
Note: Corresponds to the CANopen object 1600 hex + 40 hex * x (x: Drive number 0 ... 7).
Dummy mapping not supported.
The parameter can only be written online when the associated COB ID in p870x is set as invalid.

p8711[0...3] CAN Receive Mapping for RPDO 2 / Mapping RPDO 2

SERVO_S110-CAN Can be changed: C1(3), T Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 9204, 9206
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex FFFF FFFF hex 0000 hex
Description: Sets the mapping parameters for CANopen Receive Process Data Object 2 (RPDO 2).
Index: [0] = Mapped object 1
[1] = Mapped object 2
[2] = Mapped object 3
[3] = Mapped object 4
Note: Corresponds to the CANopen object 1601 hex + 40 hex * x (x: Drive number 0 ... 7).
Dummy mapping not supported.
The parameter can only be written online when the associated COB ID in p870x is set as invalid.

1-510 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

p8712[0...3] CAN Receive Mapping for RPDO 3 / Mapping RPDO 3

SERVO_S110-CAN Can be changed: C1(3), T Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 9204, 9206
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex FFFF FFFF hex 0000 hex
Description: Sets the mapping parameters for CANopen Receive Process Data Object 3 (RPDO 3).
Index: [0] = Mapped object 1
[1] = Mapped object 2
[2] = Mapped object 3
[3] = Mapped object 4
Note: Corresponds to the CANopen object 1602 hex + 40 hex * x (x: Drive number 0 ... 7).
Dummy mapping not supported.
The parameter can only be written online when the associated COB ID in p870x is set as invalid.

p8713[0...3] CAN Receive Mapping for RPDO 4 / Mapping RPDO 4

SERVO_S110-CAN Can be changed: C1(3), T Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 9204, 9206
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex FFFF FFFF hex 0000 hex
Description: Sets the mapping parameters for CANopen Receive Process Data Object 4 (RPDO 4).
Index: [0] = Mapped object 1
[1] = Mapped object 2
[2] = Mapped object 3
[3] = Mapped object 4
Note: Corresponds to the CANopen object 1603 hex + 40 hex * x (x: Drive number 0 ... 7).
Dummy mapping not supported.
The parameter can only be written online when the associated COB ID in p870x is set as invalid.

p8714[0...3] CAN Receive Mapping for RPDO 5 / Mapping RPDO 5

SERVO_S110-CAN Can be changed: C1(3), T Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 9204
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex FFFF FFFF hex 0000 hex
Description: Sets the mapping parameters for CANopen Receive Process Data Object 5 (RPDO 5).
Index: [0] = Mapped object 1
[1] = Mapped object 2
[2] = Mapped object 3
[3] = Mapped object 4
Note: Corresponds to the CANopen object 1604 hex + 40 hex * x (x: Drive number 0 ... 7).
Dummy mapping not supported.
The parameter can only be written online when the associated COB ID in p870x is set as invalid.

© Siemens AG 2012 All Rights Reserved 1-511

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p8715[0...3] CAN Receive Mapping for RPDO 6 / Mapping RPDO 6

SERVO_S110-CAN Can be changed: C1(3), T Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 9204
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex FFFF FFFF hex 0000 hex
Description: Sets the mapping parameters for CANopen Receive Process Data Object 6 (RPDO 6).
Index: [0] = Mapped object 1
[1] = Mapped object 2
[2] = Mapped object 3
[3] = Mapped object 4
Note: Corresponds to the CANopen object 1605 hex + 40 hex * x (x: Drive number 0 ... 7).
Dummy mapping not supported.
The parameter can only be written online when the associated COB ID in p870x is set as invalid.

p8716[0...3] CAN Receive Mapping for RPDO 7 / Mapping RPDO 7

SERVO_S110-CAN Can be changed: C1(3), T Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 9204
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex FFFF FFFF hex 0000 hex
Description: Sets the mapping parameters for CANopen Receive Process Data Object 7 (RPDO 7).
Index: [0] = Mapped object 1
[1] = Mapped object 2
[2] = Mapped object 3
[3] = Mapped object 4
Note: Corresponds to the CANopen object 1606 hex + 40 hex * x (x: Drive number 0 ... 7).
Dummy mapping not supported.
The parameter can only be written online when the associated COB ID in p870x is set as invalid.

p8717[0...3] CAN Receive Mapping for RPDO 8 / Mapping RPDO 8

SERVO_S110-CAN Can be changed: C1(3), T Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 9204
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex FFFF FFFF hex 0000 hex
Description: Sets the mapping parameters for CANopen Receive Process Data Object 8 (RPDO 8).
Index: [0] = Mapped object 1
[1] = Mapped object 2
[2] = Mapped object 3
[3] = Mapped object 4
Note: Corresponds to the CANopen object 1607 hex + 40 hex * x (x: Drive number 0 ... 7).
Dummy mapping not supported.
The parameter can only be written online when the associated COB ID in p870x is set as invalid.

1-512 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p8720[0...4] CAN Transmit PDO 1 / Transmit PDO 1

SERVO_S110-CAN Can be changed: C1(3), T Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 9208, 9210
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex C000 06DF hex [0] C000 06DF hex
[1] 00FE hex
[2] 0000 hex
[3] 0000 hex
[4] 0000 hex
Description: Sets the communication parameters for CANopen Transmit Process Data Object 1 (TPDO 1).
Index: [0] = PDO COB-ID
[1] = PDO transmission type
[2] = Inhibit time (in 100 µs)
[3] = Reserved
[4] = Event timer (in ms)
Dependency: A valid COB-ID can only be set for the available (existing) channel.
Refer to: p8741
Notice: For inhibit time and even timer, the following apply:
A value that is not a multiple integer of CANopen (4 ms) is rounded-off.
Note: Corresponds to the CANopen object 1800 hex + 40 hex * x (x: Drive number 0 ... 7).
Transmission types 0, 1 ... F0, FE and FF can be set.
PDO: Process Data Object

p8721[0...4] CAN Transmit PDO 2 / Transmit PDO 2

SERVO_S110-CAN Can be changed: C1(3), T Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 9208, 9210
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex C000 06DF hex [0] C000 06DF hex
[1] 00FE hex
[2] 0000 hex
[3] 0000 hex
[4] 0000 hex
Description: Sets the communication parameters for CANopen Transmit Process Data Object 2 (TPDO 2).
Index: [0] = PDO COB-ID
[1] = PDO transmission type
[2] = Inhibit time (in 100 µs)
[3] = Reserved
[4] = Event timer (in ms)
Dependency: A valid COB-ID can only be set for the available (existing) channel.
Refer to: p8741
Notice: For inhibit time and even timer, the following apply:
A value that is not a multiple integer of CANopen (4 ms) is rounded-off.
Note: Corresponds to the CANopen object 1801 hex + 40 hex * x (x: Drive number 0 ... 7).
Transmission types 0, 1 ... F0, FE and FF can be set.
PDO: Process Data Object

© Siemens AG 2012 All Rights Reserved 1-513

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p8722[0...4] CAN Transmit PDO 3 / Transmit PDO 3

SERVO_S110-CAN Can be changed: C1(3), T Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 9208, 9210
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex C000 06DF hex [0] C000 06DF hex
[1] 00FE hex
[2] 0000 hex
[3] 0000 hex
[4] 0000 hex
Description: Sets the communication parameters for CANopen Transmit Process Data Object 3 (TPDO 3).
Index: [0] = PDO COB-ID
[1] = PDO transmission type
[2] = Inhibit time (in 100 µs)
[3] = Reserved
[4] = Event timer (in ms)
Dependency: A valid COB-ID can only be set for the available (existing) channel.
Refer to: p8741
Notice: For inhibit time and even timer, the following apply:
A value that is not a multiple integer of CANopen (4 ms) is rounded-off.
Note: Corresponds to the CANopen object 1802 hex + 40 hex * x (x: Drive number 0 ... 7).
Transmission types 0, 1 ... F0, FE and FF can be set.
PDO: Process Data Object

p8723[0...4] CAN Transmit PDO 4 / Transmit PDO 4

SERVO_S110-CAN Can be changed: C1(3), T Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 9208, 9210
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex C000 06DF hex [0] C000 06DF hex
[1] 00FE hex
[2] 0000 hex
[3] 0000 hex
[4] 0000 hex
Description: Sets the communication parameters for CANopen Transmit Process Data Object 4 (TPDO 4).
Index: [0] = PDO COB-ID
[1] = PDO transmission type
[2] = Inhibit time (in 100 µs)
[3] = Reserved
[4] = Event timer (in ms)
Dependency: A valid COB-ID can only be set for the available (existing) channel.
Refer to: p8741
Notice: For inhibit time and even timer, the following apply:
A value that is not a multiple integer of CANopen (4 ms) is rounded-off.
Note: Corresponds to the CANopen object 1803 hex + 40 hex * x (x: Drive number 0 ... 7).
Transmission types 0, 1 ... F0, FE and FF can be set.
PDO: Process Data Object

1-514 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p8724[0...4] CAN Transmit PDO 5 / Transmit PDO 5

SERVO_S110-CAN Can be changed: C1(3), T Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 9208
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex C000 06DF hex [0] C000 06DF hex
[1] 00FE hex
[2] 0000 hex
[3] 0000 hex
[4] 0000 hex
Description: Sets the communication parameters for CANopen Transmit Process Data Object 5 (TPDO 5).
Index: [0] = PDO COB-ID
[1] = PDO transmission type
[2] = Inhibit time (in 100 µs)
[3] = Reserved
[4] = Event timer (in ms)
Dependency: A valid COB-ID can only be set for the available (existing) channel.
Refer to: p8741
Notice: For inhibit time and even timer, the following apply:
A value that is not a multiple integer of CANopen (4 ms) is rounded-off.
Note: Corresponds to the CANopen object 1804 hex + 40 hex * x (x: Drive number 0 ... 7).
Transmission types 0, 1 ... F0, FE and FF can be set.
PDO: Process Data Object

p8725[0...4] CAN Transmit PDO 6 / Transmit PDO 6

SERVO_S110-CAN Can be changed: C1(3), T Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 9208
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex C000 06DF hex [0] C000 06DF hex
[1] 00FE hex
[2] 0000 hex
[3] 0000 hex
[4] 0000 hex
Description: Sets the communication parameters for CANopen Transmit Process Data Object 6 (TPDO 6).
Index: [0] = PDO COB-ID
[1] = PDO transmission type
[2] = Inhibit time (in 100 µs)
[3] = Reserved
[4] = Event timer (in ms)
Dependency: A valid COB-ID can only be set for the available (existing) channel.
Refer to: p8741
Notice: For inhibit time and even timer, the following apply:
A value that is not a multiple integer of CANopen (4 ms) is rounded-off.
Note: Corresponds to the CANopen object 1805 hex + 40 hex * x (x: Drive number 0 ... 7).
Transmission types 0, 1 ... F0, FE and FF can be set.
PDO: Process Data Object

© Siemens AG 2012 All Rights Reserved 1-515

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p8726[0...4] CAN Transmit PDO 7 / Transmit PDO 7

SERVO_S110-CAN Can be changed: C1(3), T Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 9208
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex C000 06DF hex [0] C000 06DF hex
[1] 00FE hex
[2] 0000 hex
[3] 0000 hex
[4] 0000 hex
Description: Sets the communication parameters for CANopen Transmit Process Data Object 7 (TPDO 7).
Index: [0] = PDO COB-ID
[1] = PDO transmission type
[2] = Inhibit time (in 100 µs)
[3] = Reserved
[4] = Event timer (in ms)
Dependency: A valid COB-ID can only be set for the available (existing) channel.
Refer to: p8741
Notice: For inhibit time and even timer, the following apply:
A value that is not a multiple integer of CANopen (4 ms) is rounded-off.
Note: Corresponds to the CANopen object 1806 hex + 40 hex * x (x: Drive number 0 ... 7).
Transmission types 0, 1 ... F0, FE and FF can be set.
PDO: Process Data Object

p8727[0...4] CAN Transmit PDO 8 / Transmit PDO 8

SERVO_S110-CAN Can be changed: C1(3), T Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 9208
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex C000 06DF hex [0] C000 06DF hex
[1] 00FE hex
[2] 0000 hex
[3] 0000 hex
[4] 0000 hex
Description: Sets the communication parameters for CANopen Transmit Process Data Object 8 (TPDO 8).
Index: [0] = PDO COB-ID
[1] = PDO transmission type
[2] = Inhibit time (in 100 µs)
[3] = Reserved
[4] = Event timer (in ms)
Dependency: A valid COB-ID can only be set for the available (existing) channel.
Refer to: p8741
Notice: For inhibit time and even timer, the following apply:
A value that is not a multiple integer of CANopen (4 ms) is rounded-off.
Note: Corresponds to the CANopen object 1807 hex + 40 hex * x (x: Drive number 0 ... 7).
Transmission types 0, 1 ... F0, FE and FF can be set.
PDO: Process Data Object

1-516 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p8730[0...3] CAN Transmit Mapping for TPDO 1 / Mapping TPDO 1

SERVO_S110-CAN Can be changed: C1(3), T Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 9208, 9210
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex FFFF FFFF hex 0000 hex
Description: Sets the mapping parameters for CANopen Transmit Process Data Object 1 (TPDO 1).
Index: [0] = Mapped object 1
[1] = Mapped object 2
[2] = Mapped object 3
[3] = Mapped object 4
Note: Corresponds to the CANopen object 1A00 hex + 40 hex * x (x: Drive number 0 ... 7).
The parameter can only be written online when the associated COB ID in p872x is set as invalid.

p8731[0...3] CAN Transmit Mapping for TPDO 2 / Mapping TPDO 2

SERVO_S110-CAN Can be changed: C1(3), T Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 9208, 9210
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex FFFF FFFF hex 0000 hex
Description: Sets the mapping parameters for CANopen Transmit Process Data Object 2 (TPDO 2).
Index: [0] = Mapped object 1
[1] = Mapped object 2
[2] = Mapped object 3
[3] = Mapped object 4
Note: Corresponds to the CANopen object 1A01 hex + 40 hex * x (x: Drive number 0 ... 7).
The parameter can only be written online when the associated COB ID in p872x is set as invalid.

p8732[0...3] CAN Transmit Mapping for TPDO 3 / Mapping TPDO 3

SERVO_S110-CAN Can be changed: C1(3), T Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 9208, 9210
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex FFFF FFFF hex 0000 hex
Description: Sets the mapping parameters for CANopen Transmit Process Data Object 3 (TPDO 3).
Index: [0] = Mapped object 1
[1] = Mapped object 2
[2] = Mapped object 3
[3] = Mapped object 4
Note: Corresponds to the CANopen object 1A02 hex + 40 hex * x (x: Drive number 0 ... 7).
The parameter can only be written online when the associated COB ID in p872x is set as invalid.

p8733[0...3] CAN Transmit Mapping for TPDO 4 / Mapping TPDO 4

SERVO_S110-CAN Can be changed: C1(3), T Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 9208, 9210
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex FFFF FFFF hex 0000 hex
Description: Sets the mapping parameters for CANopen Transmit Process Data Object 4 (TPDO 4).

© Siemens AG 2012 All Rights Reserved 1-517

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Index: [0] = Mapped object 1

[1] = Mapped object 2
[2] = Mapped object 3
[3] = Mapped object 4
Note: Corresponds to the CANopen object 1A03 hex + 40 hex * x (x: Drive number 0 ... 7).
The parameter can only be written online when the associated COB ID in p872x is set as invalid.

p8734[0...3] CAN Transmit Mapping for TPDO 5 / Mapping TPDO 5

SERVO_S110-CAN Can be changed: C1(3), T Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 9208
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex FFFF FFFF hex 0000 hex
Description: Sets the mapping parameters for CANopen Transmit Process Data Object 5 (TPDO 5).
Index: [0] = Mapped object 1
[1] = Mapped object 2
[2] = Mapped object 3
[3] = Mapped object 4
Note: Corresponds to the CANopen object 1A04 hex + 40 hex * x (x: Drive number 0 ... 7).
The parameter can only be written online when the associated COB ID in p872x is set as invalid.

p8735[0...3] CAN Transmit Mapping for TPDO 6 / Mapping TPDO 6

SERVO_S110-CAN Can be changed: C1(3), T Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 9208
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex FFFF FFFF hex 0000 hex
Description: Sets the mapping parameters for CANopen Transmit Process Data Object 6 (TPDO 6).
Index: [0] = Mapped object 1
[1] = Mapped object 2
[2] = Mapped object 3
[3] = Mapped object 4
Note: Corresponds to the CANopen object 1A05 hex + 40 hex * x (x: Drive number 0 ... 7).
The parameter can only be written online when the associated COB ID in p872x is set as invalid.

p8736[0...3] CAN Transmit Mapping for TPDO 7 / Mapping TPDO 7

SERVO_S110-CAN Can be changed: C1(3), T Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 9208
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex FFFF FFFF hex 0000 hex
Description: Sets the mapping parameters for CANopen Transmit Process Data Object 7 (TPDO 7).
Index: [0] = Mapped object 1
[1] = Mapped object 2
[2] = Mapped object 3
[3] = Mapped object 4
Note: Corresponds to the CANopen object 1A06 hex + 40 hex * x (x: Drive number 0 ... 7).
The parameter can only be written online when the associated COB ID in p872x is set as invalid.

1-518 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p8737[0...3] CAN Transmit Mapping for TPDO 8 / Mapping TPDO 8

SERVO_S110-CAN Can be changed: C1(3), T Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: 9208
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex FFFF FFFF hex 0000 hex
Description: Sets the mapping parameters for CANopen Transmit Process Data Object 8 (TPDO 8).
Index: [0] = Mapped object 1
[1] = Mapped object 2
[2] = Mapped object 3
[3] = Mapped object 4
Note: Corresponds to the CANopen object 1A07 hex + 40 hex * x (x: Drive number 0 ... 7).
The parameter can only be written online when the associated COB ID in p872x is set as invalid.

p8741 CAN PDO configuration acknowledgement / PDO config ackn

CU_S110-CAN Can be changed: T Calculated: - Access level: 3
Data type: Integer16 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Acknowledges the setting of the Predefined Connection Sets (p8744).
Value: 0: Inactive
1: Acknowledge configuration
Dependency: Refer to: p8744

r8743[0...7] CAN assignment drive/drive ID / Drive ID

CU_S110-CAN Can be changed: - Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the drive ID associated with each drive.
Index: [0] = Drive ID for 1st drive
[1] = Drive ID for 2nd drive
[2] = Drive ID for 3rd drive
[3] = Drive ID for 4th drive
[4] = Drive ID for 5th drive
[5] = Drive ID for 6th drive
[6] = Drive ID for 7th drive
[7] = Drive ID for 8th drive

p8744 CAN PDO mapping configuration / PDO Mapping conf.

SERVO_S110-CAN Can be changed: C2, T Calculated: - Access level: 2
Data type: Integer16 Dynamic index: - Func. diagram: 9204, 9206,
9208, 9210
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
1 2 2
Description: Selector switch for the PDO mapping.
Sets the mapping for download or in the online mode after acknowledging with p8741.

© Siemens AG 2012 All Rights Reserved 1-519

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Value: 1: Predefined Connection Set

2: Free PDO Mapping

r8750[0...15] CAN mapped 16-bit receive objects / RPDO 16 mapped

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the mapped 16-bit receive CANopen objects in the process data buffer.
Example:
If, e.g. the control word is mapped in an RPDO, then r8750 indicates the position of the control word in the process
data buffer.
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16

r8751[0...15] CAN mapped 16-bit transmit objects / TPDO 16 mapped

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays mapped 16-bit transmit CANopen objects in the process data buffer.
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
Dependency: Refer to: r8750

1-520 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r8760[0...14] CAN mapped 32-bit receive objects / RPDO 32 mapped

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the mapped 32-bit receive CANopen objects in the process data buffer.
Index: [0] = PZD 1 + 2
[1] = PZD 2 + 3
[2] = PZD 3 + 4
[3] = PZD 4 + 5
[4] = PZD 5 + 6
[5] = PZD 6 + 7
[6] = PZD 7 + 8
[7] = PZD 8 + 9
[8] = PZD 9 + 10
[9] = PZD 10 + 11
[10] = PZD 11 + 12
[11] = PZD 12 + 13
[12] = PZD 13 + 14
[13] = PZD 14 + 15
[14] = PZD 15 + 16

r8761[0...14] CAN mapped 32-bit transmit objects / TPDO 32 mapped

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays mapped 32-bit transmit CANopen objects in the process data buffer.
Index: [0] = PZD 1 + 2
[1] = PZD 2 + 3
[2] = PZD 3 + 4
[3] = PZD 4 + 5
[4] = PZD 5 + 6
[5] = PZD 6 + 7
[6] = PZD 7 + 8
[7] = PZD 8 + 9
[8] = PZD 9 + 10
[9] = PZD 10 + 11
[10] = PZD 11 + 12
[11] = PZD 12 + 13
[12] = PZD 13 + 14
[13] = PZD 14 + 15
[14] = PZD 15 + 16

r8784 CO: CAN status word / Status word

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: 8010
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the CANopen status word.

© Siemens AG 2012 All Rights Reserved 1-521

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Bit field: Bit Signal name 1 signal 0 signal FP

00 Rdy for switch on Yes No -
01 Ready Yes No -
02 Operation enabled Yes No -
03 Fault present Yes No -
04 No coasting active Yes No -
05 No Quick Stop active Yes No -
06 Switching on inhibited active Yes No -
07 Alarm present Yes No -
08 Can be freely interconnected (BI: p8785) High Low -
09 Control request Yes No -
10 Target reached Yes No -
11 Torque limit reached Yes No -
12 Velocity equal to zero Yes No -
14 Can be freely interconnected (BI: p8786) High Low -
15 Can be freely interconnected (BI: p8787) High Low -
Note: Corresponds to the CANopen object 6041 hex + 800 hex * x (x: Drive number 0 ... 7).
Re bit 10:
When the ramp-function generator is activated, the interconnection from CI: p2151 = r1119 can be changed, so that
to evaluate bit 10, the setpoint can be retrieved (taken) from in front of the ramp-function generator.
Re bit 10, 12:
When braking, the two bits must indicate the same state. This is the reason that the following parameters must be
set the same:
p2161 (speed threshold value 3, for r2199.0) = p2163 (speed threshold value 4, for r2197.7)
p2150 (hysteresis speed 3, for r2199.0) = p2164 (hysteresis speed 4, for r2197.7)

p8785 BI: CAN status word bit 8 / Status word bit 8

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Binector input for CANopen status word bit 8.
Dependency: Refer to: r8784

p8786 BI: CAN status word bit 14 / Status word bit 14

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Binector input for CANopen status word bit 14.
Dependency: Refer to: r8784

p8787 BI: CAN status word bit 15 / Status word bit 15

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Binector input for CANopen status word bit 15.
Dependency: Refer to: r8784

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 Parameter
List of parameters

p8790 CAN control word - auto interconnection / STW interc auto

SERVO_S110-CAN Can be changed: C1(3), T Calculated: - Access level: 3
Data type: Integer16 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Sets the automatic BICO interconnection of the CANopen control word.
Value: 0: No interconn
1: Interconnection
Dependency: Refer to: r2050, r2090, r2091, r2092, r2093, r8750, r8795
Note: The following BICO interconnections are automatically established if the CANopen control word is mapped at one
of the locations x = 0 ... 3 in the receive process data buffer.
For SINAMICS S120 with CBC10, the PZD interface IF2 is used:
BI: p0840.0 = r889x.0
BI: p0844.0 = r889x.1
BI: p0848.0 = r889x.2
BI: p0852.0 = r889x.3
BI: p2103.0 = r889x.7
For SINAMICS S110, the PZD interface IF1 is used:
BI: p0840.0 = r209x.0
BI: p0844.0 = r209x.1
BI: p0848.0 = r209x.2
BI: p0852.0 = r209x.3
BI: p2103.0 = r209x.7
The write access is rejected if a CANopen control word is not mapped at one of these locations.
This also causes the project download of the commissioning software to be canceled.

r8795 CAN control word / Control word

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Access to the CANopen control word using SDO transfer.
Bit field: Bit Signal name 1 signal 0 signal FP
00 ON/OFF1 Yes No -
01 Do not activate coast down Yes No -
02 Do not activate a Quick Stop Yes No -
03 Operation enable Yes No -
07 Acknowledge fault Yes No -
11 Freely interconn High Low -
12 Freely interconn High Low -
13 Freely interconn High Low -
14 Freely interconn High Low -
15 Freely interconn High Low -
Dependency: Refer to: p8790
Note: Corresponds to the CANopen object 6040 hex + 800 hex * x (x: Drive number 0 ... 7).

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List of parameters

r8796 CAN Target Velocity / Target velocity

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 3
Data type: Integer32 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Access to the CANopen object target velocity using the SDO transfer.
The value is displayed in increments/second as standard.
Note: Corresponds to the CANopen object 60FF hex + 800 hex * x (x: Drive number 0 ... 7).
The displayed value is calculated as follows:
r8796 = n_set [RPM] / 60 s * p0408 * 2^p0418 * p8798[1] / p8798[0]

r8797 CAN Target Torque / Target torque

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 3
Data type: Integer16 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Access to the CANopen object target torque using SDO transfer.
The value is displayed as per mille (1/1000) as standard.
Note: Corresponds to the CANopen object 6071 hex + 800 hex * x (x: Drive number 0 ... 7).
The displayed value is calculated as follows:
r8797 [per mille] = M_set [Nm] / p0333 [Nm] * 1000

p8798[0...1] CAN speed conversion factor / n_conv_factor

SERVO_S110-CAN Can be changed: T Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
1 4294967295 1
Description: The factor converts the required velocity units into the internal velocity units (U/s).
With the factor setting, for CANopen, the velocity units are increments/second.
The parameter corresponds to the CANopen object 6094 hex.
The internal velocity is calculated as follows:
n_set_internal = object 6094.1 / object 6094.2 * 1/(p0408 * 2^p0418) * n_set_bus
Index: [0] = Counter
[1] = Denominator

r8909 PN device ID / PN device ID

CU_S110-PN Can be changed: - Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the PROFINET Device ID. Every SINAMICS device type has its own PROFINET Device ID and its own
PROFINET GSD.

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 Parameter
List of parameters

Note: List of the SINAMICS Device IDs:

0501 hex: S120/S150
0504 hex: G130/G150
0505 hex: GM150
0509 hex: GL150
050A hex: DC MASTER
050B hex: SL150
050C hex: SM120
050E hex: S110

p8920[0...239] PN Name of Station / PN Name Stat

CU_S110-PN Can be changed: U, T Calculated: - Access level: 3
Data type: Unsigned8 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Sets the station name for the onboard PROFINET interface on the Control Unit.
The active station name is displayed in r8930.
Note: An ASCII table (excerpt) can be found, for example, in the appendix to the List Manual.
The interface configuration (p8920 and following) is activated with p8925 = 1.
The parameter is not influenced by setting the factory setting.
PN: PROFINET

p8921[0...3] PN IP address of station / PN IP of stat

CU_S110-PN Can be changed: U, T Calculated: - Access level: 3
Data type: Unsigned8 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 255 0
Description: Sets the IP address for the onboard PROFINET interface on the Control Unit.
The active IP address is displayed in r8931.
Note: The interface configuration (p8920 and following) is activated with p8925 = 1.
The parameter is not influenced by setting the factory setting.

p8922[0...3] PN Default Gateway of Station / PN Def Gateway

CU_S110-PN Can be changed: U, T Calculated: - Access level: 3
Data type: Unsigned8 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 255 0
Description: Sets the default gateway for the onboard PROFINET interface on the Control Unit.
The active default gateway is displayed in r8932.
Note: The interface configuration (p8920 and following) is activated with p8925 = 1.
The parameter is not influenced by setting the factory setting.

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 Parameter
List of parameters

p8923[0...3] PN Subnet Mask of Station / PN Subnet Mask

CU_S110-PN Can be changed: U, T Calculated: - Access level: 3
Data type: Unsigned8 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 255 0
Description: Sets the subnet mask for the onboard PROFINET interface on the Control Unit.
The active subnet mask is displayed in r8933.
Note: The interface configuration (p8920 and following) is activated with p8925 = 1.
The parameter is not influenced by setting the factory setting.

p8925 PN interface configuration / PN IF config

CU_S110-PN Can be changed: U, T Calculated: - Access level: 3
Data type: Integer16 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 3 0
Description: Setting to control the configuration for the onboard PROFINET interface on the Control Unit.
p8925 is automatically set to 0 at the end of the operation.
Value: 0: No function
1: Activate configuration
2: Activate and save configuration
3: Delete configuration
Note: Re p8925 = 1:
The interface configuration (p8920 and following) is activated.
Re p8925 = 2:
The interface configuration (p8920 and following) is activated and saved to non-volatile memory.
Re p8925 = 3:
Restores all memory locations for the interface configuration to the factory settings.
The factory settings for the interface configuration are loaded on activation (p8925 = 1) or at the next POWER ON.

p8929 PN remote controller number / PN rem ctrl num

CU_S110-PN Can be changed: C1(1) Calculated: - Access level: 3
Data type: Integer16 Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
1 2 1
Description: Sets the number of remote controllers expected for PROFINET onboard.
The "Shared Device" functionality is activated with a value = 2.
The drive is being accessed by two PROFINET controllers simultaneously:
- automation controller (SIMOTION or SIMATIC A-CPU).
- safety controller (SIMATIC F-CPU).
Value: 1: Automation or Safety
2: Automation and Safety
Notice: The F CPU may only use PROFIsafe telegrams.
The A CPU must be connected to enable the F CPU to gain access.
Set the value = 1 to commission the F CPU individually.
Note: A change only becomes effective after POWER ON, reset or download.

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 Parameter
List of parameters

r8930[0...239] PN Name of Station active / PN Name Stat act

CU_S110-PN Can be changed: - Calculated: - Access level: 3
Data type: Unsigned8 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the active station name for the onboard PROFINET interface on the Control Unit.

r8931[0...3] PN IP Address of Station active / PN IP of Stat act

CU_S110-PN Can be changed: - Calculated: - Access level: 3
Data type: Unsigned8 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the active IP address for the onboard PROFINET interface on the Control Unit.

r8932[0...3] PN Default Gateway of Station active / PN Def Gateway act

CU_S110-PN Can be changed: - Calculated: - Access level: 3
Data type: Unsigned8 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the active default gateway for the onboard PROFINET interface on the Control Unit.

r8933[0...3] PN Subnet Mask of Station active / PN Subnet Mask act

CU_S110-PN Can be changed: - Calculated: - Access level: 3
Data type: Unsigned8 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the active subnet mask for the onboard PROFINET interface on the Control Unit.

r8935[0...5] PN MAC Address of Station / PN MAC of Station

CU_S110-PN Can be changed: - Calculated: - Access level: 3
Data type: Unsigned8 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the MAC address for the onboard PROFINET interface on the Control Unit.

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 Parameter
List of parameters

r8939 PN DAP ID / PN DAP ID

CU_S110-PN Can be changed: - Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the PROFINET Device Access Point ID (DAP ID) for the onboard PROFINET interface.
The combination of device ID (r8909) and DAP ID uniquely identifies a PROFINET access point.
Note: List of the SINAMICS DAP IDs:
20005 hex: CBE20 V4.3
20006 hex: CBE20 V4.4
20106 hex: CU310-2 PN V4.4
20206 hex: CU305 PN V4.4
20306 hex: CU320-2 PN V4.4

r8955[0...5] CBE20 MAC Address of Station / CBE20 MAC addr

CU_S110-PN Can be changed: - Calculated: - Access level: 3
Data type: Unsigned8 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the MAC address for the Communication Board Ethernet 20 (CBE20).

p9210 Flashing component number / Flash comp_no.

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Topology Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 499 0
Description: Sets the component number for a component to get its status LED to flash.
Dependency: Refer to: p9211

p9211 Flash function / Flash fct.

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Topology Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-1 1 -1
Description: Sets the function for the component selected in p9210.
After initiating a function, the parameter is automatically reset again.
Example:
- Set the component number (p9210).
- Select the "flashing on" function (set p9211 = 1).
Value: -1: Select function
0: Flashing off
1: Flashing on
Dependency: Refer to: p9210

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 Parameter
List of parameters

Notice: If a task cannot be executed (e.g. the component number in p9210 does not exist), the following applies:
- There is no negative feedback signal.
- The value is reset anyway.

p9300 SI Motion monitoring clock cycle (processor 2) / SI Mtn clock P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
500.00 [µs] 25000.00 [µs] 12000.00 [µs]
Description: Sets the monitoring clock cycle for safe motion monitoring.
Dependency: Refer to: p9500, p9511
Refer to: F01652
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Note: The monitoring clock cycle must be a multiple of the actual value sensing clock cycle in p9311 or of the DP clock
cycle.
A change only becomes effective after a POWER ON.

p9301 SI Motion enable safety functions (processor 2) / SI Mtn enable P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 0000 0000 0000 0000
0000 0000 0000 bin
Description: Sets the enable signals for the safe motion monitoring.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Enable SOS/SLS Enable Inhibit -
16 Enable SSM hysteresis and filtering Enable Inhibit 2860
17 Enable SDI Enable Inhibit 2861
Dependency: Refer to: p9501
Refer to: F01682, F01683
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Note: A change only becomes effective after a POWER ON.
SDI: Safe Direction (safe motion direction)
SLS: Safely-Limited Speed
SOS: Safe Operating Stop
SSM: Safe Speed Monitor (safety-relevant feedback signal from the velocity monitoring)

p9302 SI Motion axis type (processor 2) / SI Mtn ax type P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Sets the axis type (linear axis or rotary axis/spindle).
Value: 0: Linear axis
1: Rot axis/spindle
Dependency: Refer to: p9502
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.

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 Parameter
List of parameters

Note: For the commissioning software, after changing over the axis type, the units dependent on the axis type are only
updated after a project upload.
A change only becomes effective after a POWER ON.

p9306 SI Motion function specification (processor 2) / SI Mtn fct spec P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 3 0
Description: Sets the function specification for the safe motion monitoring.
Value: 0: Safety with encoder
1: Safety without encoder
3: Safety without encoder with accel_monitoring/delay time
Dependency: Refer to: C30711
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.

p9307 SI Motion function configuration (processor 2) / SI Mtn config P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 bin
Description: Sets the function configuration for the safe motion monitoring functions.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Extended message acknowledgement Yes No -
01 Setpoint velocity limit for STOP F No Yes -
02 Motor type sensorless actual value sensing Synchronous motor Induction motor -
Dependency: Refer to: C01711
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Note: Re bit 00:
When the function is activated, a safety-relevant acknowledgement (internal event acknowledge) can be performed
by selecting/deselecting STO.
Re bit 01:
When the function is activated, the active setpoint velocity limit (CO: r9733) is set to zero when STOP F is active.
Re bit 02:
This bit defines the type of motor, which the sensorless safety technology evaluates.
For bit = 0, the sensorless motion monitoring function calculates the actual velocity for an induction motor.
For bit = 1, an actual velocity is calculated for a synchronous motor. This value depends on the setting in p0300.
Bit = 0 should be set if no motor is defined (p0300 = 0).

p9309 SI Motion behavior during pulse suppression (processor 2) / SI Mtn behav IL P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 0000 1111 1111 bin
Description: Sets the behavior of safety functions and their feedback during pulse suppression in encoderless operation.

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 Parameter
List of parameters

Bit field: Bit Signal name 1 signal 0 signal FP

00 SSM during pulse suppression and sensor- Becomes inactive Remains active -
less
08 SDI during pulse suppression and sensor- Becomes inactive Remains active -
less
Dependency: Refer to: C01711
Note: SDI: Safe Direction (safe motion direction)
SSM: Safe Speed Monitor (safety-relevant feedback signal from the velocity monitoring)
Re bit 00:
For bit = 1 and with the SSM safety function activated, the following applies:
- During pulse suppression, monitoring is switched off and the feedback signal has a 0 signal level.
For bit = 0 and with the SSM safety function activated, the following applies:
- Monitoring continues during pulse suppression. The feedback signal last displayed before pulse suppression is
kept and the system goes into the STO state.
Re bit 08:
For bit = 1 and with the SDI safety function activated, the following applies:
- During pulse suppression, monitoring is switched off and the status signal indicates inactive.
For bit = 0 and with the SDI safety function activated, the following applies:
- Monitoring continues during pulse suppression. The status signal indicates active and the system goes into the
STO state.

p9311 SI Motion actual value sensing clock cycle (processor 2) / SI Mtn act clk P2
SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
250.0000 [µs] 8000.0000 [µs] 2000.0000 [µs]
Description: Sets the clock cycle time of the actual value sensing for safe motion monitoring.
Setting criteria if the motion monitoring functions are executed with an encoder.
- A slower clock cycle time reduces the maximum permissible velocity - however, it ensures a lower load of the Con-
trol Unit for safe actual value sensing.
- The maximum permissible velocity which, when exceeded, can mean that errors occur during safe actual value
sensing, is displayed in r9730.
- Setting criteria if the motion monitoring functions are executed without an encoder:
- The actual value sensing clock cycle must be set to the same value as the current controller clock cycle (p0115).
Dependency: Refer to: p9300, p9511
Refer to: F01652
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Note: The parameter is only active for drive-based motion monitoring functions (p9601.2 = 1).
The monitoring clock cycle from p9500 must be an integer multiple of this parameter.
In the case of motion monitoring functions with encoder, the clock cycle time for actual value sensing must be an
integer multiple of the current controller clock cycle and at least 4 times slower than the current controller clock
cycle. A factor of at least 8 is recommended. The value for the parameter must also be greater than or equal to 2
ms.
A change only becomes effective after a POWER ON.

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 Parameter
List of parameters

p9315 SI Motion coarse position value configuration (processor 2) / SI Mtn s config P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 0000 0000 0000 0000
0000 0000 0000 bin
Description: Sets the encoder configuration for the redundant coarse position value.
The encoder that is used for the safe motion monitoring functions on processor 2 must be parameterized in this
parameter.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Incrementer Yes No -
01 Encoder CRC least significant byte first Yes No -
02 Redundant coarse position val. most signifi- Yes No -
cant bit left-aligned
16 DRIVE-CLiQ encoder Yes No -
Dependency: Refer to: r0474, p9515

p9316 SI Motion encoder configuration safety functions (processor 2) / SI Mtn enc cfg P2
SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 bin
Description: Sets the configuration for the encoder and position actual value.
The encoder that is used for the safe motion monitoring functions on processor 2 must be parameterized in this
parameter.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Encoder rotating/linear Linear Rotating: -
01 Position actual value, sign change Yes No -
Dependency: Refer to: p0404, p0410, p9516

p9317 SI Motion linear scale grid division (processor 2) / SI Mtn grid P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [nm] 250000000.00 [nm] 10000.00 [nm]
Description: Sets the grid division for a linear encoder.
The encoder that is used for the safe motion monitoring functions on processor 2 must be parameterized in this
parameter.
Dependency: Refer to: p9316

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 Parameter
List of parameters

p9318 SI motion encoder pulses per revolution (processor 2) / SI Mtn p/rev P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 16777215 2048
Description: Sets the number of encoder pulses per revolution for rotary encoders.
The encoder that is used for the safe motion monitoring functions on processor 2 must be parameterized in this
parameter.
Dependency: Refer to: p0408, p9316

p9319 SI Motion fine resolution G1_XIST1 (processor 2) / SI Mtn G1_XIST1 P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
2 18 11
Description: Sets the fine resolution for G1_XIST1 in bits.
The encoder that is used for the safe motion monitoring functions on processor 2 must be parameterized in this
parameter.
Dependency: Refer to: p0418
Refer to: F01670, F01671
Note: For safety functions that have not been enabled (p9301 = 0), the following applies: When booting, p9319 is auto-
matically set the same as p0418.
For safety functions that are enabled (p9301 > 0), the following applies: p9319 is checked for agreement with
p0418.
G1_XIST1: Encoder 1 position actual value 1 (PROFIdrive)

p9320 SI Motion spindle pitch (processor 2) / SI Mtn sp_pitch P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.1000 [mm] 8388.0000 [mm] 10.0000 [mm]
Description: Sets the gear ratio between the encoder and load in mm/revolution for a linear axis with rotary encoder.
The encoder that is used for the safe motion monitoring functions on the Motor Module must be parameterized in
this parameter.
Dependency: Refer to: p9520
Notice: The fourth decimal point can be rounded-off depending on the size of the entered number (from 3 places before the
decimal point).

p9321[0...7] SI Motion gearbox enc (motor)/load denominator (processor 2) / SI Mtn gear den P2
SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
1 2147000000 1
Description: Sets the denominator for the gearbox between the encoder (or motor in the case of encoderless monitoring func-
tions) and the load.

© Siemens AG 2012 All Rights Reserved 1-533

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Index: [0] = Gearbox 1

[1] = Gearbox 2
[2] = Gearbox 3
[3] = Gearbox 4
[4] = Gearbox 5
[5] = Gearbox 6
[6] = Gearbox 7
[7] = Gearbox 8
Dependency: Refer to: p9322
Notice: It is not possible to change over the gearbox stages. Gearbox 1 (index 0) is always active.

p9322[0...7] SI Motion gearbox enc (motor)/load numerator (processor 2) / SI Mtn gear num P2
SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
1 2147000000 1
Description: Sets the numerator for the gearbox between the encoder (or motor in the case of encoderless monitoring functions)
and the load.
Index: [0] = Gearbox 1
[1] = Gearbox 2
[2] = Gearbox 3
[3] = Gearbox 4
[4] = Gearbox 5
[5] = Gearbox 6
[6] = Gearbox 7
[7] = Gearbox 8
Dependency: Refer to: p9321
Notice: It is not possible to change over the gearbox stages. Gearbox 1 (index 0) is always active.
Note: In the case of encoderless monitoring functions, the pole pair number must be multiplied by the numerator of the
gearbox ratio.
Example:
Gearbox ratio 1:4, pole pair number (r0313) = 2
--> p9321 = 1, p9322 = 8 (4 x 2)

p9323 SI Motion red. coarse position value valid bits (processor 2) / Valid bits P2
SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 16 9
Description: Sets the number of valid bits of the redundant coarse position value.
The encoder that is used for the safe motion monitoring functions on processor 2 must be parameterized in this
parameter.
Dependency: Refer to: r0470, p9523

1-534 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p9324 SI Motion redundant coarse pos. value fine resolution bits (P2) / SI Mtn fine bit P2
SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-16 16 -2
Description: Sets the number of valid bits for the fine resolution of the redundant coarse position value.
The encoder that is used for the safe motion monitoring functions on processor 2 must be parameterized in this
parameter.
Dependency: Refer to: r0471, p9524

p9325 SI Motion redundant coarse position value relevant bits (P2) / Relevant bits P2
SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 16 16
Description: Sets the number of relevant bits for the redundant coarse position value.
The encoder that is used for the safe motion monitoring functions on processor 2 must be parameterized in this
parameter.
Dependency: Refer to: p0414, r0472, p9525

p9328[0...11] SI Motion Sensor Module Node Identifier (processor 2) / SI Mtn SM Ident P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned8 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex 00FF hex 0000 hex
Description: Sets the node identifier of the Sensor Module that is used by processor 2 for the motion monitoring functions.
Dependency: Refer to: r9881
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.

p9329 SI Motion Gx_XIST1 coarse pos safe most significant bit (P2) / Gx_XIST1 MSB P2
SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 31 14
Description: Sets the bit number for the safe most significant bit (MSB) of the Gx_XIST1 coarse position.
The encoder that is used for the safe motion monitoring functions on processor 2 must be parameterized in this
parameter.
Dependency: Refer to: p0415, r0475, p9529
Note: MSB: Most Significant Bit

© Siemens AG 2012 All Rights Reserved 1-535

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p9330 SI Motion standstill tolerance (processor 2) / SI Mtn SOS Tol P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.000 [mm] 100.000 [mm] 1.000 [mm]
Description: Sets the tolerance for the function "Safe Operating Stop" (SOS).
Dependency: Refer to: p9530
Refer to: C01707
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Note: SOS: Safe Operating Stop

p9330 SI Motion standstill tolerance (processor 2) / SI Mtn SOS Tol P2

SERVO_S110-CAN Can be changed: C2(95) Calculated: - Access level: 3
(Safety rot), Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-DP
(Safety rot), P-Group: Safety Integrated Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Safety rot)
Min Max Factory setting
0.000 [°] 100.000 [°] 1.000 [°]
Description: Sets the tolerance for the function "Safe Operating Stop" (SOS).
Dependency: Refer to: p9530
Refer to: C01707
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Note: SOS: Safe Operating Stop

p9331[0...3] SI Motion SLS limit values (processor 2) / SI Mtn SLS lim P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [mm/min] 1000000.00 [mm/min] 2000.00 [mm/min]
Description: Sets the limit values for the function "Safely-Limited Speed" (SLS).
Index: [0] = Limit value SLS1
[1] = Limit value SLS2
[2] = Limit value SLS3
[3] = Limit value SLP4
Dependency: Refer to: p9363, p9531
Refer to: C01714
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Note: SLS: Safely-Limited Speed

1-536 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p9331[0...3] SI Motion SLS limit values (processor 2) / SI Mtn SLS lim P2

SERVO_S110-CAN Can be changed: C2(95) Calculated: - Access level: 3
(Safety rot), Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-DP
P-Group: Safety Integrated Units group: - Unit selection: -
(Safety rot),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Safety rot)
Min Max Factory setting
0.00 [rpm] 1000000.00 [rpm] 2000.00 [rpm]
Description: Sets the limit values for the function "Safely-Limited Speed" (SLS).
Index: [0] = Limit value SLS1
[1] = Limit value SLS2
[2] = Limit value SLS3
[3] = Limit value SLP4
Dependency: Refer to: p9363, p9531
Refer to: C01714
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Note: SLS: Safely-Limited Speed

p9342 SI Motion act. val. comparison tolerance (crossw.) (processor 2) / SI Mtn actV tol P2
SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.0010 [mm] 360.0000 [mm] 0.1000 [mm]
Description: Sets the tolerance for the cross-check of the actual position between the two monitoring channels.
For encoderless motion monitoring functions, the tolerance must be set to a higher value (12 degrees rotary and 1
mm linear).
Dependency: Refer to: p9542
Refer to: C01711
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.

p9342 SI Motion act. val. comparison tolerance (crossw.) (processor 2) / SI Mtn actV tol P2
SERVO_S110-CAN Can be changed: C2(95) Calculated: - Access level: 3
(Safety rot), Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-DP
P-Group: Safety Integrated Units group: - Unit selection: -
(Safety rot),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Safety rot)
Min Max Factory setting
0.0010 [°] 360.0000 [°] 0.1000 [°]
Description: Sets the tolerance for the cross-check of the actual position between the two monitoring channels.
For encoderless motion monitoring functions, the tolerance must be set to a higher value (12 degrees rotary and 1
mm linear).
Dependency: Refer to: p9542
Refer to: C01711
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.

© Siemens AG 2012 All Rights Reserved 1-537

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p9345 SI Motion SSM filter time (processor 2) / SI Mtn SSM filt P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2860
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [µs] 100000.00 [µs] 0.00 [µs]
Description: Sets the filter time for the SSM feedback signal to detect standstill.
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Note: The filter time is effective only if the function is enabled (p9301.16 = p9501.16 = 1).
The parameter is included in the crosswise data comparison of the two monitoring channels.
SSM: Safe Speed Monitor (safety-relevant feedback signal from the velocity monitoring)

p9346 SI Motion SSM velocity limit (processor 2) / SI Mtn SSM v_limP2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2860
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [mm/min] 1000000.00 [mm/min] 20.00 [mm/min]
Description: Sets the velocity limit for the SSM feedback signal to detect standstill (n < nx).
When this limit value is undershot, the signal "SSM feedback signal active" is set.
For p9368 = p9568 = 0 the value in p9346/p9546 is also applicable for the function "SAM".
Dependency: Refer to: p9546
Caution: The "SAM" function is switched out if the selected threshold value is undershot.

Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Note: SAM: Safe Acceleration Monitor (safe acceleration monitoring)
SSM: Safe Speed Monitor (safety-relevant feedback signal from the velocity monitoring)

p9346 SI Motion SSM velocity limit (processor 2) / SI Mtn SSM v_limP2

SERVO_S110-CAN Can be changed: C2(95) Calculated: - Access level: 3
(Safety rot), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2860
SERVO_S110-DP
P-Group: Safety Integrated Units group: - Unit selection: -
(Safety rot),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Safety rot)
Min Max Factory setting
0.00 [rpm] 1000000.00 [rpm] 20.00 [rpm]
Description: Sets the velocity limit for the SSM feedback signal to detect standstill (n < nx).
When this limit value is undershot, the signal "SSM feedback signal active" is set.
For p9368 = p9568 = 0 the value in p9346/p9546 is also applicable for the function "SAM".
Dependency: Refer to: p9546
Caution: The "SAM" function is switched out if the selected threshold value is undershot.

Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Note: SAM: Safe Acceleration Monitor (safe acceleration monitoring)
SSM: Safe Speed Monitor (safety-relevant feedback signal from the velocity monitoring)

1-538 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p9347 SI Motion SSM velocity hysteresis (processor 2) / SI Mtn SSM Hyst P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2860
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.0010 [mm/min] 500.0000 [mm/min] 10.0000 [mm/min]
Description: Sets the velocity hysteresis for the SSM feedback signal to detect standstill (n < nx).
Dependency: Refer to: C01711
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Note: The velocity hysteresis is effective only if the function is enabled (p9301.16 = p9501.16 = 1).
The parameter is included in the crosswise data comparison of the two monitoring channels.
SSM: Safe Speed Monitor (safety-relevant feedback signal from the velocity monitoring)

p9347 SI Motion SSM velocity hysteresis (processor 2) / SI Mtn SSM Hyst P2

SERVO_S110-CAN Can be changed: C2(95) Calculated: - Access level: 3
(Safety rot), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2860
SERVO_S110-DP
(Safety rot), P-Group: Safety Integrated Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Safety rot)
Min Max Factory setting
0.0010 [rpm] 500.0000 [rpm] 10.0000 [rpm]
Description: Sets the velocity hysteresis for the SSM feedback signal to detect standstill (n < nx).
Dependency: Refer to: C01711
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Note: The velocity hysteresis is effective only if the function is enabled (p9301.16 = p9501.16 = 1).
The parameter is included in the crosswise data comparison of the two monitoring channels.
SSM: Safe Speed Monitor (safety-relevant feedback signal from the velocity monitoring)

p9348 SI Motion SBR actual velocity tolerance (processor 2) / SI Mtn SBR Tol P2
SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [mm/min] 120000.00 [mm/min] 300.00 [mm/min]
Description: Sets the velocity tolerance for the "SAM" function.
Dependency: Refer to: p9548
Refer to: C01706
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Note: SAM: Safe Acceleration Monitor (safe acceleration monitoring)

p9348 SI Motion SBR actual velocity tolerance (processor 2) / SI Mtn SBR Tol P2
SERVO_S110-CAN Can be changed: C2(95) Calculated: - Access level: 3
(Safety rot), Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-DP
(Safety rot), P-Group: Safety Integrated Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Safety rot)
Min Max Factory setting
0.00 [rpm] 120000.00 [rpm] 300.00 [rpm]
Description: Sets the velocity tolerance for the "SAM" function.

© Siemens AG 2012 All Rights Reserved 1-539

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Dependency: Refer to: p9548

Refer to: C01706
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Note: SAM: Safe Acceleration Monitor (safe acceleration monitoring)

p9349 SI Motion slip velocity tolerance (processor 2) / SI Mtn slip P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [mm/min] 6000.00 [mm/min] 6.00 [mm/min]
Description: Sets the velocity tolerance that is used for a 2-encoder system in crosswise comparison between the two monitor-
ing channels.
Dependency: Refer to: p9301, p9342, p9549
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Note: If the "actual value synchronization" is not enabled (p9301.3 = 0), then the value parameterized in p9342 is used as
tolerance in the crosswise data comparison.

p9349 SI Motion slip velocity tolerance (processor 2) / SI Mtn slip P2

SERVO_S110-CAN Can be changed: C2(95) Calculated: - Access level: 3
(Safety rot), Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-DP
P-Group: Safety Integrated Units group: - Unit selection: -
(Safety rot),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Safety rot)
Min Max Factory setting
0.00 [rpm] 6000.00 [rpm] 6.00 [rpm]
Description: Sets the velocity tolerance that is used for a 2-encoder system in crosswise comparison between the two monitor-
ing channels.
Dependency: Refer to: p9301, p9342, p9549
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Note: If the "actual value synchronization" is not enabled (p9301.3 = 0), then the value parameterized in p9342 is used as
tolerance in the crosswise data comparison.

p9351 SI Motion SLS changeover delay time (processor 2) / SI Mtn SLS t P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2825
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [µs] 600000000.00 [µs] 100000.00 [µs]
Description: Sets the delay time for the SLS changeover or for the changeover from SLS to SOS for the function "Safely-Limited
Speed" (SLS).
When transitioning from a higher to a lower safely-limited velocity/speed stage or to the safe operating stop (SOS),
within this delay time, the "old" velocity stage remains active.
Even if SLS or SOS is activated from non safety-related operation, then this delay is still applied.
Dependency: Refer to: p9551
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Note: SLS: Safely-Limited Speed
SOS: Safe Operating Stop

1-540 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p9352 SI Motion transition time STOP C to SOS (processor 2) / SI Mtn t C->SOS P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2825
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [µs] 600000000.00 [µs] 100000.00 [µs]
Description: Sets the transition time from STOP C to "Safe Operating Stop" (SOS).
Dependency: Refer to: p9552
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Note: SOS: Safe Operating Stop

p9353 SI Motion transition time STOP D to SOS (processor 2) / SI Mtn t D->SOS P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2825
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [µs] 600000000.00 [µs] 100000.00 [µs]
Description: Sets the transition time from STOP D to "Safe Operating Stop" (SOS).
Dependency: Refer to: p9553
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Note: SOS: Safe Operating Stop

p9354 SI Motion transition time STOP E to SOS (processor 2) / SI Mtn t E->SOS P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2825
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [µs] 600000000.00 [µs] 100000.00 [µs]
Description: Sets the transition time from STOP E to "Safe Operating Stop" (SOS).
Dependency: Refer to: p9554
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Note: SOS: Safe Operating Stop

p9355 SI Motion transition time STOP F to STOP B (processor 2) / SI Mtn t F->B P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2825
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [µs] 600000000.00 [µs] 0.00 [µs]
Description: Sets the transition time from STOP F to STOP B.
Dependency: Refer to: C01711
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.

© Siemens AG 2012 All Rights Reserved 1-541

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p9356 SI Motion pulse suppression delay time (processor 2) / SI Mtn IL t_del P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2825
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [µs] 600000000.00 [µs] 100000.00 [µs]
Description: Sets the delay time for the safe pulse suppression after STOP B / SS1.
In the case of encoderless motion monitoring functions with brake ramp monitoring (p9306 = 1), the parameter has
no effect.
Dependency: Refer to: p9360, p9556
Refer to: C01701
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Note: SS1: Safe Stop 1

p9357 SI Motion pulse suppression test time (processor 2) / SI Mtn IL t P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [µs] 10000000.00 [µs] 100000.00 [µs]
Description: Sets the time after which the pulses must have been suppressed when initiating the test stop.
Dependency: Refer to: p9557
Refer to: C01798
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.

p9358 SI Motion acceptance test mode time limit (processor 2) / SI Mtn acc t P2
SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
5000000.00 [µs] 100000000.00 [µs] 40000000.00 [µs]
Description: Sets the maximum time for the acceptance test mode.
If the acceptance test mode takes longer than the selected time limit, then the mode is automatically terminated.
Dependency: Refer to: p9558
Refer to: C01799
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.

p9360 SI Motion pulse suppression shutdown velocity (processor 2) / SI Mtn IL v_sh P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [mm/min] 6000.00 [mm/min] 0.00 [mm/min]
Description: Sets the shutdown velocity for pulse suppression.
Below this velocity "standstill" is assumed and for STOP B / SS1, the pulses are suppressed (by changing to STOP
A).
In the case of encoderless motion monitoring functions, the parameter must be > 0 (recommended value: 10).
Dependency: Refer to: p9356, p9560

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 Parameter
List of parameters

Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Note: SS1: Safe Stop 1

p9360 SI Motion pulse suppression shutdown speed (Motor Module) / SI Mtn IL n_sh MM
SERVO_S110-CAN Can be changed: C2(95) Calculated: - Access level: 3
(Safety rot), Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-DP
P-Group: Safety Integrated Units group: - Unit selection: -
(Safety rot),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Safety rot)
Min Max Factory setting
0.00 [rpm] 6000.00 [rpm] 0.00 [rpm]
Description: Sets the shutdown speed for the pulse suppression.
Below this speed "standstill" is assumed and for STOP B / SS1, the pulses are suppressed (by changing to STOP
A).
Dependency: Refer to: p9356, p9560
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Note: SS1: Safe Stop 1

p9363[0...3] SI Motion SLS stop response (processor 2) / SI Mtn SLS stop P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 14 2
Description: Sets the stop response for the function "Safely-Limited Speed" (SLS).
These settings apply to the individual limit values for SLS.
In the case of encoderless motion monitoring (p9306 = 1), only a value of 0 or 1 is permitted.
Value: 0: STOP A
1: STOP B
2: STOP C
3: STOP D
4: STOP E
10: STOP A with delayed pulse suppression when the bus fails
11: STOP B with delayed pulse suppression when the bus fails
12: STOP C with delayed pulse suppression when the bus fails
13: STOP D with delayed pulse suppression when the bus fails
14: STOP E with delayed pulse suppression when the bus fails
Index: [0] = Limit value SLS1
[1] = Limit value SLS2
[2] = Limit value SLS3
[3] = Limit value SLP4
Dependency: Refer to: p9331, p9380, p9563
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Note: The values 4 and 14 are not supported on Control Unit 305.
SLS: Safely-Limited Speed

© Siemens AG 2012 All Rights Reserved 1-543

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p9364 SI Motion SDI tolerance (processor 2) / SI Mtn SDI tol P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2861
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.001 [mm] 360.000 [mm] 12.000 [mm]
Description: Sets the tolerance for the function "Safe motion direction" (SDI). This motion in the monitored direction is still per-
missible before an alarm is initiated.
Dependency: Refer to: p9365, p9366
Refer to: C30716
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive. Sets the tolerance
for the function "Safe motion direction" (SDI).
Note: SDI: Safe Direction (safe motion direction)

p9364 SI Motion SDI tolerance (processor 2) / SI Mtn SDI tol P2

SERVO_S110-CAN Can be changed: C2(95) Calculated: - Access level: 3
(Safety rot), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2861
SERVO_S110-DP
P-Group: Safety Integrated Units group: - Unit selection: -
(Safety rot),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Safety rot)
Min Max Factory setting
0.001 [°] 360.000 [°] 12.000 [°]
Description: Sets the tolerance for the function "Safe motion direction" (SDI). This motion in the monitored direction is still per-
missible before an alarm is initiated.
Dependency: Refer to: p9365, p9366
Refer to: C30716
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive. Sets the tolerance
for the function "Safe motion direction" (SDI).
Note: SDI: Safe Direction (safe motion direction)

p9365 SI Motion SDI delay time (processor 2) / SI Mtn SDI t P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2861
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [µs] 600000000.00 [µs] 100000.00 [µs]
Description: Sets the delay time for the function "Safe motion direction" (SDI). When selecting the SDI function, motion in the
monitored direction is permissible as a maximum for this time; this means that this time can be used for braking
existing motion.
Dependency: Refer to: p9364, p9366
Refer to: C30716
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Note: SDI: Safe Direction (safe motion direction)

1-544 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p9366 SI Motion SDI stop response (processor 2) / SI Mtn SDI Stop P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 2861
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 14 1
Description: Sets the stop response for the function "Safe motion direction" (SDI).
This setting applies to both directions of motion.
Value: 0: STOP A
1: STOP B
2: STOP C
3: STOP D
4: STOP E
10: STOP A with delayed pulse suppression when the bus fails
11: STOP B with delayed pulse suppression when the bus fails
12: STOP C with delayed pulse suppression when the bus fails
13: STOP D with delayed pulse suppression when the bus fails
14: STOP E with delayed pulse suppression when the bus fails
Dependency: Refer to: p9364, p9365
Refer to: C30716
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Note: SDI: Safe Direction (safe motion direction)

p9368 SI Motion SAM velocity limit (processor 2) / SI Mtn SAM v_limP2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [mm/min] 1000.00 [mm/min] 0.00 [mm/min]
Description: Sets the velocity tolerance limit for the "SAM" function.
SAM is de-activated once the set velocity limit has been undershot.
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Note: SAM: Safe Acceleration Monitor (safe acceleration monitoring)
SSM: Safe Speed Monitor (safety-relevant feedback signal from the velocity monitoring)
For p9568 = p9368 = 0, the following applies:
The value in p9546/p9346 (SSM) is applied as the velocity limit for SAM.

p9368 SI Motion SAM velocity limit (processor 2) / SI Mtn SAM v_limP2

SERVO_S110-CAN Can be changed: C2(95) Calculated: - Access level: 3
(Safety rot), Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-DP
P-Group: Safety Integrated Units group: - Unit selection: -
(Safety rot),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Safety rot)
Min Max Factory setting
0.00 [rpm] 1000.00 [rpm] 0.00 [rpm]
Description: Sets the velocity tolerance limit for the "SAM" function.
SAM is de-activated once the set velocity limit has been undershot.
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.

© Siemens AG 2012 All Rights Reserved 1-545

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Note: SAM: Safe Acceleration Monitor (safe acceleration monitoring)

SSM: Safe Speed Monitor (safety-relevant feedback signal from the velocity monitoring)
For p9568 = p9368 = 0, the following applies:
The value in p9546/p9346 (SSM) is applied as the velocity limit for SAM.

p9370 SI Motion acceptance test mode (processor 2) / SI Mtn acc_mod P2

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex 00AC hex 0000 hex
Description: Setting to select and de-select the acceptance test mode.
Value: 0: [00 hex] De-select the acceptance test mode
172: [AC hex] Select the acceptance test mode
Dependency: Refer to: p9358, r9371
Refer to: C01799
Note: Acceptance test mode can only be selected if the motion monitoring functions, which are integrated in the drives,
are enabled (p9601.2/p9801.2).

r9371 SI Motion acceptance test status (processor 2) / SI Mtn acc_stat P2

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex 00AC hex -
Description: Displays the status of the acceptance test mode.
Value: 0: [00 hex] Acc_mode inactive
12: [0C hex] Acc_mode not possible due to POWER ON fault
13: [0D hex] Acc_mode not possible due to incorrect ID in p9370
15: [0F hex] Acc_mode not possible due to expired Acc_timer
172: [AC hex] Acc_mode active
Dependency: Refer to: p9358, p9370
Refer to: C01799

p9380 SI Motion pulse suppression delay bus failure (processor 2) / SI Mtn t to IL P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [µs] 800000.00 [µs] 0.00 [µs]
Description: Sets the delay time after which the pulses are safely suppressed after a bus failure.
Dependency: Refer to: p9363
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.

1-546 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p9381 SI Motion brake ramp reference value (processor 2) / SI Mtn ramp ref P2
SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
600.0000 [mm/min] 24000.0000 [mm/min] 1500.0000 [mm/min]
Description: Sets the reference value to define the brake ramp.
The rate of rise of the brake ramp depends upon p9381 (reference value) and p9383 (monitoring time).
Dependency: Refer to: p9382, p9383
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.

p9381 SI Motion brake ramp reference value (processor 2) / SI Mtn ramp ref P2
SERVO_S110-CAN Can be changed: C2(95) Calculated: - Access level: 3
(Safety rot), Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-DP
(Safety rot), P-Group: Safety Integrated Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Safety rot)
Min Max Factory setting
600.0000 [rpm] 24000.0000 [rpm] 1500.0000 [rpm]
Description: Sets the reference value to define the brake ramp.
The rate of rise of the brake ramp depends upon p9381 (reference value) and p9383 (monitoring time).
Dependency: Refer to: p9382, p9383
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.

p9382 SI Motion brake ramp delay time (processor 2) / SI Mtn rp t_del P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
10000.00 [µs] 99000000.00 [µs] 250000.00 [µs]
Description: Sets the delay time for monitoring the brake ramp.
Monitoring of the brake ramp starts once the delay time has elapsed.
Dependency: Refer to: p9381, p9383
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.

p9383 SI Motion brake ramp monitoring time (processor 2) / SI Mtn rp t_mon P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
500.00 [ms] 1000000.00 [ms] 10000.00 [ms]
Description: Sets the monitoring time to define the brake ramp.
The rate of rise of the brake ramp depends upon p9381 (reference value) and p9383 (monitoring time).
Dependency: Refer to: p9381, p9382
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.

© Siemens AG 2012 All Rights Reserved 1-547

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p9386 SI Motion delay time of the evaluation sensorless (processor 2) / SI Mtn t_del SL MM
SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
5.00 [ms] 1000.00 [ms] 100.00 [ms]
Description: Sets the evaluation delay for encoderless actual value sensing after pulse enable.
The value should be greater than or equal to the motor magnetizing time.
Dependency: Refer to: C01711

p9387 SI Motion act val sensing sensorless filter time (processor 2) / SI Mtn SL filt P2
SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [µs] 100000.00 [µs] 25000.00 [µs]
Description: Sets the filter time for smoothing the actual value with sensorless actual value sensing.
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Note: This parameter is only effective for encoderless actual value sensing (p9306/p9506 = 1).

p9388 SI Motion act val sensing sensorless min current (processor 2) / SI Mtn SL I_min P2
SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [%] 1000.00 [%] 10.00 [%]
Description: Sets the minimum current for encoderless actual value sensing in reference to 10 mA (i.e. when 1 % = 10 mA).
- The value must be increased if C30711 has occurred with message value 1042.
- The value must be decreased if C30711 has occurred with message value 1041.
Dependency: Refer to: C30711
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Reducing this percentage value can adversely affect actual value sensing.
Note: This parameter is only effective for encoderless actual value sensing (p9306/p9506 = 1).

p9389 SI Motion voltage tolerance acceleration (processor 2) / SI Mtn U tol P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
10.00 [%] 1000.00 [%] 100.00 [%]
Description: Sets the voltage tolerance for suppressing acceleration peaks.
Increasing this percentage value means that voltage peaks will need to have a higher amplitude during acceleration
procedures if they are not to affect actual value sensing.
- The value must be increased if C30711 has occurred with message value 1042.
- The value must be lowered if acceleration procedures have led to an excessive Safety actual velocity.
Dependency: Refer to: C30711
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Note: This parameter is only effective for encoderless actual value sensing (p9306/p9506 = 1).

1-548 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r9398[0...1] SI Motion actual checksum SI parameters (processor 2) / SI Mtn act CRC P2

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the checksum over the checked Safety Integrated parameters of the motion monitoring functions (actual
checksum) on processor 2.
Index: [0] = Checksum over SI parameters for motion monitoring
[1] = Checksum over SI parameters with hardware reference
Dependency: Refer to: p9399
Note: SI: Safety Integrated

p9399[0...1] SI Motion setpoint checksum SI parameters (processor 2) / SI Mtn setp CRC P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex FFFF FFFF hex 0000 hex
Description: Sets the checksum over the checked Safety Integrated parameters of the motion monitoring functions (actual
checksum) on processor 2.
Index: [0] = Checksum over SI parameters for motion monitoring
[1] = Checksum over SI parameters with hardware reference
Dependency: Refer to: r9398
Note: SI: Safety Integrated

p9400 Safely remove memory card / Mem_card rem

CU_S110-CAN, Can be changed: T Calculated: - Access level: 2
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 100 0
Description: Setting and display when memory card is "removed safely".
Procedure:
Setting p9400 = 2 results in a value of 3
--> The memory card can be removed safely. After removal the value sets itself to 0 automatically.
Setting p9400 = 2 results in a value of 100
--> The memory card cannot be removed safely. Removal may destroy the file system on the memory card. It may
be necessary to set p9400 = 2 again.
Value: 0: No memory card inserted
1: Memory card inserted
2: Request "safe removal" of the memory card
3: "Safe removal" possible
100: "Safe removal" not possible due to access
Dependency: Refer to: r9401
Caution: Removing the memory card without a request (p9400 = 2) and confirmation (p9400 = 3) may destroy the file system
on the memory card. The memory card will then no longer work properly and must be repaired.
Note: The status when the memory card is being "removed safely" is shown in r9401.
Re value = 0, 1, 3, 100:
These values can only be displayed, not set.

© Siemens AG 2012 All Rights Reserved 1-549

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r9401 Safely remove memory card status / Mem_card rem stat

CU_S110-CAN, Can be changed: - Calculated: - Access level: 2
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the status of the memory card.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Memory card inserted Yes No -
01 Memory card activated Yes No -
Dependency: Refer to: p9400
Note: Re bit 00 and bit 01:
Bit 1/0 = 0/0: No memory card inserted (corresponds to p9400 = 0).
Bit 1/0 = 0/1: "Safe removal" possible (corresponds to p9400 = 3).
Bit 1/0 = 1/0: Status not possible.
Bit 1/0 = 1/1: Memory card inserted (corresponds to p9400 = 1, 2, 100).

r9406[0...19] PS file parameter number parameter not transferred / PS par_no n transf

All objects Can be changed: - Calculated: - Access level: 4
Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the parameters that were not able to be transferred when reading the parameter back-up files (PS files)
from the non-volatile memory (e.g. memory card).
r9406[0] = 0
--> All of the parameter values were able to be transferred error-free.
r9406[0...x] > 0
--> indicates the parameter number in the following cases:
- parameter, whose value was not able to be completely accepted.
- indexed parameter, where at least 1 index was not able to be accepted. The first index that is not transferred is
displayed in r9407.
Dependency: Refer to: r9407, r9408
Note: All indices from r9406 to r9408 designate the same parameter.
r9406[x] parameter number, parameter not accepted
r9407[x] parameter index, parameter not accepted
r9408[x] fault code, parameter not accepted

r9407[0...19] PS file parameter index parameter not transferred / PS parameter index

All objects Can be changed: - Calculated: - Access level: 4
Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the first index of the parameters that could not be transferred when the parameter backup files (PS files)
were read from the non-volatile memory (e.g. memory card).
If, from an indexed parameter, at least one index was not able to be transferred, then the parameter number is dis-
played in r9406[n] and the first index that was not transferred is displayed in r9407[n].

1-550 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r9406[0] = 0
--> All of the parameter values were able to be transferred error-free.
r9406[n] > 0
--> Displays r9407[n] the first index of the parameter number r9406[n] that was not transferred.
Dependency: Refer to: r9406, r9408
Note: All indices from r9406 to r9408 designate the same parameter.
r9406[x] parameter number, parameter not accepted
r9407[x] parameter index, parameter not accepted
r9408[x] fault code, parameter not accepted

r9408[0...19] PS file fault code parameter not transferred / PS fault code

All objects Can be changed: - Calculated: - Access level: 4
Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Only for internal Siemens service purposes.
Dependency: Refer to: r9406, r9407
Note: All indices from r9406 to r9408 designate the same parameter.
r9406[x] parameter number, parameter not accepted
r9407[x] parameter index, parameter not accepted
r9408[x] fault code, parameter not accepted

r9409 Number of parameters to be saved / Qty par to save

All objects Can be changed: - Calculated: - Access level: 4
Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the number of modified parameters and those that have still not be saved for this drive object.
Dependency: Refer to: p0971, p0977
Note: The modified parameters that still need to be saved are internally listed in r9410 ... r9419.

r9450[0...29] Reference value change parameter with unsuccessful calculation /

Ref_chg par n poss
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the parameters for which the re-calculation was unsuccessful after an internal system reference value
change.
Dependency: Refer to: F07086

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 Parameter
List of parameters

r9451[0...29] Units changeover adapted parameters / Unit_chngov par

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 1
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the parameters whose parameter would have to be changed during a units changeover.
Dependency: Refer to: F07088

r9481 Number of BICO interconnections / BICO count

All objects Can be changed: - Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the number of BICO interconnections (signal sinks).
Dependency: Refer to: r9482, r9483
Note: The selected BICO interconnections should be entered into r9482 and r9483.

r9482[0...n] BICO interconnections BI/CI parameters / BICO BI/CI par

All objects Can be changed: - Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: r9481 Func. diagram: -
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the signal sinks (binector/connector inputs, BI/CI parameters).
The number of BICO interconnections is displayed in r9481.
Dependency: Refer to: r9481, r9483
Note: The list is sorted according to signal sources and is structured as follows:
r9842[0]: Interconnection 1 (signal sink, BICO coded), r9843[0]: Interconnection 1 (signal source, BICO coded)
r9842[1]: Interconnection 2 (signal sink, BICO coded), r9843[1]: Interconnection 2 (signal source, BICO coded)
...

r9483[0...n] BICO interconnections BO/CO parameters / BICO BO/CO par

All objects Can be changed: - Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: r9481 Func. diagram: -
P-Group: Commands Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the signal sources (binector/connector outputs, BO/CO parameters).
The number of BICO interconnections is displayed in r9481.
Dependency: Refer to: r9481, r9482
Note: The list is sorted according to signal sources and is structured as follows:
r9842[0]: Interconnection 1 (signal sink, BICO coded), r9843[0]: Interconnection 1 (signal source, BICO coded)
r9842[1]: Interconnection 2 (signal sink, BICO coded), r9843[1]: Interconnection 2 (signal source, BICO coded)
...

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 Parameter
List of parameters

p9484 BICO interconnections search signal source / BICO S_src srch

All objects Can be changed: T Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
0 4294967295 0
Description: Sets the signal source (BO/CO parameter, BICO coded) to search in the signal sinks.
The question is answered:
How often is a connection made to a signal source in the drive object and from which index are these interconnec-
tions saved (r9482 and r9483)?
Dependency: Refer to: r9481, r9482, r9483, r9485, r9486

r9485 BICO interconnections signal source search count / BICO S_src srchQty
All objects Can be changed: - Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the number of BICO interconnections to the signal sink being searched for.
Dependency: Refer to: r9481, r9482, r9483, p9484, r9486
Note: The signal source to be searched is set in p9484 (BICO-coded).
The search result is contained in r9482 and r9483 and is specified by the count (r9485) and the first index (r9486).

r9486 BICO interconnections signal source search first index / BICO S_src srchIdx
All objects Can be changed: - Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the first index of the signal source being searched for.
Dependency: Refer to: r9481, r9482, r9483, p9484, r9485
Note: The signal source to be searched is set in p9484 (BICO-coded).
The search result is contained in r9482 and r9483 and is specified by the count (r9485) and the first index (r9486).

p9500 SI Motion monitoring clock cycle (processor 1) / SI Mtn clock P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.50 [ms] 25.00 [ms] 12.00 [ms]
Description: Sets the monitoring clock cycle for safe motion monitoring.
Dependency: Refer to: r2064, p9511
Refer to: F01652
Note: A change only becomes effective after a POWER ON.
The monitoring clock cycle must be a multiple of the actual value sensing clock cycle in p9511 (dbSI) or of the DP
clock cycle (ncSI).

© Siemens AG 2012 All Rights Reserved 1-553

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 Parameter
List of parameters

p9501 SI Motion enable safety functions (processor 1) / SI Mtn enable P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 0000 0000 0000 0000
0000 0000 0000 bin
Description: Sets the enable signals for the safe motion monitoring.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Enable SOS/SLS (SBH/SG) Enable Inhibit -
16 Enable SSM hysteresis and filtering Enable Inhibit 2860
17 Enable SDI Enable Inhibit 2861
Dependency: Refer to: F01682, F01683
Note: A change only becomes effective after a POWER ON.
SDI: Safe Direction (safe motion direction)
SLS: Safely-Limited Speed
SOS: Safe Operating Stop
SSM: Safe Speed Monitor (safety-relevant feedback signal from the velocity monitoring)

p9502 SI Motion axis type (processor 1) / SI Mtn ax type P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Sets the axis type (linear axis or rotary axis/spindle).
Value: 0: Linear axis
1: Rot axis/spindle
Note: For the commissioning software, after changing over the axis type, the units dependent on the axis type are only
updated after a project upload.
A change only becomes effective after a POWER ON.

p9503 SI Motion SCA (SN) enable (Control Unit) / SI Mtn SCA enab
SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 0000 0000 0000 0000
0000 0000 0000 bin
Description: Setting to enable the function "Safe Cam" (SCA).
Bit field: Bit Signal name 1 signal 0 signal FP
00 Enable SCA1 (SN1) Enable Inhibit -
01 Enable SCA2 (SN2) Enable Inhibit -
02 Enable SCA3 (SN3) Enable Inhibit -
03 Enable SCA4 (SN4) Enable Inhibit -
04 Enable SCA5 (SN5) Enable Inhibit -
05 Enable SCA6 (SN6) Enable Inhibit -
06 Enable SCA7 (SN7) Enable Inhibit -
07 Enable SCA8 (SN8) Enable Inhibit -
08 Enable SCA9 (SN9) Enable Inhibit -
09 Enable SCA10 (SN10) Enable Inhibit -

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 Parameter
List of parameters

10 Enable SCA11 (SN11) Enable Inhibit -

11 Enable SCA12 (SN12) Enable Inhibit -
12 Enable SCA13 (SN13) Enable Inhibit -
13 Enable SCA14 (SN14) Enable Inhibit -
14 Enable SCA15 (SN15) Enable Inhibit -
15 Enable SCA16 (SN16) Enable Inhibit -
16 Enable ESCA17 (SN17) Enable Inhibit -
17 Enable SCA18 (SN18) Enable Inhibit -
18 Enable SCA19 (SN19) Enable Inhibit -
19 Enable SCA20 (SN20) Enable Inhibit -
20 Enable SCA21 (SN21) Enable Inhibit -
21 Enable SCA22 (SN22) Enable Inhibit -
22 Enable SCA23 (SN23) Enable Inhibit -
23 Enable SCA24 (SN24) Enable Inhibit -
24 Enable SCA25 (SN25) Enable Inhibit -
25 Enable SCA26 (SN26) Enable Inhibit -
26 Enable SCA27 (SN27) Enable Inhibit -
27 Enable SCA28 (SN28) Enable Inhibit -
28 Enable SCA29 (SN29) Enable Inhibit -
29 Enable SCA30 (SN30) Enable Inhibit -
Dependency: Refer to: p9501
Refer to: F01686
Note: The "Safe Cam" function (SCA) can either be enabled using p9501 or p9503.
SCA: Safe Cam / SN: Safe software cam

p9505 SI Motion SCA (SN) modulo value (Control Unit) / SI Mtn SCA modulo
SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 [°] 737280 [°] 0 [°]
Description: Sets the modulo range of the safe position actual value in degrees for the function "Safe Cam" (SCA) for rotary
axes.
Dependency: Refer to: p9536, p9537
Note: SCA: Safe Cam / SN: Safe software cam

p9506 SI Motion function specification (processor 1) / SI Mtn fct_spc P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 3 0
Description: Sets the function specification for the safe motion monitoring.
Value: 0: Safety with encoder
1: Safety without encoder
3: Safety without encoder with accel_monitoring/delay time
Dependency: Refer to: C01711

© Siemens AG 2012 All Rights Reserved 1-555

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 Parameter
List of parameters

p9507 SI Motion function configuration (processor 1) / SI Mtn config P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 bin
Description: Sets the function configuration for the safe motion monitoring functions.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Extended message acknowledgement Yes No -
01 Setpoint velocity limit for STOP F No Yes -
02 Motor type sensorless actual value sensing Synchronous motor Induction motor -
Dependency: Refer to: C01711
Note: Re bit 00:
When the function is activated, a safety-relevant acknowledgement (internal event acknowledge) can be performed
by selecting/deselecting STO.
Re bit 01:
When the function is activated, the active setpoint velocity limit (CO: r9733) is set to zero when STOP F is active.
Re bit 02:
This bit defines the type of motor, which the sensorless safety technology evaluates.
For bit = 0, the sensorless motion monitoring function calculates the actual velocity for an induction motor.
For bit = 1, an actual velocity is calculated for a synchronous motor. This value depends on the setting in p0300.
Bit = 0 should be set if no motor is defined (p0300 = 0).

p9509 SI Motion behavior during pulse suppression (processor 1) / SI Mtn behav IL P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 0000 1111 1111 bin
Description: Sets the behavior of safety functions and their feedback during pulse suppression in encoderless operation.
Bit field: Bit Signal name 1 signal 0 signal FP
00 SSM during pulse suppression and sensor- Becomes inactive Remains active -
less
08 SDI during pulse suppression and sensor- Becomes inactive Remains active -
less
Dependency: Refer to: C01711
Note: SDI: Safe Direction (safe motion direction)
SSM: Safe Speed Monitor (safety-relevant feedback signal from the velocity monitoring)
Re bit 00:
For bit = 1 and with the SSM safety function activated, the following applies:
- During pulse suppression, monitoring is switched off and the feedback signal has a 0 signal level.
For bit = 0 and with the SSM safety function activated, the following applies:
- Monitoring continues during pulse suppression. The feedback signal last displayed before pulse suppression is
kept and the system goes into the STO state.
Re bit 08:
For bit = 1 and with the SDI safety function activated, the following applies:
- During pulse suppression, monitoring is switched off and the status signal indicates inactive.
For bit = 0 and with the SDI safety function activated, the following applies:
- Monitoring continues during pulse suppression. The status signal indicates active and the system goes into the
STO state.

1-556 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

p9510 SI Motion clock-cycle synchronous PROFIBUS master / SI Mtn sync master

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 4
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Setting for clock cycle synchronous communication between PROFIdrive controller and Control Unit.
The parameter is only relevant, if the safety-relevant motion monitoring functions integrated in the drive have been
enabled (p9601.2 =1 ).
If a PROFIdrive controller exchanges process data in clock cycle synchronism with the Control Unit, then p9510
must be set to 1. This also applies if the drive itself does not exchange process data in clock cycle synchronism.
Examples for clock cycle synchronous communication:
- clock-cycle synchronous control for the motion control (e.g. SIMOTION).
- clock-cycle synchronous PROFIsafe master (e.g. SIMATIC S7-400F).
Value: 0: Communication not isochronous
1: Communication isochronous
Dependency: Refer to: C01711, A01796
Notice: As of firmware V2.6, the parameter has no effect.

p9511 SI Motion actual value sensing clock cycle (processor 1) / SI Mtn act clk P1
SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.2500 [ms] 8.0000 [ms] 2.0000 [ms]
Description: Sets the clock cycle time of the actual value sensing for safe motion monitoring.
Setting criteria if the motion monitoring functions are executed with an encoder.
- A slower clock cycle time reduces the maximum permissible velocity - however, it ensures a lower load of the Con-
trol Unit for safe actual value sensing.
- The maximum permissible velocity which, when exceeded, can mean that errors occur during safe actual value
sensing, is displayed in r9730.
- Setting criteria if the motion monitoring functions are executed without an encoder:
- The actual value sensing clock cycle must be set to the same value as the current controller clock cycle (p0115).
Dependency: Refer to: F01652
Note: The parameter is only active for drive-based motion monitoring functions (p9601.2 = 1).
The monitoring clock cycle from p9500 must be an integer multiple of this parameter.
In the case of motion monitoring functions with encoder, the clock cycle time for actual value sensing must be an
integer multiple of the current controller clock cycle and at least 4 times slower than the current controller clock
cycle. A factor of at least 8 is recommended. The value for the parameter must also be greater than or equal to 2
ms.
A change only becomes effective after a POWER ON.

p9515 SI Motion encoder coarse pos. val. configuration (processor 1) / SI Mtn s config P1
SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 0000 0000 0000 0000
0000 0000 0000 bin
Description: Sets the encoder configuration for the redundant coarse position value.

© Siemens AG 2012 All Rights Reserved 1-557

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 Parameter
List of parameters

The encoder that is used for the safe motion monitoring functions on processor 1 must be parameterized in this
parameter.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Incrementer Yes No -
01 Encoder CRC least significant byte first Yes No -
02 Redundant coarse position val. most signifi- Yes No -
cant bit left-aligned
16 DRIVE-CLiQ encoder Yes No -
Dependency: Refer to: r0474, p9315
Note: For safe functions that are not enabled (p9501 = 0), the following applies:
- p9515 is automatically set the same as p0474 when the system boots.
For safety functions that are enabled (p9501 > 0), the following applies:
- p9515 is checked to see that it matches p0474.

p9516 SI Motion encoder configuration safety functions (processor 1) / SI Mtn enc_cfg P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 bin
Description: Sets the configuration for the motor encoder and position actual value.
The encoder that is used for the safe motion monitoring functions on processor 1 must be parameterized in this
parameter.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Motor encoder, rotating/linear Linear Rotating: -
01 Position actual value, sign change Yes No -
Dependency: Refer to: p0404, p0410
Refer to: F01671
Note: For safe functions that are not enabled (p9501 = 0), the following applies:
- p9516.0 is automatically set the same as p0404.0 when the system boots.
- p9516.1 is automatically set the same as p0410.1 when the system boots.
For safety functions that are enabled (p9501 > 0), the following applies:
- p9516.1 is checked to identify whether it coincides with p0410.1.

p9517 SI Motion linear scale grid division (processor 1) / SI Mtn grid P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [nm] 250000000.00 [nm] 10000.00 [nm]
Description: Sets the grid division for a linear motor encoder.
The encoder that is used for the safe motion monitoring functions on processor 1 must be parameterized in this
parameter.
Dependency: Refer to: p9516
Refer to: F01671
Note: For safety functions that have not been enabled (p9501 = 0), the following applies: When booting p9517 is automat-
ically set the same as p0407.
For safety functions that are enabled (p9501 > 0), the following applies: p9517 is checked whether it coincides with
p0407.

1-558 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

p9518 SI motion encoder pulses per revolution (processor 1) / SI Mtn puls/rev P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 16777215 2048
Description: Sets the number of encoder pulses per revolution for rotary motor encoders.
The encoder that is used for the safe motion monitoring functions on processor 1 must be parameterized in this
parameter.
Dependency: Refer to: p0408, p9516
Refer to: F01671
Note: For safety functions that have not been enabled (p9501 = 0), the following applies: When booting, p9518 is auto-
matically set the same as p0408.
For safety functions that are enabled (p9501 > 0), the following applies: p9518 is checked whether it coincides with
p0408.

p9519 SI Motion fine resolution G1_XIST1 (processor 1) / SI Mtn G1_XIST1 P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
2 18 11
Description: Sets the fine resolution for G1_XIST1 in bits.
The encoder that is used for the safe motion monitoring functions on processor 1 must be parameterized in this
parameter.
Dependency: Refer to: p0418
Refer to: F01671
Note: For safety functions that have not been enabled (p9501 = 0), the following applies: When booting, p9519 is auto-
matically set the same as p0418.
For safety functions that are enabled (p9501 > 0), the following applies: p9519 is checked whether it coincides with
p0418.
G1_XIST1: Encoder 1 position actual value 1 (PROFIdrive)

p9520 SI Motion spindle pitch (processor 1) / SI Mtn Sp_pitch P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.1000 [mm] 8388.0000 [mm] 10.0000 [mm]
Description: Sets the gear ratio between the encoder and load in mm/revolution for a linear axis with rotary encoder.
Notice: The fourth decimal point can be rounded-off depending on the size of the entered number (from 3 places before the
decimal point).

© Siemens AG 2012 All Rights Reserved 1-559

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 Parameter
List of parameters

p9521[0...7] SI Motion gearbox enc (motor)/load denominator (processor 1) / SI Mtn gear den P1
SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
1 2147000000 1
Description: Sets the denominator for the gearbox between the encoder (or motor in the case of encoderless monitoring func-
tions) and the load.
Index: [0] = Gearbox 1
[1] = Gearbox 2
[2] = Gearbox 3
[3] = Gearbox 4
[4] = Gearbox 5
[5] = Gearbox 6
[6] = Gearbox 7
[7] = Gearbox 8
Dependency: Refer to: p9522
Notice: It is not possible to change over the gearbox stages. Gearbox 1 (index 0) is always active.

p9522[0...7] SI Motion gearbox enc (motor)/load numerator (processor 1) / SI Mtn gear num P1
SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
1 2147000000 1
Description: Sets the numerator for the gearbox between the encoder (or motor in the case of encoderless monitoring functions)
and the load.
Index: [0] = Gearbox 1
[1] = Gearbox 2
[2] = Gearbox 3
[3] = Gearbox 4
[4] = Gearbox 5
[5] = Gearbox 6
[6] = Gearbox 7
[7] = Gearbox 8
Dependency: Refer to: p9521
Notice: It is not possible to change over the gearbox stages. Gearbox 1 (index 0) is always active.
Note: In the case of encoderless monitoring functions, the pole pair number must be multiplied by the numerator of the
gearbox ratio.
Example:
Gearbox ratio 1:4, pole pair number (r0313) = 2
--> p9521 = 1, p9522 = 8 (4 x 2)

p9523 SI Motion red. coarse position value valid bits (processor 1) / Valid bits P1
SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 16 9
Description: Sets the number of valid bits of the redundant coarse position value.
The encoder that is used for the safe motion monitoring functions on processor 1 must be parameterized in this
parameter.

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Dependency: Refer to: r0470, p9323

Note: For safe functions that are not enabled (p9501 = 0), the following applies:
- p9523 is automatically set the same as r0470 when the system boots.
For safety functions that are enabled (p9501 > 0), the following applies:
- p9523 is checked to see that it matches r0470.

p9524 SI Motion Redundant coarse pos. value fine resolution bits (P1) / SI Mtn fine bit P1
SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-16 16 -2
Description: Sets the number of valid bits for the fine resolution of the redundant coarse position value.
The encoder that is used for the safe motion monitoring functions on processor 1 must be parameterized in this
parameter.
Dependency: Refer to: r0471, p9324
Note: For safe functions that are not enabled (p9501 = 0), the following applies:
- p9524 is automatically set the same as r0471 when the system boots.
For safety functions that are enabled (p9501 > 0), the following applies:
- p9524 is checked to see that it matches r0471.

p9525 SI Motion Redundant coarse pos. value relevant bits (P1) / Relevant bits P1
SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 16 16
Description: Sets the number of relevant bits for the redundant coarse position value.
The encoder that is used for the safe motion monitoring functions on processor 1 must be parameterized in this
parameter.
Dependency: Refer to: p0414, r0472, p9325
Note: For safe functions that are not enabled (p9501 = 0), the following applies:
- p9525 is automatically set the same as r0472 when the system boots.
For safety functions that are enabled (p9501 > 0), the following applies:
- p9525 is checked to see that it matches r0472.

p9529 SI Motion Gx_XIST1 coarse pos. safe most significant bit (P1) / Gx_XIST1 MSB P1
SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 31 14
Description: Sets the bit number for the safe most significant bit (MSB) of the Gx_XIST1 coarse position.
The encoder that is used for the safe motion monitoring functions on processor 1 must be parameterized in this
parameter.
Dependency: Refer to: p0415, r0475, p9329

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Note: For safe functions that are not enabled (p9501 = 0), the following applies:
- p9529 is automatically set the same as r0475 when the system boots.
For safety functions that are enabled (p9501 > 0), the following applies:
- p9529 is checked to see that it matches r0475.
MSB: Most Significant Bit

p9530 SI Motion standstill tolerance (processor 1) / SI Mtn standst_tol

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.000 [mm] 100.000 [mm] 1.000 [mm]
Description: Sets the tolerance for the function "Safe Operating Stop" (SOS).
Dependency: Refer to: C01707
Note: SOS: Safe Operating Stop

p9530 SI Motion standstill tolerance (processor 1) / SI Mtn standst_tol

SERVO_S110-CAN Can be changed: C2(95) Calculated: - Access level: 3
(Safety rot), Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-DP
(Safety rot), P-Group: Safety Integrated Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Safety rot)
Min Max Factory setting
0.000 [°] 100.000 [°] 1.000 [°]
Description: Sets the tolerance for the function "Safe Operating Stop" (SOS).
Dependency: Refer to: C01707
Note: SOS: Safe Operating Stop

p9531[0...3] SI Motion SLS limit values (processor 1) / SI Mtn SLS lim P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [mm/min] 1000000.00 [mm/min] 2000.00 [mm/min]
Description: Sets the limit values for the function "Safely-Limited Speed" (SLS).
Index: [0] = Limit value SLS1
[1] = Limit value SLS2
[2] = Limit value SLS3
[3] = Limit value SLP4
Dependency: Refer to: p9532, p9561, p9563
Refer to: C01714
Note: SLS: Safely-Limited Speed

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p9531[0...3] SI Motion SLS limit values (processor 1) / SI Mtn SLS lim P1

SERVO_S110-CAN Can be changed: C2(95) Calculated: - Access level: 3
(Safety rot), Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-DP
P-Group: Safety Integrated Units group: - Unit selection: -
(Safety rot),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Safety rot)
Min Max Factory setting
0.00 [rpm] 1000000.00 [rpm] 2000.00 [rpm]
Description: Sets the limit values for the function "Safely-Limited Speed" (SLS).
Index: [0] = Limit value SLS1
[1] = Limit value SLS2
[2] = Limit value SLS3
[3] = Limit value SLP4
Dependency: Refer to: p9532, p9561, p9563
Refer to: C01714
Note: SLS: Safely-Limited Speed

p9532[0...15] SI Motion SLS override factor (processor 1) / SI Mtn SLS over P1

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.000 [%] 100.000 [%] 100.000 [%]
Description: Sets the override factor for the limit value for SLS2 and SLS4 for the function "Safely-Limited Speed" (SLS).
Index: [0] = SLS (SG) override factor 0
[1] = SLS (SG) override factor 1
[2] = SLS (SG) override factor 2
[3] = SLS (SG) override factor 3
[4] = SLS (SG) override factor 4
[5] = SLS (SG) override factor 5
[6] = SLS (SG) override factor 6
[7] = SLS (SG) override factor 7
[8] = SLS (SG) override factor 8
[9] = SLS (SG) override factor 9
[10] = SLS (SG) override factor 10
[11] = SLS (SG) override factor 11
[12] = SLS (SG) override factor 12
[13] = SLS (SG) override factor 13
[14] = SLS (SG) override factor 14
[15] = SLS (SG) override factor 15
Dependency: Refer to: p9501, p9531
Note: The actual override factor for SLS2 and SLS4 is selected using the safety-relevant inputs (SGE).
SLS: Safely-Limited Speed

p9533 SI Motion SLS setpoint speed limit (processor 1) / SI Mtn SLS set_lim
SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.000 [%] 100.000 [%] 80.000 [%]
Description: This is an evaluation factor to define the setpoint limit from the selected actual speed limit.
The active SLS limit value is evaluated with this factor and is made available as setpoint limit in r9733.

© Siemens AG 2012 All Rights Reserved 1-563

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Dependency: This parameter only has to be parameterized for the motion monitoring functions integrated in the drive (p9601.2 =
1)
r9733[0] = p9531[x] x p9533 (converted from the load side to the motor side)
r9733[1] = - p9531[x] x p9533 (converted from the load side to the motor side)
[x] = Selected SLS stage
Conversion factor from the motor side to the load side:
- motor type = rotary and axis type = linear: p9522 / (p9521 x p9520)
- otherwise: p9522 / p9521
Refer to: p9501, p9531, p9601
Note: The active actual speed limit is selected via safety-relevant inputs (SGE).
When selecting SOS or a STOP A ... D, setpoint 0 is specified in r9733.
SLS: Safely-Limited Speed

p9534[0...1] SI Motion SLP upper limit values (processor 1) / SI Mtn SLP up lim
SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-2147000.000 [mm] 2147000.000 [mm] 100000.000 [mm]
Description: Sets the upper limit for the function "Safely-Limited Position" (SLP).
Index: [0] = Limit value SLP1 (SE1)
[1] = Limit value SLP2 (SE2)
Dependency: Refer to: p9501, p9535, p9562
Note: For the setting of these limit values, the following applies: p9534 > p9535
A change only becomes effective after a POWER ON.
SLP: Safely-Limited Position

p9534[0...1] SI Motion SLP upper limit values (processor 1) / SI Mtn SLP up lim
SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 4
(Safety rot), Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-DP
P-Group: Safety Integrated Units group: - Unit selection: -
(Safety rot),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Safety rot)
Min Max Factory setting
-2147000.000 [°] 2147000.000 [°] 100000.000 [°]
Description: Sets the upper limit for the function "Safely-Limited Position" (SLP).
Index: [0] = Limit value SLP1 (SE1)
[1] = Limit value SLP2 (SE2)
Dependency: Refer to: p9501, p9535, p9562
Note: For the setting of these limit values, the following applies: p9534 > p9535
A change only becomes effective after a POWER ON.
SLP: Safely-Limited Position

p9535[0...1] SI Motion SLP upper limit values (processor 1) / SI Mtn SLP low lim
SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-2147000.000 [mm] 2147000.000 [mm] -100000.000 [mm]
Description: Sets the lower limit for the function "Safely-Limited Position" (SLP).

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Index: [0] = Limit value SLP1 (SE1)

[1] = Limit value SLP2 (SE2)
Dependency: Refer to: p9501, p9534, p9562
Note: For the setting of these limit values, the following applies: p9534 > p9535
A change only becomes effective after a POWER ON.
SLP: Safely-Limited Position

p9535[0...1] SI Motion SLP upper limit values (processor 1) / SI Mtn SLP low lim
SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 4
(Safety rot), Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-DP
P-Group: Safety Integrated Units group: - Unit selection: -
(Safety rot),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Safety rot)
Min Max Factory setting
-2147000.000 [°] 2147000.000 [°] -100000.000 [°]
Description: Sets the lower limit for the function "Safely-Limited Position" (SLP).
Index: [0] = Limit value SLP1 (SE1)
[1] = Limit value SLP2 (SE2)
Dependency: Refer to: p9501, p9534, p9562
Note: For the setting of these limit values, the following applies: p9534 > p9535
A change only becomes effective after a POWER ON.
SLP: Safely-Limited Position

p9536[0...29] SI Motion SCA plus cam position (processor 1) / SI Mtn SCA+

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-2147000.000 [mm] 2147000.000 [mm] 10.000 [mm]
Description: Sets the plus cam position for the function "Safe Cam" (SCA).
Index: [0] = Cam position SCA1 (SN1)
[1] = Cam position SCA2 (SN2)
[2] = Cam position SCA3 (SN3)
[3] = Cam position SCA4 (SN4)
[4] = Cam position SCA5 (SN5)
[5] = Cam position SCA6 (SN6)
[6] = Cam position SCA7 (SN7)
[7] = Cam position SCA8 (SN8)
[8] = Cam position SCA9 (SN9)
[9] = Cam position SCA10 (SN10)
[10] = Cam position SCA11 (SN11)
[11] = Cam position SCA12 (SN12)
[12] = Cam position SCA13 (SN13)
[13] = Cam position SCA14 (SN14)
[14] = Cam position SCA15 (SN15)
[15] = Cam position SCA16 (SN16)
[16] = Cam position SCA17 (SN17)
[17] = Cam position SCA18 (SN18)
[18] = Cam position SCA19 (SN19)
[19] = Cam position SCA20 (SN20)
[20] = Cam position SCA21 (SN21)
[21] = Cam position SCA22 (SN22)
[22] = Cam position SCA23 (SN23)
[23] = Cam position SCA24 (SN24)
[24] = Cam position SCA25 (SN25)
[25] = Cam position SCA26 (SN26)

© Siemens AG 2012 All Rights Reserved 1-565

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

[26] = Cam position SCA27 (SN27)

[27] = Cam position SCA28 (SN28)
[28] = Cam position SCA29 (SN29)
[29] = Cam position SCA30 (SN30)
Dependency: Refer to: p9501, p9503, p9537
Note: A change only becomes effective after a POWER ON.
SCA: Safe Cam

p9536[0...29] SI Motion SCA plus cam position (processor 1) / SI Mtn SCA+

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 4
(Safety rot), Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-DP
P-Group: Safety Integrated Units group: - Unit selection: -
(Safety rot),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Safety rot)
Min Max Factory setting
-2147000.000 [°] 2147000.000 [°] 10.000 [°]
Description: Sets the plus cam position for the function "Safe Cam" (SCA).
Index: [0] = Cam position SCA1 (SN1)
[1] = Cam position SCA2 (SN2)
[2] = Cam position SCA3 (SN3)
[3] = Cam position SCA4 (SN4)
[4] = Cam position SCA5 (SN5)
[5] = Cam position SCA6 (SN6)
[6] = Cam position SCA7 (SN7)
[7] = Cam position SCA8 (SN8)
[8] = Cam position SCA9 (SN9)
[9] = Cam position SCA10 (SN10)
[10] = Cam position SCA11 (SN11)
[11] = Cam position SCA12 (SN12)
[12] = Cam position SCA13 (SN13)
[13] = Cam position SCA14 (SN14)
[14] = Cam position SCA15 (SN15)
[15] = Cam position SCA16 (SN16)
[16] = Cam position SCA17 (SN17)
[17] = Cam position SCA18 (SN18)
[18] = Cam position SCA19 (SN19)
[19] = Cam position SCA20 (SN20)
[20] = Cam position SCA21 (SN21)
[21] = Cam position SCA22 (SN22)
[22] = Cam position SCA23 (SN23)
[23] = Cam position SCA24 (SN24)
[24] = Cam position SCA25 (SN25)
[25] = Cam position SCA26 (SN26)
[26] = Cam position SCA27 (SN27)
[27] = Cam position SCA28 (SN28)
[28] = Cam position SCA29 (SN29)
[29] = Cam position SCA30 (SN30)
Dependency: Refer to: p9501, p9503, p9537
Note: A change only becomes effective after a POWER ON.
SCA: Safe Cam

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 Parameter
List of parameters

p9537[0...29] SI Motion SCA minus cam position (processor 1) / SI Mtn SCA-

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-2147000.000 [mm] 2147000.000 [mm] -10.000 [mm]
Description: Sets the minus cam position for the function "Safe Cam" (SCA).
Index: [0] = Cam position SCA1 (SN1)
[1] = Cam position SCA2 (SN2)
[2] = Cam position SCA3 (SN3)
[3] = Cam position SCA4 (SN4)
[4] = Cam position SCA5 (SN5)
[5] = Cam position SCA6 (SN6)
[6] = Cam position SCA7 (SN7)
[7] = Cam position SCA8 (SN8)
[8] = Cam position SCA9 (SN9)
[9] = Cam position SCA10 (SN10)
[10] = Cam position SCA11 (SN11)
[11] = Cam position SCA12 (SN12)
[12] = Cam position SCA13 (SN13)
[13] = Cam position SCA14 (SN14)
[14] = Cam position SCA15 (SN15)
[15] = Cam position SCA16 (SN16)
[16] = Cam position SCA17 (SN17)
[17] = Cam position SCA18 (SN18)
[18] = Cam position SCA19 (SN19)
[19] = Cam position SCA20 (SN20)
[20] = Cam position SCA21 (SN21)
[21] = Cam position SCA22 (SN22)
[22] = Cam position SCA23 (SN23)
[23] = Cam position SCA24 (SN24)
[24] = Cam position SCA25 (SN25)
[25] = Cam position SCA26 (SN26)
[26] = Cam position SCA27 (SN27)
[27] = Cam position SCA28 (SN28)
[28] = Cam position SCA29 (SN29)
[29] = Cam position SCA30 (SN30)
Dependency: Refer to: p9501, p9503, p9536
Note: A change only becomes effective after a POWER ON.
SCA: Safe Cam

p9537[0...29] SI Motion SCA minus cam position (processor 1) / SI Mtn SCA-

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 4
(Safety rot), Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-DP
P-Group: Safety Integrated Units group: - Unit selection: -
(Safety rot),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Safety rot)
Min Max Factory setting
-2147000.000 [°] 2147000.000 [°] -10.000 [°]
Description: Sets the minus cam position for the function "Safe Cam" (SCA).
Index: [0] = Cam position SCA1 (SN1)
[1] = Cam position SCA2 (SN2)
[2] = Cam position SCA3 (SN3)
[3] = Cam position SCA4 (SN4)
[4] = Cam position SCA5 (SN5)
[5] = Cam position SCA6 (SN6)
[6] = Cam position SCA7 (SN7)

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

[7] = Cam position SCA8 (SN8)

[8] = Cam position SCA9 (SN9)
[9] = Cam position SCA10 (SN10)
[10] = Cam position SCA11 (SN11)
[11] = Cam position SCA12 (SN12)
[12] = Cam position SCA13 (SN13)
[13] = Cam position SCA14 (SN14)
[14] = Cam position SCA15 (SN15)
[15] = Cam position SCA16 (SN16)
[16] = Cam position SCA17 (SN17)
[17] = Cam position SCA18 (SN18)
[18] = Cam position SCA19 (SN19)
[19] = Cam position SCA20 (SN20)
[20] = Cam position SCA21 (SN21)
[21] = Cam position SCA22 (SN22)
[22] = Cam position SCA23 (SN23)
[23] = Cam position SCA24 (SN24)
[24] = Cam position SCA25 (SN25)
[25] = Cam position SCA26 (SN26)
[26] = Cam position SCA27 (SN27)
[27] = Cam position SCA28 (SN28)
[28] = Cam position SCA29 (SN29)
[29] = Cam position SCA30 (SN30)
Dependency: Refer to: p9501, p9503, p9536
Note: A change only becomes effective after a POWER ON.
SCA: Safe Cam

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p9538[0...29] SI Motion SCA cam track assignment (processor 1) / SI Mtn SCA assign.
SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
100 414 [0] 100
[1] 101
[2] 102
[3] 103
[4] 104
[5] 105
[6] 106
[7] 107
[8] 108
[9] 109
[10] 110
[11] 111
[12] 112
[13] 113
[14] 114
[15] 200
[16] 201
[17] 202
[18] 203
[19] 204
[20] 205
[21] 206
[22] 207
[23] 208
[24] 209
[25] 210
[26] 211
[27] 212
[28] 213
[29] 214
Description: Assigns the individual cams to the maximum of 4 cam tracks and defines the numerical value for the SGA "cam
range".
p9538[0...29] = CBA dec
C = Assignment of the cam to the cam track.
Valid values are 1, 2, 3, 4.
BA = Numerical value for the SGA "cam range".
If the position lies in the range of this cam, the value BA is signaled to the safety-relevant logic via the SGA "cam
range" of the cam track set using C.
Valid values are 0 ... 14. Each numerical value may only be used once for each cam track.
Examples:
p9538[0] = 207
Cam 1 (index 0) is assigned cam track 2. If the position lies within the range of this cam, a value of 7 is entered in
the SGA "cam range" of the second cam track.
p9538[5] = 100
Cam 6 (index 5) is assigned cam track 1. If the position lies within the range of this cam, a value of 0 is entered in
the SGA "cam range" of the first cam track.

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Index: [0] = Track assignment SCA1

[1] = Track assignment SCA2
[2] = Track assignment SCA3
[3] = Track assignment SCA4
[4] = Track assignment SCA5
[5] = Track assignment SCA6
[6] = Track assignment SCA7
[7] = Track assignment SCA8
[8] = Track assignment SCA9
[9] = Track assignment SCA10
[10] = Track assignment SCA11
[11] = Track assignment SCA12
[12] = Track assignment SCA13
[13] = Track assignment SCA14
[14] = Track assignment SCA15
[15] = Track assignment SCA16
[16] = Track assignment SCA17
[17] = Track assignment SCA18
[18] = Track assignment SCA19
[19] = Track assignment SCA20
[20] = Track assignment SCA21
[21] = Track assignment SCA22
[22] = Track assignment SCA23
[23] = Track assignment SCA24
[24] = Track assignment SCA25
[25] = Track assignment SCA26
[26] = Track assignment SCA27
[27] = Track assignment SCA28
[28] = Track assignment SCA29
[29] = Track assignment SCA30
Dependency: Refer to: p9501, p9503
Refer to: F01681
Note: A change only becomes effective after a POWER ON.
SCA: Safe Cam

p9540 SI Motion SCA tolerance (processor 1) / SI Mtn SCA tol P1

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.0010 [mm] 10.0000 [mm] 0.1000 [mm]
Description: Sets the tolerance for the function "Safe Cam" (SCA).
Within this tolerance, both monitoring channels may signal different signal states of the same safe cam.
Note: A change only becomes effective after a POWER ON.

p9540 SI Motion SCA tolerance (processor 1) / SI Mtn SCA tol P1

SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 4
(Safety rot), Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-DP
P-Group: Safety Integrated Units group: - Unit selection: -
(Safety rot),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Safety rot)
Min Max Factory setting
0.0010 [°] 10.0000 [°] 0.1000 [°]
Description: Sets the tolerance for the function "Safe Cam" (SCA).
Within this tolerance, both monitoring channels may signal different signal states of the same safe cam.
Note: A change only becomes effective after a POWER ON.

1-570 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

p9542 SI Motion act. val. comparison tolerance (crossw.) (processor 1) / SI Mtn act tol P1
SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.0010 [mm] 360.0000 [mm] 0.1000 [mm]
Description: Sets the tolerance for the cross-check of the actual position between the two monitoring channels.
For encoderless motion monitoring functions, the tolerance must be set to a higher value (12 degrees rotary and 1
mm linear).
Dependency: Refer to: C01711

p9542 SI Motion act. val. comparison tolerance (crossw.) (processor 1) / SI Mtn act tol P1
SERVO_S110-CAN Can be changed: C2(95) Calculated: - Access level: 3
(Safety rot), Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-DP
P-Group: Safety Integrated Units group: - Unit selection: -
(Safety rot),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Safety rot)
Min Max Factory setting
0.0010 [°] 360.0000 [°] 0.1000 [°]
Description: Sets the tolerance for the cross-check of the actual position between the two monitoring channels.
For encoderless motion monitoring functions, the tolerance must be set to a higher value (12 degrees rotary and 1
mm linear).
Dependency: Refer to: C01711

p9544 SI Motion actual value comparison tolerance (referencing) (P1) / SI Mtn ref tol P1
SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.0000 [mm] 36.0000 [mm] 0.0100 [mm]
Description: Sets the tolerance to check the actual values after referencing (incremental encoder) or when powering up (abso-
lute encoder).
Dependency: Refer to: C01711
Note: A change only becomes effective after a POWER ON.

p9544 SI Motion actual value comparison tolerance (referencing) (P1) / SI Mtn ref tol P1
SERVO_S110-CAN Can be changed: U, T Calculated: - Access level: 4
(Safety rot), Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-DP
(Safety rot), P-Group: Safety Integrated Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Safety rot)
Min Max Factory setting
0.0000 [°] 36.0000 [°] 0.0100 [°]
Description: Sets the tolerance to check the actual values after referencing (incremental encoder) or when powering up (abso-
lute encoder).
Dependency: Refer to: C01711
Note: A change only becomes effective after a POWER ON.

© Siemens AG 2012 All Rights Reserved 1-571

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p9545 SI Motion SSM filter time (processor 1) / SI Mtn SSM filt P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2860
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [ms] 100.00 [ms] 0.00 [ms]
Description: Sets the filter time for the SSM feedback signal to detect standstill.
Note: The filter time is effective only if the function is enabled (p9501.16 = 1).
The parameter is included in the crosswise data comparison of the two monitoring channels.
SSM: Safe Speed Monitor (safety-relevant feedback signal from the velocity monitoring)

p9546 SI Motion SSM velocity limit (processor 1) / SI Mtn SSM v_limP1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2860
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [mm/min] 1000000.00 [mm/min] 20.00 [mm/min]
Description: Sets the velocity limit for the SSM feedback signal to detect standstill (n < nx).
When this limit value is undershot, the signal "SSM feedback signal active" (SGA n < n_x) is set.
For p9568 = 0, the value in p9546 is also applicable for the function "SAM".
Caution: The following applies for p9506 = 3:
The "SAM" function is switched out if the selected threshold value is undershot.

Note: F-DO: Failsafe Digital Output / SGA: Safety-related output

SAM: Safe Acceleration Monitor (safe acceleration monitoring)
SSM: Safe Speed Monitor (safety-relevant feedback signal from the velocity monitoring) / SGA n < nx: Safety-
related output n < nx

p9546 SI Motion SSM velocity limit (processor 1) / SI Mtn SSM v_limP1

SERVO_S110-CAN Can be changed: C2(95) Calculated: - Access level: 3
(Safety rot), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2860
SERVO_S110-DP
(Safety rot), P-Group: Safety Integrated Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Safety rot)
Min Max Factory setting
0.00 [rpm] 1000000.00 [rpm] 20.00 [rpm]
Description: Sets the velocity limit for the SSM feedback signal to detect standstill (n < nx).
When this limit value is undershot, the signal "SSM feedback signal active" (SGA n < n_x) is set.
For p9568 = 0, the value in p9546 is also applicable for the function "SAM".
Caution: The following applies for p9506 = 3:
The "SAM" function is switched out if the selected threshold value is undershot.

Note: F-DO: Failsafe Digital Output / SGA: Safety-related output

SAM: Safe Acceleration Monitor (safe acceleration monitoring)
SSM: Safe Speed Monitor (safety-relevant feedback signal from the velocity monitoring) / SGA n < nx: Safety-
related output n < nx

1-572 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p9547 SI Motion SSM velocity hysteresis (processor 1) / SI Mtn SSM hyst P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2860
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.0010 [mm/min] 500.0000 [mm/min] 10.0000 [mm/min]
Description: Sets the velocity hysteresis for the SSM feedback signal to detect standstill (n < nx).
Dependency: Refer to: C01711
Note: The velocity hysteresis is effective only if the function is enabled (p9501.16 = 1).
The parameter is included in the crosswise data comparison of the two monitoring channels.
SSM: Safe Speed Monitor (safety-relevant feedback signal from the velocity monitoring)

p9547 SI Motion SSM velocity hysteresis (processor 1) / SI Mtn SSM hyst P1

SERVO_S110-CAN Can be changed: C2(95) Calculated: - Access level: 3
(Safety rot), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2860
SERVO_S110-DP
(Safety rot), P-Group: Safety Integrated Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Safety rot)
Min Max Factory setting
0.0010 [rpm] 500.0000 [rpm] 10.0000 [rpm]
Description: Sets the velocity hysteresis for the SSM feedback signal to detect standstill (n < nx).
Dependency: Refer to: C01711
Note: The velocity hysteresis is effective only if the function is enabled (p9501.16 = 1).
The parameter is included in the crosswise data comparison of the two monitoring channels.
SSM: Safe Speed Monitor (safety-relevant feedback signal from the velocity monitoring)

p9548 SI Motion SBR actual velocity tolerance (processor 1) / SI Mtn SBR tol P1
SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [mm/min] 120000.00 [mm/min] 300.00 [mm/min]
Description: Sets the velocity tolerance for the "SAM" function.
Dependency: Refer to: C01706
Note: SAM: Safe Acceleration Monitor (safe acceleration monitoring)

p9548 SI Motion SBR actual velocity tolerance (processor 1) / SI Mtn SBR tol P1
SERVO_S110-CAN Can be changed: C2(95) Calculated: - Access level: 3
(Safety rot), Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-DP
(Safety rot), P-Group: Safety Integrated Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Safety rot)
Min Max Factory setting
0.00 [rpm] 120000.00 [rpm] 300.00 [rpm]
Description: Sets the velocity tolerance for the "SAM" function.
Dependency: Refer to: C01706
Note: SAM: Safe Acceleration Monitor (safe acceleration monitoring)

© Siemens AG 2012 All Rights Reserved 1-573

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p9549 SI Motion slip velocity tolerance (processor 1) / SI Mtn slip P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [mm/min] 6000.00 [mm/min] 6.00 [mm/min]
Description: Sets the velocity tolerance that is used for a 2-encoder system in crosswise comparison between the two monitor-
ing channels.
Dependency: Refer to: p9501, p9542
Note: If the "actual value synchronization" is not enabled (p9501.3 = 0), then the value parameterized in p9542 is used as
tolerance in the crosswise data comparison.

p9549 SI Motion slip velocity tolerance (processor 1) / SI Mtn slip P1

SERVO_S110-CAN Can be changed: C2(95) Calculated: - Access level: 3
(Safety rot), Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-DP
P-Group: Safety Integrated Units group: - Unit selection: -
(Safety rot),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Safety rot)
Min Max Factory setting
0.00 [rpm] 6000.00 [rpm] 6.00 [rpm]
Description: Sets the velocity tolerance that is used for a 2-encoder system in crosswise comparison between the two monitor-
ing channels.
Dependency: Refer to: p9501, p9542
Note: If the "actual value synchronization" is not enabled (p9501.3 = 0), then the value parameterized in p9542 is used as
tolerance in the crosswise data comparison.

p9550 SI Motion SGE changeover tolerance time (processor 1) / SI Mtn SGE_chg tol
SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [ms] 10000.00 [ms] 500.00 [ms]
Description: Sets the tolerance time for the changeover of the safety-related inputs (SGE).

p9551 SI Motion SLS changeover delay time (processor 1) / SI Mtn SLS t P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2825
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [ms] 600000.00 [ms] 100.00 [ms]
Description: Sets the delay time for the SLS changeover or for the changeover from SLS to SOS for the function "Safely-Limited
Speed" (SLS).
When transitioning from a higher to a lower safely-limited velocity/speed stage or to the safe operating stop (SOS),
within this delay time, the "old" velocity stage remains active.
Even if SLS or SOS is activated from non safety-related operation, then this delay is still applied.
Note: SLS: Safely-Limited Speed
SOS: Safe Operating Stop

1-574 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p9552 SI Motion transition time STOP C to SOS (processor 1) / SI Mtn t C->SOS P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2825
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [ms] 600000.00 [ms] 100.00 [ms]
Description: Sets the transition time from STOP C to "Safe Operating Stop" (SOS).
Note: SOS: Safe Operating Stop

p9553 SI Motion transition time STOP D to SOS (processor 1) / SI Mtn t D->SOS P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2825
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [ms] 600000.00 [ms] 100.00 [ms]
Description: Sets the transition time from STOP D to "Safe Operating Stop" (SOS).
Note: SOS: Safe Operating Stop

p9554 SI Motion transition time STOP E to SOS (processor 1) / SI Mtn t E->SOS P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [ms] 600000.00 [ms] 100.00 [ms]
Description: Sets the transition time from STOP E to "Safe Operating Stop" (SOS).
Dependency: Refer to: p9354
Note: SOS: Safe Operating Stop

p9555 SI Motion transition time STOP F to STOP B (processor 1) / SI Mtn t F->B P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2825
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [ms] 600000.00 [ms] 0.00 [ms]
Description: Sets the transition time from STOP F to STOP B.
Dependency: Refer to: C01711

p9556 SI Motion pulse suppression delay time (processor 1) / SI Mtn IL t_del P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2825
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [ms] 600000.00 [ms] 100.00 [ms]
Description: Sets the delay time for the safe pulse suppression after STOP B.
In the case of encoderless motion monitoring functions with brake ramp monitoring (p9506 = 1), the parameter has
no effect.

© Siemens AG 2012 All Rights Reserved 1-575

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Dependency: Refer to: p9560

Refer to: C01701

p9557 SI Motion pulse suppression test time (processor 1) / SI Mtn IL t_test

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [ms] 10000.00 [ms] 100.00 [ms]
Description: Sets the time after which the pulses must have been suppressed when initiating the test stop.
Dependency: Refer to: C01798
Note: A change only becomes effective after a POWER ON.

p9558 SI Motion acceptance test mode time limit (processor 1) / SI Mtn acc t P1
SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
5000.00 [ms] 100000.00 [ms] 40000.00 [ms]
Description: Sets the maximum time for the acceptance test mode.
If the acceptance test mode takes longer than the selected time limit, then the mode is automatically terminated.
Dependency: Refer to: C01799

p9559 SI Motion forced checking procedure timer (processor 1) / SI Mtn dyn timer
SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [h] 9000.00 [h] 8.00 [h]
Description: Sets the time interval for carrying out the forced checking procedure and testing the safety motion monitoring func-
tions integrated in the drives.
Within the parameterized time, the safety functions must have been tested at least once (including de-selection of
the "STO" function).
This monitoring time is reset each time the test is carried out.
The signal source to initiate the forced checking procedure is set in p9705.
Dependency: Refer to: p9705
Refer to: A01697, C01798
Note: STO: Safe Torque Off

p9560 SI Motion pulse suppression shutdown velocity (processor 1) / SI Mtn IL v_sh P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [mm/min] 6000.00 [mm/min] 0.00 [mm/min]
Description: Sets the shutdown velocity for pulse suppression.
Below this velocity "standstill" is assumed and for STOP B / SS1, the pulses are suppressed (by changing to STOP
A).
In the case of encoderless motion monitoring functions, the parameter must be > 0 (recommended value: 10).

1-576 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Dependency: Refer to: p9556

p9560 SI Motion pulse suppression shutdown speed (Control Unit) / SI Mtn IL n_shutCU
SERVO_S110-CAN Can be changed: C2(95) Calculated: - Access level: 3
(Safety rot), Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-DP
P-Group: Safety Integrated Units group: - Unit selection: -
(Safety rot),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Safety rot)
Min Max Factory setting
0.00 [rpm] 6000.00 [rpm] 0.00 [rpm]
Description: Sets the shutdown speed for the pulse suppression.
Below this speed "standstill" is assumed and for STOP B, the pulses are suppressed by changing to STOP A).
Dependency: Refer to: p9556

p9561 SI Motion SLS stop response (processor 1) / SI Mtn SLS resp

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 14 5
Description: Sets the stop response for the function "Safely-Limited Speed" (SLS).
This setting applies for all SLS limit values.
An input value of less than 5 signifies personnel protection, from 10 and upwards, machine protection.
This parameter can only be used for ncSI nutzbar, not for dbSI1/2. For motion monitoring functions integrated in the
drive (dbSI1/2) only the value 5 is permissible; all other settings result in fault F01711 or F30711 with fault value 44.
Value: 0: STOP A
1: STOP B
2: STOP C
3: STOP D
4: STOP E
5: Sets the stop response via p9563 (SLS-specific)
10: STOP A with delayed pulse suppression when the bus fails
11: STOP B with delayed pulse suppression when the bus fails
12: STOP C with delayed pulse suppression when the bus fails
13: STOP D with delayed pulse suppression when the bus fails
14: STOP E with delayed pulse suppression when the bus fails
Dependency: Refer to: p9531, p9563, p9580
Note: SLS: Safely-Limited Speed

p9562 SI Motion SLP stop response (processor 1) / SI Mtn SLP resp

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
2 4 2
Description: Sets the stop response for the function "Safely-Limited Position" (SLP).
Value: 2: STOP C
3: STOP D
4: STOP E
Dependency: Refer to: p9534, p9535
Note: SLP: Safely-Limited Position

© Siemens AG 2012 All Rights Reserved 1-577

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 Parameter
List of parameters

p9563[0...3] SI Motion SLS-specific stop response (processor 1) / SI Mtn SLS stop P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 14 2
Description: Sets the SLS-specific stop response for the function "Safely-Limited Speed" (SLS).
These settings apply to the individual limit values for SLS.
In the case of encoderless motion monitoring (p9506/p9306 = 1), only a value of 0 or 1 is permitted.
Value: 0: STOP A
1: STOP B
2: STOP C
3: STOP D
4: STOP E
10: STOP A with delayed pulse suppression when the bus fails
11: STOP B with delayed pulse suppression when the bus fails
12: STOP C with delayed pulse suppression when the bus fails
13: STOP D with delayed pulse suppression when the bus fails
14: STOP E with delayed pulse suppression when the bus fails
Index: [0] = Limit value SLS1
[1] = Limit value SLS2
[2] = Limit value SLS3
[3] = Limit value SLP4
Dependency: Refer to: p9531, p9561, p9580
Note: The values 4 and 14 are not supported on Control Unit 305.
SLS: Safely-Limited Speed

p9564 SI Motion SDI tolerance (processor 1) / SI Mtn SDI tol P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2861
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.001 [mm] 360.000 [mm] 12.000 [mm]
Description: Sets the tolerance for the function "Safe motion direction" (SDI). This motion in the monitored direction is still per-
missible before an alarm is initiated.
Dependency: Refer to: p9565, p9566
Refer to: C01716
Note: SDI: Safe Direction (safe motion direction)

p9564 SI Motion SDI tolerance (processor 1) / SI Mtn SDI tol P1

SERVO_S110-CAN Can be changed: C2(95) Calculated: - Access level: 3
(Safety rot), Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2861
SERVO_S110-DP
(Safety rot), P-Group: Safety Integrated Units group: - Unit selection: -
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Safety rot)
Min Max Factory setting
0.001 [°] 360.000 [°] 12.000 [°]
Description: Sets the tolerance for the function "Safe motion direction" (SDI). This motion in the monitored direction is still per-
missible before an alarm is initiated.
Dependency: Refer to: p9565, p9566
Refer to: C01716
Note: SDI: Safe Direction (safe motion direction)

1-578 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p9565 SI Motion SDI delay time (processor 1) / SI Mtn SDI t P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2861
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [ms] 600000.00 [ms] 100.00 [ms]
Description: Sets the delay time for the function "Safe motion direction" (SDI). When selecting the SDI function, motion in the
monitored direction is permissible as a maximum for this time; this means that this time can be used for braking
existing motion.
Dependency: Refer to: p9564, p9566
Refer to: C01716
Note: SDI: Safe Direction (safe motion direction)

p9566 SI Motion SDI stop response (processor 1) / SI Mtn SDI Stop P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 2861
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 14 1
Description: Sets the stop response for the function "Safe motion direction" (SDI).
This setting applies to both directions of motion.
Value: 0: STOP A
1: STOP B
2: STOP C
3: STOP D
4: STOP E
10: STOP A with delayed pulse suppression when the bus fails
11: STOP B with delayed pulse suppression when the bus fails
12: STOP C with delayed pulse suppression when the bus fails
13: STOP D with delayed pulse suppression when the bus fails
14: STOP E with delayed pulse suppression when the bus fails
Dependency: Refer to: p9564, p9565
Refer to: C01716
Note: SDI: Safe Direction (safe motion direction)

p9568 SI Motion SAM velocity limit (processor 1) / SI Mtn SAM v_limP1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [mm/min] 1000.00 [mm/min] 0.00 [mm/min]
Description: Sets the velocity tolerance limit for the "SAM" function.
SAM is de-activated once the set velocity limit has been undershot.
Note: SAM: Safe Acceleration Monitor (safe acceleration monitoring)
SSM: Safe Speed Monitor (safety-relevant feedback signal from the velocity monitoring)
For p9568 = p9368 = 0, the following applies:
The value in p9546/p9346 (SSM) is applied as the velocity limit for SAM.

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 Parameter
List of parameters

p9568 SI Motion SAM velocity limit (processor 1) / SI Mtn SAM v_limP1

SERVO_S110-CAN Can be changed: C2(95) Calculated: - Access level: 3
(Safety rot), Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-DP
P-Group: Safety Integrated Units group: - Unit selection: -
(Safety rot),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Safety rot)
Min Max Factory setting
0.00 [rpm] 1000.00 [rpm] 0.00 [rpm]
Description: Sets the velocity tolerance limit for the "SAM" function.
SAM is de-activated once the set velocity limit has been undershot.
Note: SAM: Safe Acceleration Monitor (safe acceleration monitoring)
SSM: Safe Speed Monitor (safety-relevant feedback signal from the velocity monitoring)
For p9568 = p9368 = 0, the following applies:
The value in p9546/p9346 (SSM) is applied as the velocity limit for SAM.

p9570 SI Motion acceptance test mode (processor 1) / SI Mtn Acc_mode

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex 00AC hex 0000 hex
Description: Setting to select and de-select the acceptance test mode.
Value: 0: [00 hex] De-select the acceptance test mode
172: [AC hex] Select the acceptance test mode
Dependency: Refer to: p9558, r9571, p9601
Refer to: C01799
Note: Acceptance test mode can only be selected if the motion monitoring functions, which are integrated in the drives,
are enabled (p9601.2/p9801.2).

r9571 SI Motion acceptance test status (processor 1) / SI Mtn acc_status

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex 00AC hex -
Description: Displays the status of the acceptance test mode.
Value: 0: [00 hex] Acc_mode inactive
12: [0C hex] Acc_mode not possible due to POWER ON fault
13: [0D hex] Acc_mode not possible due to incorrect ID in p9570
15: [0F hex] Acc_mode not possible due to expired Acc_timer
172: [AC hex] Acc_mode active
Dependency: Refer to: p9558, p9570
Refer to: C01799

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 Parameter
List of parameters

p9580 SI Motion pulse suppression delay bus failure (processor 1) / SI Mtn t to IL P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [ms] 800.00 [ms] 0.00 [ms]
Description: Sets the delay time after which the pulses are safely suppressed after a bus failure.
Dependency: Refer to: p9561, p9563

p9581 SI Motion brake ramp reference value (processor 1) / SI Mtn ramp ref P1
SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
600.0000 [mm/min] 24000.0000 [mm/min] 1500.0000 [mm/min]
Description: Sets the reference value to define the brake ramp.
The rate of rise of the brake ramp depends upon p9581 (reference value) and p9583 (monitoring time).
Dependency: Refer to: p9582, p9583

p9581 SI Motion brake ramp reference value (processor 1) / SI Mtn ramp ref P1
SERVO_S110-CAN Can be changed: C2(95) Calculated: - Access level: 3
(Safety rot), Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-DP
P-Group: Safety Integrated Units group: - Unit selection: -
(Safety rot),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Safety rot)
Min Max Factory setting
600.0000 [rpm] 24000.0000 [rpm] 1500.0000 [rpm]
Description: Sets the reference value to define the brake ramp.
The rate of rise of the brake ramp depends upon p9581 (reference value) and p9583 (monitoring time).
Dependency: Refer to: p9582, p9583

p9582 SI Motion brake ramp delay time (processor 1) / SI Mtn rp t_del P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
10.00 [ms] 99000.00 [ms] 250.00 [ms]
Description: Sets the delay time for monitoring the brake ramp.
Monitoring of the brake ramp starts once the delay time has elapsed.
Dependency: Refer to: p9581, p9583

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 Parameter
List of parameters

p9583 SI Motion brake ramp monitoring time (processor 1) / SI Mtn rp t_mon P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.50 [s] 1000.00 [s] 10.00 [s]
Description: Sets the monitoring time to define the brake ramp.
The rate of rise of the brake ramp depends upon p9581 (reference value) and p9583 (monitoring time).
Dependency: Refer to: p9581, p9582

p9586 SI Motion delay time of the evaluation sensorless (CU) / SI Mtn t_del SL CU
SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
5.00 [ms] 1000.00 [ms] 100.00 [ms]
Description: Sets the evaluation delay for encoderless actual value sensing after pulse enable. The value should be greater than
or equal to the motor magnetizing time. Shortening the time can result in Alarm 1711 with fault value 1041 or1042.
Dependency: Refer to: C01711
Notice: Reducing this value can adversely affect the actual value sensing and the plausibility check.
When the value is increased, this results in a longer evaluation delay.
Note: This parameter is only effective for encoderless actual value sensing (p9306/p9506 = 1).

p9587 SI Motion act val sensing sensorless filter time (processor 1) / SI Mtn SL filt P1
SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [ms] 100.00 [ms] 25.00 [ms]
Description: Sets the filter time for smoothing the actual value with sensorless actual value sensing.
Note: This parameter is only effective for encoderless actual value sensing (p9306/p9506 = 1).

p9588 SI Motion act val sensing sensorless min current (processor 1) / SI Mtn SL I_min P1
SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [%] 1000.00 [%] 10.00 [%]
Description: Sets the minimum current for encoderless actual value sensing in reference to 10 mA (i.e. when 1 % = 10 mA).
- The value must be increased if C01711 has occurred with message value 1042.
- The value must be decreased if C01711 has occurred with message value 1041.
Dependency: Refer to: C01711
Notice: Reducing this percentage value can adversely affect actual value sensing.
Note: This parameter is only effective for encoderless actual value sensing (p9306/p9506 = 1).

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 Parameter
List of parameters

p9589 SI Motion voltage tolerance acceleration (processor 1) / SI Mtn U tol P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
10.00 [%] 1000.00 [%] 100.00 [%]
Description: Sets the voltage tolerance for suppressing acceleration peaks.
Increasing this percentage value means that voltage peaks will need to have a higher amplitude during acceleration
procedures if they are not to affect actual value sensing.
- The value must be increased if C01711 has occurred with message value 1043.
- The value must be lowered if acceleration procedures have led to an excessive Safety actual velocity.
Dependency: Refer to: C01711
Note: This parameter is only effective for encoderless actual value sensing (p9306/p9506 = 1).

r9590[0...3] SI Motion version safety motion monitoring (processor 1) / SI Mtn version P1

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the Safety Integrated version for the safe monitoring functions.
Index: [0] = Safety Version (major release)
[1] = Safety Version (minor release)
[2] = Safety Version (baselevel or patch)
[3] = Safety Version (hotfix)
Dependency: Refer to: r9770, r9890
Note: Example:
r9590[0] = 2, r9590[1] = 60, r9590[2] = 1, r9590[3] = 0 --> SI Motion version V02.60.01.00

p9601 SI enable, functions integrated in the drive (processor 1) / SI enable fct P1

SERVO_S110-CAN Can be changed: C2(95) Calculated: - Access level: 3
Data type: Unsigned32 Dynamic index: - Func. diagram: -
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 bin
Description: Sets the enable signals for safety functions on processor 1 that are integrated in the drive.
Bit field: Bit Signal name 1 signal 0 signal FP
00 STO (SH) via terminals (Control Unit) Enable Inhibit 2810
enable
02 Motion monitoring functions integr. in the Enable Inhibit -
drive (Control Unit)
Dependency: Refer to: r9771, p9801
Note: STO: Safe Torque Off
A change only becomes effective after a POWER ON.

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 Parameter
List of parameters

p9601 SI enable, functions integrated in the drive (processor 1) / SI enable fct P1

SERVO_S110-DP, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-PN Data type: Unsigned32 Dynamic index: - Func. diagram: -
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 bin
Description: Sets the enable signals for safety functions on processor 1 that are integrated in the drive.
Bit field: Bit Signal name 1 signal 0 signal FP
00 STO (SH) via terminals (Control Unit) Enable Inhibit 2810
enable
02 Motion monitoring functions integr. in the Enable Inhibit -
drive (Control Unit)
03 PROFIsafe (Control Unit) enable Enable Inhibit -
Dependency: Refer to: r9771, p9801
Note: STO: Safe Torque Off
A change only becomes effective after a POWER ON.

p9602 SI enable Safe Brake Control (processor 1) / SI enable SBC P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 2814
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Sets the enable signal for the "Safe Brake Control" (SBC) function on processor 1.
Value: 0: Inhibit SBC
1: Enable SBC
Dependency: Refer to: p9802
Note: The "Safe Brake Control" function is not activated until at least one safety monitoring function has been enabled
(i.e. p9501 not equal to 0 and/or p9601 not equal to 0).
It does not make sense to parameterize "no motor holding brake available" and enable "Safe Brake Control" (p1215
= 0, p9602 = p9802 = 1) if there is no motor holding brake.
It does not make sense to parameterize "motor holding brake the same as sequence control, connection via BICO"
and enable "Safe Brake Control" (p1215 = 3, p9602 = p9802 = 1).
It is not permissible to parameterize "motor holding brake without feedback signals" and enable "Safe Brake Con-
trol" (p1278 = 1, p9602 = p9802 = 1).
SBC: Safe Brake Control

p9610 SI PROFIsafe address (processor 1) / SI PROFIsafe P1

SERVO_S110-DP, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-PN Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex FFFE hex 0000 hex
Description: Sets the PROFIsafe address for processor 1.
Dependency: Refer to: p9810

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 Parameter
List of parameters

p9650 SI F-DI changeover tolerance time (processor 1) / SI F-DI_chg tol P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2810
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [ms] 2000.00 [ms] 500.00 [ms]
Description: Sets the tolerance time for the changeover of the safety-related inputs on processor 1.
An F-DI changeover is not effective simultaneously due to the different runtimes in the two monitoring channels.
After an F-DI changeover, dynamic data is not subject to a crosswise data comparison during this tolerance time.
Dependency: Refer to: p9850
Note: For a crosswise data comparison between p9650 and p9850, a difference of one Safety monitoring clock cycle is
tolerated.
The parameterized time is internally rounded-off to an integer multiple of the monitoring clock cycle.
F-DI: Failsafe Digital Input

p9651 SI STO/SBC/SS1 debounce time (processor 1) / SI STO t_debou P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [ms] 100.00 [ms] 0.00 [ms]
Description: Sets the debounce time for the digital input used to control STO/SBC/SS1.
Note: The debounce time is rounded to whole milliseconds. It specifies the maximum duration of a fault pulse at the fail-
safe digital inputs with no reaction/influence on the selection or deselection of the Safety Basic Functions.
Example:
Debounce time = 1 ms: Fault pulses of 1 ms are filtered; only pulses longer than 2 ms are processed.
Debounce time = 3 ms: Fault pulses of 3 ms are filtered; only pulses longer than 4 ms are processed.

p9652 SI Safe Stop 1 delay time (processor 1) / SI Stop 1 t_del P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [s] 300.00 [s] 0.00 [s]
Description: Sets the delay time of the pulse suppression for the "Safe Stop 1" (SS1) function on processor 1 to brake along the
OFF3 down ramp (p1135).
Recommend.: In order that the drive can completely ramp-down along the OFF3 ramp and a motor holding brake that is possibly
available can close, then the delay time should be set as follows:
Motor holding brake parameterized: delay time >= p1135 + p1228 + p1217
Motor holding brake not parameterized: delay time >= p1135 + p1228
Dependency: Refer to: p1135, p9852
Note: For a crosswise data comparison between p9652 and p9852, a difference of one Safety monitoring clock cycle is
tolerated.
The parameterized time is rounded internally to an integer multiple of the monitoring clock cycle.
SS1: Safe Stop 1 (corresponds to Stop Category 1 acc. to EN60204)

© Siemens AG 2012 All Rights Reserved 1-585

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 Parameter
List of parameters

p9658 SI transition time STOP F to STOP A (processor 1) / SI STOP F->A P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2802
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [ms] 30000.00 [ms] 0.00 [ms]
Description: Sets the transition period from STOP F to STOP A on processor 1.
Dependency: Refer to: r9795, p9858
Refer to: F01611
Note: For a crosswise data comparison between p9658 and p9858, a difference of one Safety monitoring clock cycle is
tolerated.
The parameterized time is rounded internally to an integer multiple of the monitoring clock cycle.
STOP F: Defect in a monitoring channel (error in the crosswise data comparison)
STOP A: Pulse suppression via the safety shutdown path

p9659 SI forced checking procedure timer / SI FrcdCkProcTimer

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2810
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [h] 9000.00 [h] 8.00 [h]
Description: Sets the time interval for carrying out the forced checking procedure and testing the Safety shutdown paths.
Within the parameterized time, STO must have been de-selected at least once. The monitoring time is reset each
time that STO is de-selected.
Dependency: Refer to: A01699
Note: STO: Safe Torque Off / SH: Safe standstill

r9660 SI forced checking procedure remaining time / SI frc chk remain

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [h] - [h] - [h]
Description: Displays the time remaining before dynamization and testing of the safety shutdown paths (forced checking proce-
dure).
Dependency: Refer to: A01699

p9700 SI Motion copy function / SI Mtn copy fct

SERVO_S110-CAN, Can be changed: C2(95), U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex 00D0 hex 0000 hex
Description: Setting to start the required copy function.
After starting, the corresponding parameters are copied from processor 1 to processor 2.
Once copying is complete, the parameter is automatically reset to zero.
Value: 0: [00 hex] Copy function ended
29: [1D hex] Start copy function node identifier

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 Parameter
List of parameters

87: [57 hex] Start copy function SI parameters

208: [D0 hex] Start copy function SI basic parameters
Note: Re value = 57 hex and D0 hex:
The value can only be set if the safety commissioning mode is set and the Safety Integrated password was entered.
Re value = D0 hex:
The following parameters are copied after starting the copy function:
p9601/p9801, p9602/p9802, p9610/9810, p9650/p9850, p9652/p9852, p9658/p9858

p9701 Acknowledge SI motion data change / Ackn SI Mtn dat

SERVO_S110-CAN, Can be changed: C2(95), U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex 00EC hex 0000 hex
Description: Setting to transfer the reference checksums from the associated actual checksums after changes (SI parameters,
hardware).
After transferring the reference checksums, parameters are automatically reset to zero.
Value: 0: [00 hex] Data unchanged
172: [AC hex] Acknowledge data change complete
220: [DC hex] Acknowledge SI basic parameter change
236: [EC hex] Acknowledge hardware CRC
Dependency: Refer to: r9398, p9399, r9728, p9729, r9798, p9799, r9898, p9899
Note: Re value = AC and DC hex:
These values can only be set if the safety commissioning mode is set and the Safety Integrated password was
entered.

p9705 BI: SI Motion: Test stop signal source / SI Mtn test stop
SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Sets the signal source for the test stop of the safety-relevant motion monitoring functions.
Caution: Before setting the signal source in p9705 it must be ensured that the signal source is at a logical 0.
If, in the Safety commissioning mode, the signal source in p9705 is set - and it already has a logical 1 - then a test
stop is immediately initiated and the messages C01711/C30711 are output with message value 1005.
Notice: It is not permissible to use TM54F inputs to start the test stop.

r9710[0...1] SI Motion diagnostics result list 1 / SI Mtn res_list 1

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays result list 1 that, for the crosswise data comparison between the monitoring channels, led to the fault.
Index: [0] = Result list, second channel
[1] = Result list, drive
Bit field: Bit Signal name 1 signal 0 signal FP
00 Actual value > upper limit SOS Yes No -
01 Actual value > lower limit SOS Yes No -
02 Actual value > upper limit, SLP1 Yes No -

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 Parameter
List of parameters

03 Actual value > lower limit, SLP1 Yes No -

04 Actual value > upper limit, SLP2 Yes No -
05 Actual value > lower limit, SLP2 Yes No -
06 Actual value > upper limit, SLS1 Yes No -
07 Actual value > lower limit, SLS1 Yes No -
08 Actual value > upper limit, SLS2 Yes No -
09 Actual value > lower limit, SLS2 Yes No -
10 Actual value > upper limit, SLS3 Yes No -
11 Actual value > lower limit, SLS3 Yes No -
12 Actual value > upper limit, SLS4 Yes No -
13 Actual value > lower limit, SLS4 Yes No -
16 Actual value > upper limit, SAM/SBR Yes No -
17 Actual value > lower limit, SAM/SBR Yes No -
18 Actual value > upper limit SDI positive Yes No -
19 Actual value > lower limit SDI positive Yes No -
20 Actual value > upper limit SDI negative Yes No -
21 Actual value > lower limit SDI negative Yes No -
Dependency: Refer to: C01711
Note: SBR: Safe Brake Ramp (safe brake ramp monitoring)
SLP: Safely-Limited Position
SLS: Safely-Limited Speed
SOS: Safe Operating Stop

r9711[0...1] SI Motion diagnostics result list 2 / SI Mtn res_list 2

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays result list 2 that, for the crosswise data comparison between the monitoring channels, led to the fault.
Index: [0] = Result list, second channel
[1] = Result list, drive
Bit field: Bit Signal name 1 signal 0 signal FP
00 Actual value > upper limit SCA1+ Yes No -
01 Actual value > lower limit, SCA1+ Yes No -
02 Actual value > upper limit SCA1- Yes No -
03 Actual value > lower limit, SCA1- Yes No -
04 Actual value > upper limit SCA2+ Yes No -
05 Actual value > lower limit, SCA2+ Yes No -
06 Actual value > upper limit SCA2- Yes No -
07 Actual value > lower limit, SCA2- Yes No -
08 Actual value > upper limit SCA3+ Yes No -
09 Actual value > lower limit, SCA3+ Yes No -
10 Actual value > upper limit SCA3- Yes No -
11 Actual value > lower limit, SCA3- Yes No -
12 Actual value > upper limit SCA4+ Yes No -
13 Actual value > lower limit, SCA4+ Yes No -
14 Actual value > upper limit SCA4- Yes No -
15 Actual value > lower limit, SCA4- Yes No -
16 Actual value > upper limit, SSM+ Yes No -
17 Actual value > lower limit, SSM+ Yes No -
18 Actual value > upper limit, SSM- Yes No -
19 Actual value > lower limit, SSM- Yes No -
20 Actual value > upper limit, modulo Yes No -
21 Actual value > lower limit, modulo Yes No -
Dependency: Refer to: C01711
Note: SCA: Safe Cam
SSM: Safe Speed Monitor (safety-relevant feedback signal from the velocity monitoring)

1-588 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

r9712 SI Motion diagnostics position actual value motor side / SI Mtn s_act mot
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the actual motor-side position actual value for the motion monitoring functions on the Control Unit.

r9713[0...3] SI Motion diagnostics position actual value load side / SI Mtn s_act load
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the actual load-side actual values of both monitoring channels and their difference.
Index: [0] = Load-side actual value on the Control Unit
[1] = Load-side actual value on the second channel
[2] = Load-side actual value difference Control Unit - second channel
[3] = Load-side max. actual value difference CU - 2nd channel
Dependency: Refer to: r9724
Note: Re index 0:
The display of the load-side position actual value on the Control Unit is updated in the monitoring clock cycle.
Re index 1:
The display of the load-side position actual value on the second channel is updated in the CDC clock cycle (r9724)
and delayed by one CDC clock cycle.
Re index 2:
The difference between the load-side position actual value on the Control Unit and load-side position actual value in
the second channel is updated in the CDC clock cycle (r9724) and delayed by one CDC clock cycle.
Re index 3:
The maximum difference between the load-side position actual value on the Control Unit and the load-side position
actual value on the second channel.
CDC: Crosswise Data Check

r9714[0...1] SI motion diagnostics velocity / SI Mtn diag v

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [mm/min] - [mm/min] - [mm/min]
Description: Displays the current velocity actual values for the motion monitoring functions on the Control Unit.
Index: [0] = Load-side velocity actual value on the Control Unit
[1] = Actual SAM/SBR velocity limit on the Control Unit
Note: For linear axes, the following unit applies: millimeters per minute
For rotary axes, the following unit applies: revolutions per minute

© Siemens AG 2012 All Rights Reserved 1-589

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 Parameter
List of parameters

r9714[0...1] SI motion diagnostics velocity / SI Mtn diag v

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 3
(Safety rot), Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-DP
P-Group: Safety Integrated Units group: - Unit selection: -
(Safety rot),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Safety rot)
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Displays the current velocity actual values for the motion monitoring functions on the Control Unit.
Index: [0] = Load-side velocity actual value on the Control Unit
[1] = Actual SAM/SBR velocity limit on the Control Unit
Note: For linear axes, the following unit applies: millimeters per minute
For rotary axes, the following unit applies: revolutions per minute

r9718.23 CO/BO: SI Motion control signals 1 / SI Mtn ctrl_sig 1

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 4
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Control signal 1 for safety-relevant motion monitoring functions.
Bit field: Bit Signal name 1 signal 0 signal FP
23 Set offset for TfS to the actual torque Set Reset -
Note: TfS: Traverse to fixed stop

r9719.0...31 CO/BO: SI Motion control signals 2 / SI Mtn ctrl_sig 2

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Control signal 2 for safety-relevant motion monitoring functions.
Bit field: Bit Signal name 1 signal 0 signal FP
00 De-select SOS/SLS (SBH/SG) Yes No -
01 De-select SOS (SBH) Yes No -
03 Select SLS (SG) bit 0 Set Not set -
04 Select SLS (SG) bit 1 Set Not set -
05 Deselect SDI positive Yes No -
06 Deselect SDI negative Yes No -
08 Gearbox selection, bit 0 Set Not set -
09 Gearbox selection, bit 1 Set Not set -
10 Gearbox selection, bit 2 Set Not set -
12 Select SLP (SE) SLP2 (SE2) SLP1 (SE1) -
13 Close brake from control Yes No -
15 Select test stop Yes No -
16 SGE valid Yes No -
18 De-select external STOP A Yes No -
19 De-select external STOP C Yes No -
20 De-select external STOP D Yes No -
21 De-select external STOP E Yes No -
28 SLS (SG) override bit 0 Set Not set -
29 SLS (SG) override bit 1 Set Not set -

1-590 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

30 SLS (SG) override bit 2 Set Not set -

31 SLS (SG) override bit 3 Set Not set -
Note: Re r9719.0 and r9719.1:
These two bits must be considered together.
- if SOS/SLS (SBH/SG) is de-selected using bit 0, then assignment of bit 1 is irrelevant.
- if SOS/SLS (SBH/SG) is selected using bit 0, then a changeover is made between SOS (SBH) and SLS (SG)
using bit 1.
SLP: Safely-Limited Position / SE: Safe software limit switches
SLS: Safely-Limited Speed / SG: Safely reduced speed
SOS: Safe Operating Stop / SBH: Safe operating stop
SDI: Safe Direction (safe motion direction)

r9720.0...13 CO/BO: SI Motion control signals integrated in the drive / SI Mtn integ STW
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 2840, 2855
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Control signals for safety-relevant motion monitoring functions integrated in the drive.
Bit field: Bit Signal name 1 signal 0 signal FP
00 De-select STO Yes No -
01 De-select SS1 Yes No -
02 De-select SS2 Yes No -
03 De-select SOS Yes No -
04 De-select SLS Yes No -
07 Acknowledgement Signal edge active No -
09 Select SLS bit 0 Set Not set -
10 Select SLS bit 1 Set Not set -
12 Deselect SDI positive Yes No 2861
13 Deselect SDI negative Yes No 2861
Note: This parameter is only supplied with actual values in the case of Safety Integrated Extended Functions. For Safety
Integrated Basic Functions (SBC, SS1, STO), the value is equal to zero.

r9721.0...15 CO/BO: SI Motion status signals / SI Mtn stat_sig

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Status signal for safety-relevant motion monitoring functions.
Bit field: Bit Signal name 1 signal 0 signal FP
00 SOS or SLS active Yes No -
01 SOS active Yes No -
02 Pulse enable Deleted Enabled -
03 Active SLS stage bit 0 Set Not set -
04 Active SLS stage bit 1 Set Not set -
05 Velocity below limit value n_x Yes No -
06 Status signals valid Yes No -
07 Safely referenced Yes No -
08 SDI pos active Yes No -
09 SDI neg active Yes No -
12 STOP A or B active Yes No -
13 STOP C active Yes No -
14 STOP D active Yes No -
15 STOP E active Yes No -

© Siemens AG 2012 All Rights Reserved 1-591

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Note: This parameter is only supplied with actual values in the case of Safety Integrated Extended Functions. For Safety
Integrated Basic Functions (SBC, SS1, STO), the value is equal to zero.

r9722.0...15 CO/BO: SI Motion status signals integrated in the drive / SI Mtn integ stat
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 2840, 2855
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Status signal for safety-relevant motion monitoring functions integrated in the drive.
Bit field: Bit Signal name 1 signal 0 signal FP
00 STO active Yes No -
01 SS1 active Yes No -
02 SS2 active Yes No -
03 SOS active Yes No -
04 SLS active Yes No -
07 Internal event No Yes -
09 Active SLS stage bit 0 Set Not set -
10 Active SLS stage bit 1 Set Not set -
11 SOS selected Yes No -
12 SDI pos active Yes No 2861
13 SDI neg active Yes No 2861
15 SSM (speed below limit value) Yes No 2860
Notice: Re bit 07:
The signal state behaves in an opposite way to the PROFIsafe Standard.
Note: This parameter is only supplied with actual values in the case of Safety Integrated Extended Functions. For Safety
Integrated Basic Functions (SBC, SS1, STO), the value is equal to zero.
Re bit 07:
An internal event is displayed if a STOP A ... F is active.

r9723.0...16 CO/BO: SI Motion diagnostic signals integrated in the drive / SI Mtn integ diag
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the diagnostic signals for safety-relevant motion monitoring functions integrated in the drive.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Forced checking procedure required Yes No -
01 For ESR, STOP F and subsequent stop B is Yes No -
active
02 Communication failure Yes No -
03 Actual value sensing supplies valid value Yes No -
04 Encoderless act val sensing acc to tech- Yes No -
nique for U/f control
16 SAM/SBR active Yes No -
Note: ESR: Extended Stop and Retract
SAM: Safe Acceleration Monitor (safe acceleration monitoring)
SBR: Safe Brake Ramp (safe brake ramp monitoring)

1-592 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r9724 SI Motion crosswise comparison clock cycle / SI Mtn CDC clk cyc
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [ms] - [ms] - [ms]
Description: Displays the crosswise comparison clock cycle.
The value indicates the clock cycle time with which each individual CDC value is compared between the two moni-
toring channels.
Dependency: Refer to: p9500
Note: Crosswise comparison clock cycle = monitoring clock cycle (p9500) * number of data to be crosswise compared
CDC: Crosswise Data Check

r9725[0...2] SI Motion, diagnostics STOP F / SI Mtn Diag STOP F

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Re index 0:
Displays the message value that resulted in the STOP F on the drive.
Value = 0:
The Control Unit signaled a STOP F.
Value = 1 ... 999:
Number of the incorrect date in the crosswise data comparison between the monitoring channels.
Value >= 1000:
Additional diagnostic values of the drive.
Re index 1:
Displays the value of the Control Unit that resulted in the STOP F.
Re index 2:
Displays the value from the second channel that resulted in the STOP F.
Index: [0] = Message value for CDC
[1] = Control Unit CDC act value
[2] = Components CDC act val
Dependency: Refer to: C01711
Note: The significance of the individual message values is described in message C01711.
CDC: Crosswise Data Check

p9726 SI Motion, user agreement selection/de-selection / SI Mtn UserAgr sel

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex 00AC hex 0000 hex
Description: Setting to select and de-select the user agreement.
Value: 0: [00 hex] De-select user agreement
172: [AC hex] Select user agreement
Dependency: Refer to: r9727

© Siemens AG 2012 All Rights Reserved 1-593

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r9727 SI Motion user agreement, inside the drive / SI Mtn UserAgr int
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 4
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the internal state of the user agreement.
Value = 0: User agreement is not set.
Value = AC hex: User agreement is set.
Dependency: Refer to: p9726

r9728[0...2] SI Motion actual checksum, SI parameters / SI Mtn act CRC

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the checksum over the checked Safety Integrated parameters of the motion monitoring functions (actual
checksum).
Index: [0] = Checksum over SI parameters for motion monitoring
[1] = Checksum over SI parameters for actual values
[2] = Checksum over SI parameters for hardware
Dependency: Refer to: p9729
Refer to: F01680

p9729[0...2] SI Motion reference checksum, SI parameters / SI Mtn ref CRC

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex FFFF FFFF hex 0000 hex
Description: Sets the checksum using the checksum-tested Safety Integrated parameters for motion monitoring functions (refer-
ence checksum).
Index: [0] = Checksum over SI parameters for motion monitoring
[1] = Checksum over SI parameters for actual values
[2] = Checksum over SI parameters for hardware
Dependency: Refer to: r9728
Refer to: F01680

r9730 SI Motion Safe maximum velocity / SI mtn safe v_Max

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [mm/min] - [mm/min] - [mm/min]
Description: Displays the safe maximum velocity (on the load side) that is permissible for the safe motion monitoring functions
as a result of the actual value sensing.
This parameter is only of significance for enabled safety with encoder. Otherwise, it is set to "0".
Note: If the value displayed is exceeded, message C01711 is output indicating relevant subsequent faults.

1-594 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r9730 SI Motion Safe maximum velocity / SI mtn safe v_Max

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 3
(Safety rot), Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-DP
P-Group: Safety Integrated Units group: - Unit selection: -
(Safety rot),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Safety rot)
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Displays the safe maximum velocity (on the load side) that is permissible for the safe motion monitoring functions
as a result of the actual value sensing.
This parameter is only of significance for enabled safety with encoder. Otherwise, it is set to "0".
Note: If the value displayed is exceeded, message C01711 is output indicating relevant subsequent faults.

r9731 SI Motion safe position accuracy / SI Mtn pos acc

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [mm] - [mm] - [mm]
Description: Displays the safe position accuracy (on the load side) that can be achieved as a maximum for the safe motion mon-
itoring functions as a result of the actual value sensing. This parameter is only of significance for enabled safety
with encoder. Otherwise, it is set to "0".

r9731 SI Motion safe position accuracy / SI Mtn pos acc

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 3
(Safety rot), Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-DP
P-Group: Safety Integrated Units group: - Unit selection: -
(Safety rot),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Safety rot)
Min Max Factory setting
- [°] - [°] - [°]
Description: Displays the safe position accuracy (on the load side) that can be achieved as a maximum for the safe motion mon-
itoring functions as a result of the actual value sensing. This parameter is only of significance for enabled safety
with encoder. Otherwise, it is set to "0".

r9732 SI Motion velocity resolution / SI Mtn v_res

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [mm/min] - [mm/min] - [mm/min]
Description: Displays the safe velocity resolution (load side).
Setpoints for velocity limits or parameter changes for velocities below this threshold have no effect.
Note: This parameter does not provide any information about the actual accuracy of the velocity sensing. This depends
on the type of actual value sensing, the gear factors as well as the quality of the encoder being used.

© Siemens AG 2012 All Rights Reserved 1-595

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r9732 SI Motion velocity resolution / SI Mtn v_res

SERVO_S110-CAN Can be changed: - Calculated: - Access level: 3
(Safety rot), Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-DP
P-Group: Safety Integrated Units group: - Unit selection: -
(Safety rot),
SERVO_S110-PN Not for motor type: - Scaling: - Expert list: 1
(Safety rot)
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Displays the safe velocity resolution (load side).
Setpoints for velocity limits or parameter changes for velocities below this threshold have no effect.
Note: This parameter does not provide any information about the actual accuracy of the velocity sensing. This depends
on the type of actual value sensing, the gear factors as well as the quality of the encoder being used.

r9733[0...2] CO: SI Motion setpoint speed limit effective / SI Mtn setp_lim

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2820, 2861
SERVO_S110-PN
P-Group: Safety Integrated Units group: 3_1 Unit selection: p0505
Not for motor type: - Scaling: p2000 Expert list: 1
Min Max Factory setting
- [rpm] - [rpm] - [rpm]
Description: Displays the necessary setpoint speed limit as a result of the selected motion monitoring functions.
Contrary to the parameterization of the SI limit values, this parameter specifies the motor-side limit value and not
the load-side limit value.
Index: [0] = Setpoint limiting positive
[1] = Setpoint limiting negative
[2] = Setpoint limit absolute
Dependency: For SLS: r9733[0] = p9531[x] x p9533 (converted from the load side to the motor side)
For SDI negative: r9733[0] = 0
For SLS: r9733[1] = - p9531[x] x p9533 (converted from the load side to the motor side)
For SDI positive: r9733[1] = 0
[x] = Selected SLS stage
Conversion factor from the motor side to the load side:
- motor type = rotary and axis type = linear: p9522 / (p9521 x p9520)
- otherwise: p9522 / p9521
Refer to: p9531, p9533
Notice: If p1051 = r9733[0] is interconnected, p1052 = r9733[1] must also be interconnected.
If only the absolute value of the setpoint velocity limiting is required, r9733[2] must be interconnected.
Note: The unit changeover between linear and rotary axis is not implemented via the safety changeover (p9502) but by
the linear motor changeover.
If the "SLS" or "SDI" function is not selected, r9733[0] shows p1082 and r9733[1] shows -p1082.
The display in r9733 can be delayed by up to one Safety monitoring clock cycle as compared to the display in
r9719/r9720 and r9721/r9722.

r9734.0...15 CO/BO: SI Motion Safety Info Channel status word / SI Mtn info ch ZSW
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the status word for the Safety information channel.

1-596 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

Bit field: Bit Signal name 1 signal 0 signal FP

00 STO active Yes No -
01 SS1 active Yes No -
02 SS2 active Yes No -
03 SOS active Yes No -
04 SLS active Yes No -
05 SOS selected Yes No -
06 SLS selected Yes No -
07 Internal event Yes No -
12 SDI positive selected Yes No -
13 SDI neg selected Yes No -
14 ESR retract requested Yes No -
15 Safety message present Yes No -
Note: This parameter is only supplied with actual values in the case of Safety Integrated Extended Functions. For Safety
Integrated Basic Functions (SBC, SS1, STO), the value is equal to zero.
Re bit 07:
An internal event is displayed if a STOP A ... F is active.

r9742.0...15 CO/BO: SI Motion drive-integrated status signals (processor 2) / SI Mtn int st P2

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 4
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Status signal for safety-relevant motion monitoring functions integrated in the drive.
Bit field: Bit Signal name 1 signal 0 signal FP
00 STO active Yes No -
01 SS1 active Yes No -
02 SS2 active Yes No -
03 SOS active Yes No -
04 SLS active Yes No -
07 Internal event No Yes -
09 Active SLS stage bit 0 Set Not set -
10 Active SLS stage bit 1 Set Not set -
11 SOS selected Yes No -
12 SDI pos active Yes No 2861
13 SDI neg active Yes No 2861
15 SSM (speed below limit value) Yes No 2860
Notice: Re bit 07:
An internal event is displayed if a STOP A ... F is active.
The signal state behaves in an opposite way to the PROFIsafe Standard.
Note: This parameter is only supplied with actual values in the case of Safety Integrated Extended Functions. For Safety
Integrated Basic Functions (SBC, SS1, STO), the value is equal to zero.

r9744 SI message buffer changes, counter / SI msg_buffer chng

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the changes of the safety message buffer. This counter is incremented every time that the safety message
buffer changes.
Recommend.: This is used to check whether the safety message buffer has been read out consistently.
Dependency: Refer to: r9747, r9748, r9749, p9752, r9753, r9754, r9755, r9756

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 Parameter
List of parameters

r9745[0...63] SI component number / SI comp_num

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the component number of the safety message that has occurred.
Note: Value = 0: Assignment to a component not possible.

r9747[0...63] SI message code / SI msg_code

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the numbers of safety messages that have occurred.
Dependency: Refer to: r9744, r9748, r9749, p9752, r9753, r9754, r9755, r9756
Note: The messages type "safety message" (Cxxxxx) are entered in the message fault buffer.
Message buffer structure (principle):
r9747[0], r9748[0], r9749[0], r9753[0], r9754[0], r9755[0], r9756[0] --> Actual message case, safety message 1
...
r9747[7], r9748[7], r9749[7], r9753[7], r9754[7], r9755[7], r9756[7] --> Actual message case, safety message 8
r9747[8], r9748[8], r9749[8], r9753[8], r9754[8], r9755[8], r9756[8] --> 1st acknowledged message case, safety
message 1
...
r9747[15], r9748[15], r9749[15], r9753[15], r9754[15], r9755[15], r9756[15] --> 1st acknowledged message case,
safety message 8
...
r9747[56], r9748[56], r9749[56], r9753[56], r9754[56], r9755[56], r9756[56] --> 7th acknowledged message case,
safety message 1
...
r9747[63], r9748[63], r9749[63], r9753[63], r9754[63], r9755[63], r9756[63] --> 7th acknowledged message case,
safety message 8

r9748[0...63] SI message time received in milliseconds / SI t_msg recv ms

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [ms] - [ms] - [ms]
Description: Displays the relative system runtime in milliseconds when the safety message occurred.
Dependency: Refer to: r9744, r9747, r9749, p9752, r9753, r9754, r9755, r9756

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 Parameter
List of parameters

r9749[0...63] SI message value / SI msg_value

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the additional information about the safety message that occurred (as integer number).
Dependency: Refer to: r9744, r9747, r9748, p9752, r9753, r9754, r9755, r9756

r9750[0...63] SI diagnostic attributes / SI diag_attr

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the diagnostic attributes of the safety messages that have occurred.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Hardware replacement recommended Yes No -

p9752 SI message cases, counter / SI msg_cases count

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 65535 0
Description: Number of safety messages that have occurred since the last reset.
Dependency: The safety message buffer is cleared by resetting the parameter to 0.
Refer to: r9744, r9747, r9748, r9749, r9753, r9754, r9755, r9756
Note: The parameter is reset to 0 at POWER ON.

r9753[0...63] SI message value for float values / SI msg_val float

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays additional information about the safety message that has occurred for float values.
Dependency: Refer to: r9744, r9747, r9748, r9749, p9752, r9754, r9755, r9756

r9754[0...63] SI message time received in days / SI t_msg recv days

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the relative system runtime in days when the safety message occurred.

© Siemens AG 2012 All Rights Reserved 1-599

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 Parameter
List of parameters

Dependency: Refer to: r9744, r9747, r9748, r9749, p9752, r9753, r9755, r9756

r9755[0...63] SI message time removed in milliseconds / SI t_msg rem ms

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [ms] - [ms] - [ms]
Description: Displays the relative system runtime in milliseconds when the safety message was removed.
Dependency: Refer to: r9744, r9747, r9748, r9749, p9752, r9753, r9754, r9756

r9756[0...63] SI message time removed in days / SI t_msg rem days

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Messages Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the relative system runtime in days when the safety message was removed.
Dependency: Refer to: r9744, r9747, r9748, r9749, p9752, r9753, r9754, r9755

p9761 SI password input / SI password inp

SERVO_S110-CAN, Can be changed: C1, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 2800
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex FFFF FFFF hex 0000 hex
Description: Enters the Safety Integrated password.
Dependency: Refer to: F01659
Note: It is not possible to change Safety Integrated parameters until the Safety Integrated password has been entered.

p9762 SI password new / SI password new

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 2800
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex FFFF FFFF hex 0000 hex
Description: Enters a new Safety Integrated password.
Dependency: A change made to the Safety Integrated password must be acknowledged in the following parameter:
Refer to: p9763

p9763 SI password acknowledgement / SI ackn password

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 2800
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex FFFF FFFF hex 0000 hex
Description: Acknowledges the new Safety Integrated password.

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 Parameter
List of parameters

Dependency: Refer to: p9762

Note: The new password entered into p9762 must be re-entered in order to acknowledge.
p9762 = p9763 = 0 is automatically set after the new Safety Integrated password has been successfully acknowl-
edged.

r9765 SI Motion forced check procedure remaining time (Control Unit) / SI Mtn dyn remain
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [h] - [h] - [h]
Description: Displays the time remaining until the next dynamization and testing of the safety motion monitoring functions inte-
grated in the drives.
The signal source to initiate the forced checking procedure is parameterized in p9705.
Dependency: Refer to: p9705
Refer to: C01798

r9770[0...3] SI vers. safety fcts that run indep. in the drive (processor 1) / SI version Drv P1
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 2802
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the Safety Integrated version for the drive-integrated safety functions on processor 1.
Index: [0] = Safety Version (major release)
[1] = Safety Version (minor release)
[2] = Safety Version (baselevel or patch)
[3] = Safety Version (hotfix)
Dependency: Refer to: r9890
Note: Example:
r9770[0] = 2, r9770[1] = 60, r9770[2] = 1, r9770[3] = 0 --> Safety version V02.60.01.00

r9771 SI common functions (processor 1) / SI general fct P1

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 2804
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the Safety Integrated monitoring functions supported on processor 1 and processor 2.
Processor 1 determines this display.
Bit field: Bit Signal name 1 signal 0 signal FP
00 STO supported via terminals Yes No 2804
01 SBC supported Yes No 2804
02 Extended Functions supported (p9501 > 0) Yes No 2804
03 SS1 supported Yes No 2804
04 Extended Functions PROFIsafe supported Yes No -
05 Extended Functions integrated in drive sup- Yes No -
ported (p9601.2 = 1)
06 Basic Functions PROFIsafe supported Yes No -
07 Extended Functions encoderless supported Yes No -
08 Safe Brake Adapter supported Yes No -

© Siemens AG 2012 All Rights Reserved 1-601

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 Parameter
List of parameters

09 Basic Functions PROFIsafe for parallel con- Yes No -

nection supported
10 Extended Functions integrated in drive for Yes No -
parallel connection
11 Extended Functions SDI supported Yes No -
12 Extended Functions SSM encoderless sup- Yes No -
ported
Dependency: Refer to: r9871
Note: SBC: Safe Brake Control
SS1: Safe Stop 1
STO: Safe Torque Off

r9772.0...23 CO/BO: SI status (processor 1) / SI status P1

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 2804
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the Safety Integrated status on processor 1.
Bit field: Bit Signal name 1 signal 0 signal FP
00 STO selected on Control Unit Yes No 2810
01 STO active on Control Unit Yes No 2810
02 SS1 delay time active on the Control Unit Yes No 2810
04 SBC requested Yes No 2814
05 SS1 selected on the Control Unit (Basic Yes No -
Functions)
06 SS1 active on the Control Unit (Basic Func- Yes No -
tions)
09 STOP A cannot be acknowledged, active Yes No 2802
10 STOP A active Yes No 2802
15 STOP F active Yes No 2802
16 STO cse: Safety comm. mode Yes No -
17 STO cause selection via terminal (Basic Yes No -
Functions)
18 STO cause: selection via SMM Yes No -
19 STO cause actual value missing Yes No -
20 STO cause selection PROFIsafe (Basic Yes No -
Functions)
22 SS1 cause selection terminal (Basic Func- Yes No -
tions)
23 SS1 cause selection PROFIsafe (Basic Yes No -
Functions)
Dependency: Refer to: r9872
Note: Re bit 00:
When STO is selected, the cause is displayed in bits 16 ... 20.
Re bit 05:
When SS1 is selected, the cause is displayed in bits 22 and 23.
Re bit 18:
When the bit is set, STO is selected via PROFIsafe.
Re bit 19:
With SMM encoderless no actual value sensing is possible on account of OFF2.
With SMM with encoder no actual value sensing is possible on account of parking.
SMM: Safe Motion Monitoring

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 Parameter
List of parameters

r9773.0...31 CO/BO: SI status (processor 1 + processor 2) / SI status P1+P2

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 2804
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the Safety Integrated status on the drive (processor 1 + processor 2).
Bit field: Bit Signal name 1 signal 0 signal FP
00 STO selected in drive Yes No 2804
01 STO active in drive Yes No 2804
02 SS1 delay time active in the drive Yes No 2804
04 SBC requested Yes No 2804
05 SS1 selected in the drive (Basic Functions) Yes No -
06 SS1 active in the drive (Basic Functions) Yes No -
31 Shutdown paths must be tested Yes No 2810
Note: This status is formed from the AND operation of the relevant status of the two monitoring channels.

r9776 SI diagnostics / SI diagnostics

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 4
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: The parameter is used for diagnostics.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Safety parameter changed POWER ON Yes No -
required
Note: Re bit 00 = 1:
At least one Safety parameter has been changed that will only take effect after a POWER ON.

r9780 SI monitoring clock cycle (Control Unit) / SI monitor_clck CU

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2802
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [ms] - [ms] - [ms]
Description: Displays the clock cycle time for the Safety Integrated Basic Functions on the Control Unit.
Dependency: Refer to: r9880

r9781[0...1] SI checksum to check changes (Control Unit) / SI chg chksm CU

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the checksum for tracking changes for Safety Integrated.
These are additional checksums that are created to track changes (fingerprint for the "safety logbook" functionality)
to safety parameters (that are relevant for checksums).

© Siemens AG 2012 All Rights Reserved 1-603

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 Parameter
List of parameters

Index: [0] = SI checksum to track functional changes

[1] = SI checksum to track hardware-specific changes
Dependency: Refer to: p9601, p9729, p9799
Refer to: F01690

r9782[0...1] SI time stamps to check changes (Control Unit) / SI chg t CU

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [h] - [h] - [h]
Description: Displays the time stamps for the checksums for tracking changes for Safety Integrated.
The time stamps for the checksums for tracking changes (fingerprint for the "safety logbook" functionality) made to
safety parameters are saved in parameters p9781[0] and p9781[1].
Index: [0] = SI time stamp for checksum to track functional changes
[1] = SI time stamp for checksum to track hardware-specific changes
Dependency: Refer to: p9601, p9729, p9799
Refer to: F01690

p9783 SI motion synchr. motor current injection sensorless / SI Mtn SM Id SL

SERVO_S110-CAN, Can be changed: U, T Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
-50.00 [%] 0.00 [%] -20.00 [%]
Description: Sets the field-generating current for sensorless actual value sensing of synchronous motors.
For synchronous motors, this current is fed in using sensorless safety functions.
The value must fulfill the following condition: |p0305 x p9783| >= p9588 x 1.2
Dependency: Refer to: p9588
Refer to: C01711
Notice: Reducing this percentage value can adversely affect actual value sensing with synchronous motors.
If the value is increased, this results in an increased motor power loss.
Note: This parameter is only effective for encoderless actual value sensing (p9306/p9506 = 1).

r9794[0...19] SI crosswise comparison list (processor 1) / SI CDC_list P1

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 2802
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the numbers of the data items that are currently being compared crosswise on processor 1.
The content of the list of crosswise-compared data is dependent upon the particular application.
Dependency: Refer to: r9894
Note: Example:
r9794[0] = 1 (monitoring clock cycle)
r9794[1] = 2 (enable safety functions)
r9794[2] = 3 (F-DI changeover, tolerance time)
...
A complete list of numbers for crosswise-compared data items appears in fault F01611.

1-604 © Siemens AG 2012 All Rights Reserved

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 Parameter
List of parameters

r9795 SI diagnostics STOP F (Control Unit) / SI diag STOP F CU

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 2802
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the number of the cross-checked data which has caused STOP F on the Control Unit.
Dependency: Refer to: r9895
Refer to: F01611
Note: A complete list of numbers for crosswise-compared data items appears in fault F01611.

r9798 SI actual checksum SI parameters (Control Unit) / SI act_checksum CU

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 2800
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the checksum over the checked Safety Integrated parameters on the Control Unit (actual checksum).
Dependency: Refer to: p9799, r9898

p9799 SI reference checksum SI parameters (Control Unit) / SI set_checksum CU

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 2800
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex FFFF FFFF hex 0000 hex
Description: Sets the checksum for the checked Safety Integrated parameters on the Control Unit (reference checksum).
Dependency: Refer to: r9798, p9899

p9801 SI enable, functions integrated in the drive (processor 2) / SI enable fct P2

SERVO_S110-CAN Can be changed: C2(95) Calculated: - Access level: 3
Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 bin
Description: Sets the enable signals for safety functions on processor 2 that are integrated in the drive.
Not all possible settings may be permissible, depending on the Control Unit and Motor Module or Power Module
being used.
Bit field: Bit Signal name 1 signal 0 signal FP
00 STO (SH) via terminals (Motor Module) Enable Inhibit 2810
enable
02 Motion monitoring functions integr. in the Enable Inhibit -
drive (Motor Module)
Dependency: Refer to: p9601, r9871
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Note: STO: Safe Torque Off
SMM: Safe Motion Monitoring
A change only becomes effective after a POWER ON.

© Siemens AG 2012 All Rights Reserved 1-605

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 Parameter
List of parameters

p9801 SI enable, functions integrated in the drive (processor 2) / SI enable fct P2

SERVO_S110-DP, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-PN Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 bin
Description: Sets the enable signals for safety functions on processor 2 that are integrated in the drive.
Not all possible settings may be permissible, depending on the Control Unit and Motor Module or Power Module
being used.
Bit field: Bit Signal name 1 signal 0 signal FP
00 STO (SH) via terminals (Motor Module) Enable Inhibit 2810
enable
02 Motion monitoring functions integr. in the Enable Inhibit -
drive (Motor Module)
03 PROFIsafe (Motor Module) enable Enable Inhibit -
Dependency: Refer to: p9601, r9871
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Note: STO: Safe Torque Off
SMM: Safe Motion Monitoring
A change only becomes effective after a POWER ON.

p9802 SI enable Safe Brake Control (processor 2) / SI enable SBC P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer32 Dynamic index: - Func. diagram: 2814
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Sets the enable signal for the "Safe Brake Control" (SBC) function on processor 2.
0: Inhibit SBC
1: Enable SBC
Dependency: Refer to: p9602
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Note: The "Safe Brake Control" function is not activated until at least one safety monitoring function has been enabled
(i.e. p9501 not equal to 0 and/or p9801 not equal to 0).
It does not make sense to parameterize "no motor holding brake available" and enable "Safe Brake Control" (p1215
= 0, p9602 = p9802 = 1) if there is no motor holding brake.
It does not make sense to parameterize "motor holding brake the same as sequence control, connection via BICO"
and enable "Safe Brake Control" (p1215 = 3, p9602 = p9802 = 1).
It is not permissible to parameterize "motor holding brake without feedback signals" and enable "Safe Brake Con-
trol" (p1278 = 1, p9602 = p9802 = 1).
SBC: Safe Brake Control

p9810 SI PROFIsafe address (processor 2) / SI PROFIsafe P2

SERVO_S110-DP, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-PN Data type: Unsigned16 Dynamic index: - Func. diagram: -
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex FFFE hex 0000 hex
Description: Sets the PROFIsafe address on processor 2.
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.

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 Parameter
List of parameters

p9850 SI F-DI changeover tolerance time (processor 2) / SI F-DI_chg tol P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2810
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [µs] 2000000.00 [µs] 500000.00 [µs]
Description: Sets the tolerance time for the changeover of the safety-related inputs on processor 2.
An F-DI changeover is not effective simultaneously due to the different runtimes in the two monitoring channels.
After an F-DI changeover, dynamic data is not subject to a crosswise data comparison during this tolerance time.
Dependency: Refer to: p9650
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Note: For a crosswise data comparison between p9650 and p9850, a difference of one Safety monitoring clock cycle is
tolerated.
The parameterized time is internally rounded-off to an integer multiple of the monitoring clock cycle.
F-DI: Failsafe Digital Input

p9851 SI STO/SBC/SS1 debounce time (processor 2) / SI STO t_debou P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [µs] 100000.00 [µs] 0.00 [µs]
Description: Sets the debounce time for the digital input used to control STO/SBC/SS1.
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Note: The debounce time is rounded to whole milliseconds. It specifies the maximum duration of a fault pulse at the fail-
safe digital inputs with no reaction/influence on the selection or deselection of the Safety Basic Functions.
Example:
Debounce time = 1 ms: Fault pulses of 1 ms are filtered; only pulses longer than 2 ms are processed.
Debounce time = 3 ms: Fault pulses of 3 ms are filtered; only pulses longer than 4 ms are processed.

p9852 SI Safe Stop 1 delay time (processor 2) / SI Stop 1 t_del P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [ms] 300000.00 [ms] 0.00 [ms]
Description: Sets the delay time of the pulse suppression for the "Safe Stop 1" (SS1) function on processor 2 to brake along the
OFF3 down ramp (p1135).
Recommend.: In order that the drive can completely ramp-down along the OFF3 ramp and a motor holding brake that is possibly
available can close, then the delay time should be set as follows:
Motor holding brake parameterized: delay time >= p1135 + p1228 + p1217
Motor holding brake not parameterized: delay time >= p1135 + p1228
Dependency: Refer to: p1135, p9652
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Note: For a crosswise data comparison between p9652 and p9852, a difference of one Safety monitoring clock cycle is
tolerated.
The parameterized time is rounded internally to an integer multiple of the monitoring clock cycle.
SS1: Safe Stop 1 (corresponds to Stop Category 1 acc. to EN60204)

© Siemens AG 2012 All Rights Reserved 1-607

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 Parameter
List of parameters

p9858 SI transition time STOP F to STOP A (processor 2) / SI STOP F->A P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2802
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [µs] 30000000.00 [µs] 0.00 [µs]
Description: Sets the transition period from STOP F to STOP A on processor 2.
Dependency: Refer to: p9658, r9895
Refer to: F30611
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Note: For a crosswise data comparison between p9658 and p9858, a difference of one Safety monitoring clock cycle is
tolerated.
The parameterized time is rounded internally to an integer multiple of the monitoring clock cycle.
STOP F: Defect in a monitoring channel (error in the crosswise data comparison)
STOP A: Pulse suppression via the safety shutdown path

r9871 SI common functions (processor 2) / SI common fct P2

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 2804
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the Safety Integrated monitoring functions supported on processor 1 and processor 2.
Processor 2 determines this display.
Bit field: Bit Signal name 1 signal 0 signal FP
00 STO supported via terminals Yes No 2804
01 SBC supported Yes No 2804
02 Extended Functions supported (p9501 > 0) Yes No 2804
03 SS1 supported Yes No 2804
04 Extended Functions PROFIsafe supported Yes No -
05 Extended Functions integrated in drive sup- Yes No -
ported (p9601.2 = 1)
06 Basic Functions PROFIsafe supported Yes No -
07 Extended Functions encoderless supported Yes No -
08 Safe Brake Adapter supported Yes No -
09 Basic Functions PROFIsafe for parallel con- Yes No -
nection supported
10 Extended Functions integrated in drive for Yes No -
parallel connection
11 Extended Functions SDI supported Yes No -
12 Extended Functions SSM encoderless sup- Yes No -
ported
Dependency: Refer to: r9771
Note: MM: Motor Module
SBC: Safe Brake Control
SDI: Safe Direction (safe motion direction)
SI: Safety Integrated
SS1: Safe Stop 1
STO: Safe Torque Off / SH: Safe standstill
SSM: Safe Speed Monitor (safety-relevant feedback signal from the velocity monitoring) / SGA n < nx: Safety-
related output n < nx
ESR: Extended Stop and Retract

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 Parameter
List of parameters

r9872.0...24 CO/BO: SI status (processor 2) / SI Status P2

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 2804
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the Safety Integrated status on processor 2.
Bit field: Bit Signal name 1 signal 0 signal FP
00 STO on Motor Module selected Yes No 2810
01 STO on Motor Module active Yes No 2810
02 SS1 delay time on Motor Module active Yes No 2810
03 Safe Brake Adapter feedback signal Yes No 2814
04 SBC requested Yes No 2814
05 SS1 selected on the Motor Module (Basic Yes No -
Functions)
06 SS1 active on the Motor Module (Basic Yes No -
Functions)
09 STOP A cannot be acknowledged, active Yes No 2802
10 STOP A active Yes No 2802
15 STOP F active Yes No 2802
16 STO cse: Safety comm. mode Yes No -
17 STO cause selection via terminal (Basic Yes No -
Functions)
18 STO cause: selection via SMM Yes No -
20 STO cause selection PROFIsafe (Basic Yes No -
Functions)
22 SS1 cause selection terminal (Basic Func- Yes No -
tions)
23 SS1 cause selection PROFIsafe (Basic Yes No -
Functions)
24 Slave Motor Module ready for communica- Yes No -
tion
Dependency: Refer to: r9772
Notice: If communication between processor 1 and processor 2 is interrupted, then this display parameter is no longer
updated. The last transferred status of processor 2 is displayed.
Note: Re bit 00:
When STO is selected, the cause is displayed in bits 16 ... 18 and in bit 20.
Re bit 05:
When SS1 is selected, the cause is displayed in bits 22 and 23.
Re bit 18:
When the bit is set, STO is selected via PROFIsafe.
SMM: Safe Motion Monitoring

r9880 SI monitoring clock cycle (processor 2) / SI mon_clk cyc P2

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2802
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [ms] - [ms] - [ms]
Description: Displays the clock cycle time for the Safety Integrated Basic Functions on processor 2.
Dependency: Refer to: r9780

© Siemens AG 2012 All Rights Reserved 1-609

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 Parameter
List of parameters

r9881[0...11] SI Motion Sensor Module Node Identifier second channel / SI Mtn SM Ident
SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned8 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the Node Identifier of the Sensor Module that the second channel uses for the motion monitoring func-
tions.

r9890[0...2] SI version (Sensor Module) / SI version SM

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the Safety Integrated version on the Sensor Module.
Index: [0] = Safety Version (major release)
[1] = Safety Version (minor release)
[2] = Safety Version (baselevel or patch)
Dependency: Refer to: r9770
Note: Example:
r9890[0] = 2, r9890[1] = 3, r9890[2] = 1 --> Safety-Version V02.03.01

r9894[0...19] SI crosswise comparison list (processor 2) / SI CDC_list P2

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 2802
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the numbers of the data items that are currently being compared crosswise on processor 2.
The content of the list of crosswise-compared data is dependent upon the particular application.
Dependency: Refer to: r9794
Note: Example:
r9894[0] = 1 (monitoring clock cycle)
r9894[1] = 2 (enable safety functions)
r9894[2] = 3 (F-DI changeover, tolerance time)
...
The complete list of numbers for crosswise data comparison is listed in Fault F30611.

r9895 SI diagnostics STOP F (processor 2) / SI diag STOP F P2

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 2
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 2802
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the number of the cross-checked data item which caused STOP F on processor 2.
Dependency: Refer to: r9795
Refer to: F30611

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 Parameter
List of parameters

Note: The complete list of numbers for crosswise data comparison is listed in Fault F30611.

r9898 SI actual checksum SI parameters (processor 2) / SI act_chksm P2

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 2800
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the checksum for the Safety Integrated parameters checked using checksums on processor 2 (actual
checksum).
Dependency: Refer to: r9798, p9899

p9899 SI setpoint checksum SI parameters (processor 2) / SI setp_chksm P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 2800
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex FFFF FFFF hex 0000 hex
Description: Sets the checksum for the Safety Integrated parameters checked using checksums on processor 2 (setpoint check-
sum).
Dependency: Refer to: p9799, r9898

r9900 Actual topology number of indices / Act topo indices

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Topology Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the number of indices of the actual topology.
Dependency: Refer to: r9901
Note: Only for internal Siemens use.
The parameter is not displayed for the STARTER commissioning software.

r9901[0...n] Actual topology / Act topo

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned16 Dynamic index: r9900 Func. diagram: -
CU_S110-PN
P-Group: Topology Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
- - -
Description: Displays the actual topology of the drive unit.
The actual topology is sub-divided into several sections. Each of the following data is saved under an index.
General data on the topology:
- version
- attribute to compare the actual topology and target topology
- number of components
Data on a component:
- type component of the node ID of the component
- number of DRIVE-CLiQ sockets in the Node Identifier
- manufacturer and version of the Node Identifier

© Siemens AG 2012 All Rights Reserved 1-611

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 Parameter
List of parameters

- serial number of the Node Identifier (4 indices)

- index of the component
- order number (8 indices)
- attribute to compare the actual topology and target topology of the component
- communications address
- number of port types
- port type
- number of ports of the port type
- communications address of the associated/linked component
- number of the associated/linked port
- communications address of the associated/linked component
- number of the associated port, etc.
Data on the next component:
- etc.
Dependency: Refer to: r9900
Note: Only for internal Siemens use.
The parameter is not displayed for the STARTER commissioning software.

p9902 Target topology number of indices / TargetTopo indices

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Topology Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
1 65535 1
Description: Sets the number of target topology indices.
Dependency: Refer to: p9903
Note: Only for internal Siemens use.
The parameter is not displayed for the STARTER commissioning software.

p9903[0...n] Target topology / Target topo

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned16 Dynamic index: p9902 Func. diagram: -
CU_S110-PN
P-Group: Topology Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 0
Min Max Factory setting
0000 hex FFFF hex 0000 hex
Description: Sets the target topology of the drive unit.
The target topology is sub-divided into several sections. Each of the following data is saved under an index.
General data on the topology:
- version
- attribute to compare the actual topology and target topology
- number of components
Data on a component:
- type component of the Node Identifier of the component
- number of DRIVE-CLiQ sockets in the Node Identifier
- manufacturer and version of the Node Identifier
- serial number of the Node Identifier (4 indices)
- index of the component
- order number (8 indices)
- attribute to compare the actual topology and target topology of the component
- component number
- number of port types

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 Parameter
List of parameters

- port type
- number of ports of the port type
- component number of the associated/linked component
- number of the associated/linked port
- component number of the associated/linked component
- number of the associated port, etc.
Data on the next component:
- etc.
Dependency: Refer to: p9902
Note: The target topology can only be modified using the commissioning software.
Only for internal Siemens use.
The parameter is not displayed for the STARTER commissioning software.
Changes do not become effective until they have been accepted with p9428 = 1, or on change of status from p0009
= 101 to 0 or 111.

p9904 Topology comparison, acknowledge differences / Topo_compare ackn

CU_S110-CAN, Can be changed: C1(1) Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Topology Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex FFFF FFFF hex 0000 hex
Description: If, when comparing the actual topology and target topology, only error has occurred, that can be acknowledged,
then using this parameter, a new comparison can be started - acknowledging the error in the target topology.
Differences that can be acknowledged:
- topology comparison, component shifted
- topology comparison, serial number of a component has been detected to be different (byte 3 = 1)
- topology comparison shows one component that is connected differently
The following parameter values are available:
p9904 = 1 --> the procedure is started.
p9904 = 0 after starting --> the procedure has been successfully completed.
p9904 = 1 after starting --> the procedure has not been successfully completed.
The possible causes for an unsuccessful procedure are located in bytes 4, 3, 2.
Byte 2:
Number of structural differences.
Byte 3:
Number of differences that can be acknowledged (p9904).
Byte 4:
Number of differences. These differences can be resolved as follows:
- sets the topology comparison (p9906 or p9907/p9908).
- change over the actual topology.
The appropriate action should be selected corresponding to the message that is displayed/output.
Note: In order to permanently accept the acknowledgement of the fault that can be resolved, then it must be saved in a
non-volatile fashion (p0977).

© Siemens AG 2012 All Rights Reserved 1-613

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 Parameter
List of parameters

p9905 Device specialization / Specialization

CU_S110-CAN, Can be changed: C1(1) Calculated: - Access level: 3
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Topology Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 2 0
Description: With p9905 = 1, the serial numbers and the hardware versions of all of the components are transferred from the
actual topology into the target topology and a new comparison is started..
For this device specialization, the components of the target topology may only differ from those of the actual topol-
ogy by the serial numbers.
With p9905 = 2, the serial numbers, the hardware versions and the order numbers of all of the components are
transferred from the actual topology into the target topology and a new comparison is started..
For this device specialization, the components of the target topology may only differ from those of the actual topol-
ogy by the serial numbers and order numbers.
Note: p9905 is automatically set to 0 at the end of the operation.
In order to permanently accept the data, it is necessary to save in a non-volatile fashion (p0977).

p9910 Transfer additional components into the target topology / Transfer comp
CU_S110-CAN, Can be changed: C1(1) Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Topology Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 6 0
Description: Transfer additional inserted DRIVE-CLiQ components into the target topology and add the appropriate drive objects
to the project.
Value: 0: No selection
1: Drive object type SERVO
2: Drive object type VECTOR
3: SINAMICS GM (DFEMV & VECTORMV)
4: SINAMICS SM (AFEMV & VECTORMV)
5: SINAMICS GL (VECTORGL)
6: SINAMICS SL (VECTORSL)

p9915 DRIVE-CLiQ data transfer error shutdown threshold master / DLQ fault master
CU_S110-CAN, Can be changed: C1(1) Calculated: - Access level: 4
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Topology Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex 0007 07FF hex 0007 02FF hex
Description: Only for internal Siemens service purposes.

p9916 DRIVE-CLiQ data transfer error shutdown threshold slave / DLQ fault slave
CU_S110-CAN, Can be changed: C1(1) Calculated: - Access level: 4
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: Topology Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex 0007 07FF hex 0007 02FF hex
Description: Only for internal Siemens service purposes.

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 Parameter
List of parameters

p9920[0...99] Licensing, enter license key / Enter license key

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
CU_S110-DP, Data type: Unsigned8 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Enters the license key for this drive unit.
Example of the license key:
EACZ-QBCA = 69 65 67 90 45 81 66 67 65 dec (ASCII characters)
Index 0 = license key character 1 (e.g. 69 dec)
Index 1 = license key character 2 (e.g. 65 dec)
...
Index 8 = license key character 9 (e.g. 65 dec)
Index 9 = license key character 20 (e.g. 0 dec)
...
With the STARTER commissioning software, ASCII characters are not entered coded, i.e. the characters of the
license key can be entered as printed in the Certificate of License. In this case, STARTER codes the characters.
Dependency: Refer to: r7843, p9921
Refer to: A13000, A13001, F13010
Notice: An ASCII table (excerpt) can be found, for example, in the appendix to the List Manual.
Note: If there is not a valid license key present, all the indices have the value 0 dec.
Only the ASCII characters, contained in a license key can be entered.
When changing p9920[x] to the value 0 dec, all the values of all the following indices are also set to 0 dec.
After entering the license key, the license key must be activated (p9921).
If the licensing is not adequate, then the following alarm is displayed together with LED:
- A13000 --> licensing not sufficient
- LED READY --> flashes green/red with 0.5 Hz

p9921 Licensing, activate license key / Act license key

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 2
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 1 0
Description: Activates the entered license key.
The following is executed when activating the license key.
- the checksum of the entered license key is checked.
- the entered license key is saved in a non-volatile fashion on the memory card.
- re-enter the license key.
Value: 0: Inactive
1: Activate start license key
Dependency: Refer to: p9920
Refer to: A13000, A13001, F13010
Note: Before activation, the license key entered using parameter p9920 is checked. If this check identifies an error, acti-
vation is rejected. In this case, writing a 1 to p9921 is rejected.
When the license key has been activated, p9921 is automatically set to 0.

© Siemens AG 2012 All Rights Reserved 1-615

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 Parameter
List of parameters

r9925[0...99] Firmware file incorrect / FW file incorr

CU_S110-CAN, Can be changed: - Calculated: - Access level: 2
CU_S110-DP, Data type: Unsigned8 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the directory and name of the file whose status as shipped from the factory was identified as impermissi-
ble.
Dependency: Refer to: r9926
Refer to: A01016
Note: The directory and name of the file is displayed in the ASCII code.

r9926 Firmware check status / FW check status

CU_S110-CAN, Can be changed: - Calculated: - Access level: 2
CU_S110-DP, Data type: Unsigned8 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the status when the firmware is checked when the system is booted.
0: Firmware not yet checked.
1: Check running.
2: Check successfully completed.
3: Check indicates an error.
Dependency: Refer to: r9925
Refer to: A01016

p9930[0...8] System logbook activation / SYSLOG activation

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
CU_S110-DP, Data type: Unsigned8 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 255 0
Description: Only for service purposes.
Index: [0] = System logbook stage (0: Not active)
[1] = COM2/COM1 (0: COM2, 1: COM1)
[2] = Activate file write (0: Not active)
[3] = Display time stamp (0: Not displayed)
[4] = Reserved
[5] = Reserved
[6] = Reserved
[7] = Reserved
[8] = System logbook file size (stages, each 10 kB)
Notice: Before powering down the Control Unit, ensure that the system logbook is switched out (p9930[0] = 0).
If writing to the file is activated (p9930[2] = 1), writing to the file must be de-activated again before switching off the
Control Unit (p9930[2] = 0) in order to ensure that the system logbook has been completely written to the file.

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 Parameter
List of parameters

p9931[0...129] System logbook module selection / SYSLOG mod select.

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0000 hex FFFF FFFF hex 0000 hex
Description: Only for service purposes.

p9932 Save system logbook EEPROM / SYSLOG EEPROM save

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
CU_S110-DP, Data type: Unsigned8 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 255 0
Description: Only for service purposes.

r9975[0...7] System utilization measured / Sys util meas

CU_S110-CAN, Can be changed: - Calculated: - Access level: 4
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the measured system utilization.
The higher the value displayed, the higher the system utilization.
Index: [0] = Computing time utilization (min)
[1] = Computing time utilization (averaged)
[2] = Computing time utilization (max)
[3] = Largest total utilization (min)
[4] = Largest total utilization (averaged)
[5] = Largest total utilization (max)
[6] = Reserved
[7] = Reserved
Dependency: Refer to: r9976, r9979, r9980, r9981
Refer to: F01054, F01205
Note: Re index 3 ... 5:
The total utilizations are determined using all sampling times used. The largest total utilizations are mapped here.
The sampling time with the largest total utilization is displayed in r9979.
Total utilization:
Computing time load of sampling time involved including load from higher-priority sampling times (interrupts).

r9976[0...7] System utilization / Sys util

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the system utilization.
If the utilization is greater than 100%, fault F01054 is output.

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 Parameter
List of parameters

Index: [0] = Reserved

[1] = Computing time utilization
[2] = Reserved
[3] = Reserved
[4] = Reserved
[5] = Largest total utilization
[6] = Reserved
[7] = Reserved
Dependency: Refer to: r9979, r9980
Refer to: F01054, F01205
Note: Re index 1:
The value shows the total computing time load of the system.
Re index 5:
The total utilization is determined using all sampling times used. The largest total utilization is mapped here. The
sampling time with the largest total utilization is displayed in r9979.
Total utilization:
Computing time load of sampling time involved including load from higher-priority sampling times (interrupts).

r9979 Sampling time with largest total utilization / t_sampl lg total

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [µs] - [µs] - [µs]
Description: Displays the sampling time with the largest total utilization.
Dependency: Refer to: r7901, r9976
Refer to: F01054
Note: The largest total utilization is displayed in r9976[5].
Total utilization:
Computing time load of sampling time involved including load from higher-priority sampling times (interrupts).

r9980[0...101] Sampling times utilization calculated / t_sampl util calc

CU_S110-CAN, Can be changed: - Calculated: - Access level: 4
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the calculated utilizations for the active sampling times based on the existing target topology.
Index: [0] = Net utilization 0
[1] = Total utilization 0
[2] = Net utilization 1
[3] = Total utilization 1
[4] = Net utilization 2
[5] = Total utilization 2
[6] = Net utilization 3
[7] = Total utilization 3
[8] = Net utilization 4
[9] = Total utilization 4
[10] = Net utilization 5
[11] = Total utilization 5
[12] = Net utilization 6
[13] = Total utilization 6
[14] = Net utilization 7
[15] = Total utilization 7
[16] = Net utilization 8

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 Parameter
List of parameters

[17] = Total utilization 8

[18] = Net utilization 9
[19] = Total utilization 9
[20] = Net utilization 10
[21] = Total utilization 10
[22] = Net utilization 11
[23] = Total utilization 11
[24] = Net utilization 12
[25] = Total utilization 12
[26] = Net utilization 13
[27] = Total utilization 13
[28] = Net utilization 14
[29] = Total utilization 14
[30] = Net utilization 15
[31] = Total utilization 15
[32] = Net utilization 16
[33] = Total utilization 16
[34] = Net utilization 17
[35] = Total utilization 17
[36] = Net utilization 18
[37] = Total utilization 18
[38] = Net utilization 19
[39] = Total utilization 19
[40] = Net utilization 20
[41] = Total utilization 20
[42] = Net utilization 21
[43] = Total utilization 21
[44] = Net utilization 22
[45] = Total utilization 22
[46] = Net utilization 23
[47] = Total utilization 23
[48] = Net utilization 24
[49] = Total utilization 24
[50] = Net utilization 25
[51] = Total utilization 25
[52] = Net utilization 26
[53] = Total utilization 26
[54] = Net utilization 27
[55] = Total utilization 27
[56] = Net utilization 28
[57] = Total utilization 28
[58] = Net utilization 29
[59] = Total utilization 29
[60] = Net utilization 30
[61] = Total utilization 30
[62] = Net utilization 31
[63] = Total utilization 31
[64] = Net utilization 32
[65] = Total utilization 32
[66] = Net utilization 33
[67] = Total utilization 33
[68] = Net utilization 34
[69] = Total utilization 34
[70] = Net utilization 35
[71] = Total utilization 35
[72] = Net utilization 36
[73] = Total utilization 36
[74] = Net utilization 37
[75] = Total utilization 37
[76] = Net utilization 38
[77] = Total utilization 38
[78] = Net utilization 39
[79] = Total utilization 39
[80] = Net utilization 40

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 Parameter
List of parameters

[81] = Total utilization 40

[82] = Net utilization 41
[83] = Total utilization 41
[84] = Net utilization 42
[85] = Total utilization 42
[86] = Net utilization 43
[87] = Total utilization 43
[88] = Net utilization 44
[89] = Total utilization 44
[90] = Net utilization 45
[91] = Total utilization 45
[92] = Net utilization 46
[93] = Total utilization 46
[94] = Net utilization 47
[95] = Total utilization 47
[96] = Net utilization 48
[97] = Total utilization 48
[98] = Net utilization 49
[99] = Total utilization 49
[100] = Net utilization 50
[101] = Total utilization 50
Dependency: Refer to: r7901, r9976, r9979
Refer to: F01054
Note: The corresponding sampling times can be read out in parameter r7901.
Net utilization:
Computing time load that is only called by the sampling time involved.
Total utilization:
Computing time load of sampling time involved including load from higher-priority sampling times (interrupts).

r9981[0...101] Sampling times utilization measured / t_sampl util meas

CU_S110-CAN, Can be changed: - Calculated: - Access level: 4
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the utilizations measured for the active sampling times.
Index: [0] = Net utilization 0
[1] = Total utilization 0
[2] = Net utilization 1
[3] = Total utilization 1
[4] = Net utilization 2
[5] = Total utilization 2
[6] = Net utilization 3
[7] = Total utilization 3
[8] = Net utilization 4
[9] = Total utilization 4
[10] = Net utilization 5
[11] = Total utilization 5
[12] = Net utilization 6
[13] = Total utilization 6
[14] = Net utilization 7
[15] = Total utilization 7
[16] = Net utilization 8
[17] = Total utilization 8
[18] = Net utilization 9
[19] = Total utilization 9
[20] = Net utilization 10
[21] = Total utilization 10
[22] = Net utilization 11

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 Parameter
List of parameters

[23] = Total utilization 11

[24] = Net utilization 12
[25] = Total utilization 12
[26] = Net utilization 13
[27] = Total utilization 13
[28] = Net utilization 14
[29] = Total utilization 14
[30] = Net utilization 15
[31] = Total utilization 15
[32] = Net utilization 16
[33] = Total utilization 16
[34] = Net utilization 17
[35] = Total utilization 17
[36] = Net utilization 18
[37] = Total utilization 18
[38] = Net utilization 19
[39] = Total utilization 19
[40] = Net utilization 20
[41] = Total utilization 20
[42] = Net utilization 21
[43] = Total utilization 21
[44] = Net utilization 22
[45] = Total utilization 22
[46] = Net utilization 23
[47] = Total utilization 23
[48] = Net utilization 24
[49] = Total utilization 24
[50] = Net utilization 25
[51] = Total utilization 25
[52] = Net utilization 26
[53] = Total utilization 26
[54] = Net utilization 27
[55] = Total utilization 27
[56] = Net utilization 28
[57] = Total utilization 28
[58] = Net utilization 29
[59] = Total utilization 29
[60] = Net utilization 30
[61] = Total utilization 30
[62] = Net utilization 31
[63] = Total utilization 31
[64] = Net utilization 32
[65] = Total utilization 32
[66] = Net utilization 33
[67] = Total utilization 33
[68] = Net utilization 34
[69] = Total utilization 34
[70] = Net utilization 35
[71] = Total utilization 35
[72] = Net utilization 36
[73] = Total utilization 36
[74] = Net utilization 37
[75] = Total utilization 37
[76] = Net utilization 38
[77] = Total utilization 38
[78] = Net utilization 39
[79] = Total utilization 39
[80] = Net utilization 40
[81] = Total utilization 40
[82] = Net utilization 41
[83] = Total utilization 41
[84] = Net utilization 42
[85] = Total utilization 42
[86] = Net utilization 43

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 Parameter
List of parameters

[87] = Total utilization 43

[88] = Net utilization 44
[89] = Total utilization 44
[90] = Net utilization 45
[91] = Total utilization 45
[92] = Net utilization 46
[93] = Total utilization 46
[94] = Net utilization 47
[95] = Total utilization 47
[96] = Net utilization 48
[97] = Total utilization 48
[98] = Net utilization 49
[99] = Total utilization 49
[100] = Net utilization 50
[101] = Total utilization 50
Dependency: Refer to: r7901, r9975, r9980
Refer to: F01054
Note: The corresponding sampling times can be read out in parameter r7901.
Net utilization:
Computing time load that is only called by the sampling time involved.
Total utilization:
Computing time load of sampling time involved including load from higher-priority sampling times (interrupts).

r9982[0...4] Data memory utilization / Mem_util dat_mem

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the calculated data memory utilization rates based on the existing target topology.
Index: [0] = Fast Memory 1
[1] = Fast Memory 2
[2] = Fast Memory 3
[3] = Fast Memory 4
[4] = Reserved
Dependency: Refer to: F01068

r9983[0...4] Measured data memory utilization (actual load) / Mem_ut dat_mem ms

CU_S110-CAN, Can be changed: - Calculated: - Access level: 4
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the measured data memory utilization rates based on the existing target topology.
Index: [0] = Fast Memory 1
[1] = Fast Memory 2
[2] = Fast Memory 3
[3] = Fast Memory 4
[4] = Heap
Dependency: Refer to: F01068

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r9984[0...4] Data memory utilization OA / Mem_ut dat_mem OA

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the utilization of the data memory by OA applications.
Index: [0] = Fast Memory 1
[1] = Fast Memory 2
[2] = Fast Memory 3
[3] = Fast Memory 4
[4] = Reserved
Dependency: Refer to: F01068

r9986[0...7] DRIVE-CLiQ system load / DQ system load

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the calculated DRIVE-CLiQ system load based on the existing target topology.
The values are not made available until the RUNUP READY (800) state is adopted (see p3988).
Index 0 ... 7 corresponds to DRIVE-CLiQ socket X100 ... X107.

r9987[0...7] DRIVE-CLiQ bandwidth load / DQ bandw load

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the calculated DRIVE-CLiQ bandwidth load based on the existing target topology.
The values are not made available until the RUNUP READY (800) state is adopted (see p3988).
Index 0 ... 7 corresponds to DRIVE-CLiQ socket X100 ... X107.

r9988[0...7] DRIVE-CLiQ DPRAM load / DQ DPRAM load

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- [%] - [%] - [%]
Description: Displays the calculated DRIVE-CLiQ DPRAM load based on the existing target topology.
The values are not made available until the RUNUP READY (800) state is adopted (see p3988).
Index 0 ... 7 corresponds to DRIVE-CLiQ socket X100 ... X107.

© Siemens AG 2012 All Rights Reserved 1-623

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 Parameter
List of parameters

p9990 DO memory usage actual value determination selection / Mem_use ActVal sel
CU_S110-CAN, Can be changed: T Calculated: - Access level: 4
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 65535 0
Description: The meaning of the parameter differs for reading and writing.
Read:
- Returns the number of memory areas monitored.
Write:
- Memory usage of a drive object: Enter drive object number
- Memory usage of the complete system: Enter value 65535

r9991[0...4] Memory usage actual values per DO / Mem_use ActVal/DO

CU_S110-CAN, Can be changed: - Calculated: - Access level: 4
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Index: [0] = Fast Memory 1
[1] = Fast Memory 2
[2] = Fast Memory 3
[3] = Fast Memory 4
[4] = Heap

r9992[0...4] Memory usage setpoints per DO / Mem_use setp/DO

CU_S110-CAN, Can be changed: - Calculated: - Access level: 4
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Index: [0] = Fast Memory 1
[1] = Fast Memory 2
[2] = Fast Memory 3
[3] = Fast Memory 4
[4] = Heap

r9993[0...4] OA memory usage / Mem_use OA

CU_S110-CAN, Can be changed: - Calculated: - Access level: 4
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Index: [0] = Fast Memory 1
[1] = Fast Memory 2
[2] = Fast Memory 3
[3] = Fast Memory 4
[4] = Heap

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 Parameter
List of parameters

p10001 SI delay time for test stop at DO / SI t_delay DO

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
4.00 [ms] 2000.00 [ms] 500.00 [ms]
Description: Sets the delay time for testing the digital output.
Within this time, for a forced checking procedure of the digital output, the signal must have been detected via the
corresponding readback input (p10047).
Dependency: Refer to: p10003, p10007, p10017, p10046
Note: The delay time must be set to a value greater than the debounce time (p10017).
Regardless of p10001, the forced checking procedure will pause for at least two safety monitoring clock cycles
between each stage of the test.
The test stop is only performed if the safety output is being used (see p10042).

p10002 SI discrepancy monitoring time / SI discrep t_monit

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
1.00 [ms] 2000.00 [ms] 500.00 [ms]
Description: Sets the monitoring time for the discrepancy for the digital inputs.
The signal states at the two associated digital inputs (F-DI) must assume the same state within this monitoring time.
Dependency: Refer to: p10102
Note: F-DI: Failsafe Digital Input

p10003 SI forced checking procedure timer / SI FrcdCkProcTimer

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [h] 8760.00 [h] 8.00 [h]
Description: Sets the time to carry out the forced checking procedure (test stop).
Within the parameterized time, the digital inputs/outputs must must have been subject to a forced checking proce-
dure at least once. The forced checking procedure is started with BI: p10007 = 0/1 signal.
Dependency: Refer to: p10002, p10007, p10046

p10006 SI acknowledgement internal event F-DI (processor 1) / SI ackn int evt P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 2848
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 255 0
Description: Select a safety-relevant digital input for the signal "acknowledge internal event" (internal fault).
The falling edge at this input resets the status "internal event" in the drive.
Value: 0: Statically active
1: F-DI 0
2: F-DI 1

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 Parameter
List of parameters

3: F-DI 2
255: Statically inact
Dependency: Refer to: p10106
Refer to: A01666, A30666
Note: F-DI: Failsafe Digital Input
If value = 0:
No terminal assigned, acknowledge input has a static zero value.

p10007 BI: SI forced checking procedure F-DO signal source / SI frc_chF-DO s_sc
SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 2848
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0
Description: Selects an input terminal to start the test stop.
The test stop is started with a 0/1 signal at the input terminal and is then only possible if the drive is not in commis-
sioning mode.
Dependency: Refer to: p10001, p10002, p10003, p10040, p10046

p10017 SI digital inputs debounce time (processor 1) / SI DI t_debounceP1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [ms] 100.00 [ms] 0.00 [ms]
Description: Sets the debounce time for digital inputs.
The debounce time is accepted rounded off to whole milliseconds.
The debounce time acts on the following digital inputs:
- Fail-safe digital inputs (F-DI).
- Single-channel digital inputs (DI).
- Single-channel digital input 22 (DI 22, read back input for the forced checking procedure).
Dependency: Refer to: p10117
Note: Example:
Debounce time = 1 ms: Fault pulses of 1 ms are filtered; only pulses longer than 2 ms are processed.
Debounce time = 3 ms: Fault pulses of 3 ms are filtered; only pulses longer than 4 ms are processed.
The debounce result can be read in r10051.

p10022 SI STO input terminal (processor 1) / SI STO F-DI P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 255 0
Description: Sets the fail-safe digital input (F-DI) for the "STO" function.
Value: 0: Statically active
1: F-DI 0
2: F-DI 1
3: F-DI 2
255: Statically inact
Dependency: Refer to: p10122

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 Parameter
List of parameters

Note: If value = 0:
No terminal assigned, safety function always active.
If value = 255:
No terminal assigned, safety function always inactive.
F-DI: Failsafe Digital Input
STO: Safe Torque Off

p10023 SI SS1 input terminal (processor 1) / SI SS1 F-DI P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 255 0
Description: Sets the fail-safe digital input (F-DI) for the "SS1" function.
Value: 0: Statically active
1: F-DI 0
2: F-DI 1
3: F-DI 2
255: Statically inact
Dependency: Refer to: p10123
Note: If value = 0:
No terminal assigned, safety function always active.
If value = 255:
No terminal assigned, safety function always inactive.
F-DI: Failsafe Digital Input
SS1: Safe Stop 1

p10024 SI SS2 input terminal (processor 1) / SI SS2 F-DI P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 255 0
Description: Sets the fail-safe digital input (F-DI) for the "SS2" function.
Value: 0: Statically active
1: F-DI 0
2: F-DI 1
3: F-DI 2
255: Statically inact
Note: If value = 0:
No terminal assigned, safety function always active.
If value = 255:
No terminal assigned, safety function always inactive.
F-DI: Failsafe Digital Input
SS2: Safe Stop 2

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p10025 SI SOS input terminal (processor 1) / SI SOS F-DI P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 255 0
Description: Sets the fail-safe digital input (F-DI) for the "SOS" function.
Value: 0: Statically active
1: F-DI 0
2: F-DI 1
3: F-DI 2
255: Statically inact
Note: If value = 0:
No terminal assigned, safety function always active.
If value = 255:
No terminal assigned, safety function always inactive.
F-DI: Failsafe Digital Input
SOS: Safe Operating Stop

p10026 SI SLS input terminal (processor 1) / SI SLS F-DI P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 255 0
Description: Sets the fail-safe digital input (F-DI) for the "SLS" function.
Value: 0: Statically active
1: F-DI 0
2: F-DI 1
3: F-DI 2
255: Statically inact
Dependency: Refer to: p10126
Note: If value = 0:
No terminal assigned, safety function always active.
If value = 255:
No terminal assigned, safety function always inactive.
F-DI: Failsafe Digital Input
SLS: Safely-Limited Speed

p10027 SI SLS limit bit 0 input terminal (processor 1) / SI SLS lim 0 DI P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 255 0
Description: Sets the fail-safe digital input (F-DI) for the limit value bit 0 of the "SLS" function.
Value: 0: Statically active
1: F-DI 0
2: F-DI 1
3: F-DI 2
255: Statically inact

1-628 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Note: If value = 0:
No terminal assigned, selection bit remains statically at "0".
If value = 255:
No terminal assigned, selection bit remains statically at "1".
F-DI: Failsafe Digital Input
SLS: Safely-Limited Speed

p10028 SI SLS limit bit 1 input terminal (processor 1) / SI SLS lim 1 DI P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 255 0
Description: Sets the fail-safe digital input (F-DI) for the limit value bit 1 of the "SLS" function.
Value: 0: Statically active
1: F-DI 0
2: F-DI 1
3: F-DI 2
255: Statically inact
Note: If value = 0:
No terminal assigned, selection bit remains statically at "0".
If value = 255:
No terminal assigned, selection bit remains statically at "1".
F-DI: Failsafe Digital Input
SLS: Safely-Limited Speed

p10030 SI SDI positive input terminal (processor 1) / SI SDI pos F-DI P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 255 0
Description: Sets the fail-safe digital input (F-DI) for the "SDI positive" function.
Value: 0: Statically active
1: F-DI 0
2: F-DI 1
3: F-DI 2
255: Statically inact
Note: If value = 0:
No terminal assigned, safety function always active.
If value = 255:
No terminal assigned, safety function always inactive.
F-DI: Failsafe Digital Input
SDI: Safe Direction (safe motion direction)

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p10031 SI SDI negative input terminal (processor 1) / SI SDI neg F-DI P1

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 255 0
Description: Sets the fail-safe digital input (F-DI) for the "SDI negative" function.
Value: 0: Statically active
1: F-DI 0
2: F-DI 1
3: F-DI 2
255: Statically inact
Note: If value = 0:
No terminal assigned, safety function always active.
If value = 255:
No terminal assigned, safety function always inactive.
F-DI: Failsafe Digital Input
SDI: Safe Direction (safe motion direction)

p10039 SI Safe State signal selection / SI Safe State Sel

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 2856
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 0001 bin
Description: Sets the signals for the drive group specific signal "Safe State".
Bit 0 = Power_removed
Bit 1 = SS1_active
Bit 2 = SS2_active
Bit 3 = SOS_active
Bit 4 = SLS_active
Bit 5 = SDI_pos_active
Bit 6 = SDI_neg_active
Bit field: Bit Signal name 1 signal 0 signal FP
00 Power_removed Selected Not selected -
01 SS1_active Selected Not selected -
02 SS2_active Selected Not selected -
03 SOS_active Selected Not selected -
04 SLS_active Selected Not selected -
05 SDI_pos_active Selected Not selected -
06 SDI_neg_active Selected Not selected -
Note: Bit = 0 signal --> not selected
Bit = 1 signal --> selected
The selected signals (high-active) are OR'ed The result of the logic operation results in the status "Safe State".

1-630 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p10040 SI F-DI input mode / SI F-DI inp_mode

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 bin
Description: Sets the input mode for the safety digital inputs (F-DI).
Bit field: Bit Signal name 1 signal 0 signal FP
00 F-DI 1 (X130.2) NO contact NC contact 2850
01 F-DI 2 (X130.5) NO contact NC contact 2850
02 F-DI 3 (X131.2) NO contact NC contact 2850
Note: Only an NC contact can be connected for the safety digital inputs not listed.

p10042[0...5] SI F-DO 0 signal sources / SI F-DO 0 S_src

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 2857
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 13 0
Description: Sets the signal sources for F-DO 0 (X131.5).
The 6 signal sources in p10042[0...5] are AND'ed and the result is output at F-DO 0.
Value: 0: No function
1: STO active
2: SS1 active
3: SS2 active
4: SOS active
5: SLS active
6: SSM feedback signal active
7: Safe state
8: SOS selected
9: Internal event
10: Active SLS stage bit 0
11: Active SLS stage bit 1
12: SDI positive active
13: SDI negative active
Index: [0] = AND logic operation input 1
[1] = AND logic operation input 2
[2] = AND logic operation input 3
[3] = AND logic operation input 4
[4] = AND logic operation input 5
[5] = AND logic operation input 6
Note: F-DO: Failsafe Digital Output

p10046 SI F-DO feedback signal input activation / SI F-DO FS act

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 bin
Description: Activates the readback input for the safety digital output (F-DO)
The test mode for the particular safety digital output is set in p10047.

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Bit field: Bit Signal name 1 signal 0 signal FP

00 Test F-DO 0 Test active No test -
Dependency: Refer to: p10001, p10003, p10007, p10047
Note: The test stop is only performed if the safety output of the Control Unit is being used (see p10042).

p10047 SI F-DO test stop mode / SI F-DO test mode

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0001 bin 0011 bin 0010 bin
Description: Sets the test stop mode for the safety digital output (F-DO)
Value: 1: Test mode 1 evaluation of int. diagnostic signal (passive load)
2: Test mode 2 read back F-DO in DI (relay circuit)
3: Test mode 3 read back F-DO in DI (actuator with feedback signal)
Dependency: Refer to: p10001, p10003, p10007, p10046
Note: The test stop is only performed if the safety output is being used (see p10042).

r10049 SI F-DI monitoring status (processor 1) / SI F-DI status P1

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the monitoring status of the fail-safe digital inputs (F-DI).
The F-DIs that are being used by the Safety Integrated functions are displayed.
If the module used has fewer than 3 F-DIs, "Freely available" is displayed for the F-DIs which are not in use.
Bit field: Bit Signal name 1 signal 0 signal FP
00 F-DI 0 Safety monitored Freely available -
01 F-DI 1 Safety monitored Freely available -
02 F-DI 2 Safety monitored Freely available -
Dependency: p10006 / p10106
p10022 / p10122
p10023 / p10123
p10024 / p10124
p10025 / p10125
p10026 / p10126
p10027 / p10127
p10028 / p10128
p10030 / p10130
p10031 / p10131
p10036 / p10136
p10050 / p10150
Refer to: r10149

1-632 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r10051.0...2 CO/BO: SI digital inputs status (processor 1) / SI DI status P1

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the single-channel debounced status of the digital inputs DI 16, DI 18, and DI 20.
Bit field: Bit Signal name 1 signal 0 signal FP
00 F-DI 0 CU High Low -
01 F-DI 1 CU High Low -
02 F-DI 2 CU High Low -
Dependency: Refer to: p9501, p9601, p10017, p10040, r10151
Note: If a safety function is assigned to an input (e.g. via p10022), then the following applies:
- logical "0": Safety function is selected
- logical "1": Safety function is de-selected
The interrelationship between the logical level and the external voltage level at the input depends on the parameter-
ization (refer to p10040) of the input as either NC or NO contact and is aligned to the use of a safety function:
With 24 V at the input, NC contacts have a logical "1" level, for 0 V at the input, a logical "0" level.
This means that an NC/NC contact parameterization of 0 V at both inputs of the F-DI selects the safety function, for
24 V at both inputs, de-selects the safety function.
With 24 V at the input, NO contacts have a logical "0" level, for 0 V at the input, a logical "1" level.
This means that for an NC/NO contact parameterization, the level 0 V/24 V selects the safety function, the level 24
V/0 V de-selects the safety function.
F-DI: Failsafe Digital Input
The state of parameter r10151 is delayed by one monitoring clock cycle in relation to r10051.
The parameter is only updated in the following cases:
- If the Safety Extended Functions are enabled by means of activation via F-DI.
- If transfer of the F-DIs via PROFIsafe is enabled (see p9501).
In this case only the F-DIs transferred for PROFIsafe are displayed and updated (see p10050/p10150). All F-DIs
which have not been transferred have a static zero value.

r10052.0 CO/BO: SI digital outputs status (processor 1) / SI DO status P1

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the status of digital output DO 16+ (X131.5) from processor 1.
Bit field: Bit Signal name 1 signal 0 signal FP
00 DO 0 High Low 2853
Note: F-DO: Failsafe Digital Output

p10101 SI delay time for test stop at DO / SI t_delay DO

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
4.00 [ms] 2000.00 [ms] 500.00 [ms]
Description: Sets the delay time for testing the digital output.

© Siemens AG 2012 All Rights Reserved 1-633

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Within this time, for a forced checking procedure of the digital output, the signal must have been detected via the
corresponding readback input (p10047).
Dependency: Refer to: p10003, p10007, p10046
Note: The delay time must be set to a value greater than the debounce time (p10017).
Regardless of p10001, the forced checking procedure will pause for at least two safety monitoring clock cycles
between each stage of the test.
The test stop is only performed if the safety output is being used (p10142).

p10102 SI discrepancy monitoring time (processor 2) / SI discr t_mon P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 2850, 2851
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
1.00 [ms] 2000.00 [ms] 500.00 [ms]
Description: Sets the monitoring time for the discrepancy for the digital inputs.
The signal states at the two associated digital inputs (F-DI) must assume the same state within this monitoring time.
Dependency: Refer to: p10002
Note: F-DI: Failsafe Digital Input

p10106 SI acknowledgement internal event F-DI (processor 2) / SI ackn int evt P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 255 0
Description: Select a safety-relevant digital input for the signal "acknowledge internal event" (internal fault).
The falling edge at this input resets the status "internal event" in the drive.
Value: 0: Statically active
1: F-DI 0
2: F-DI 1
3: F-DI 2
255: Statically inact
Dependency: Refer to: p10006
Note: If value = 0:
No terminal assigned, acknowledge input has a static zero value.

p10117 SI digital inputs debounce time (processor 2) / SI DI t_debounceP2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0.00 [ms] 100.00 [ms] 0.00 [ms]
Description: Sets the debounce time for digital inputs.
The debounce time acts on the following digital inputs:
- Fail-safe digital inputs (F-DI).
- Single-channel digital input 22 (DI 22, read back input for the forced checking procedure).
The debounce time is accepted rounded off to whole milliseconds.
Dependency: Refer to: p10017

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Note: Example:
Debounce time = 1 ms: Fault pulses of 1 ms are filtered; only pulses longer than 2 ms are processed.
Debounce time = 3 ms: Fault pulses of 3 ms are filtered; only pulses longer than 4 ms are processed.
The debounce result can be read in r10151.

p10122 SI STO input terminal (processor 2) / SI STO F-DI P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 255 0
Description: Sets the fail-safe digital input (F-DI) for the "STO" function.
Value: 0: Statically active
1: F-DI 0
2: F-DI 1
3: F-DI 2
255: Statically inact
Dependency: Refer to: p10022
Note: If value = 0:
No terminal assigned, safety function always active.
If value = 255:
No terminal assigned, safety function always inactive.
F-DI: Failsafe Digital Input
STO: Safe Torque Off

p10123 SI SS1 input terminal (processor 2) / SI SS1 F-DI P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 255 0
Description: Sets the fail-safe digital input (F-DI) for the "SS1" function.
Value: 0: Statically active
1: F-DI 0
2: F-DI 1
3: F-DI 2
255: Statically inact
Dependency: Refer to: p10023
Note: If value = 0:
No terminal assigned, safety function always active.
If value = 255:
No terminal assigned, safety function always inactive.
F-DI: Failsafe Digital Input
SS1: Safe Stop 1

© Siemens AG 2012 All Rights Reserved 1-635

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p10124 SI SS2 input terminal (processor 2) / SI SS2 F-DI P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 255 0
Description: Sets the fail-safe digital input (F-DI) for the "SS2" function.
Value: 0: Statically active
1: F-DI 0
2: F-DI 1
3: F-DI 2
255: Statically inact
Note: If value = 0:
No terminal assigned, safety function always active.
If value = 255:
No terminal assigned, safety function always inactive.
F-DI: Failsafe Digital Input
SS2: Safe Stop 2

p10125 SI SOS input terminal (processor 2) / SI SOS F-DI P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 255 0
Description: Sets the fail-safe digital input (F-DI) for the "SOS" function.
Value: 0: Statically active
1: F-DI 0
2: F-DI 1
3: F-DI 2
255: Statically inact
Note: If value = 0:
No terminal assigned, safety function always active.
If value = 255:
No terminal assigned, safety function always inactive.
F-DI: Failsafe Digital Input
SOS: Safe Operating Stop

p10126 SI SLS input terminal (processor 2) / SI SLS F-DI P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 255 0
Description: Sets the fail-safe digital input (F-DI) for the "SLS" function.
Value: 0: Statically active
1: F-DI 0
2: F-DI 1
3: F-DI 2
255: Statically inact
Dependency: Refer to: p10026

1-636 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Note: If value = 0:
No terminal assigned, safety function always active.
If value = 255:
No terminal assigned, safety function always inactive.
F-DI: Failsafe Digital Input
SLS: Safely-Limited Speed

p10127 SI SLS limit bit 0 input terminal (processor 2) / SI SLS lim 0 DI P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 255 0
Description: Sets the fail-safe digital input (F-DI) for the limit value bit 0 of the "SLS" function.
Value: 0: Statically active
1: F-DI 0
2: F-DI 1
3: F-DI 2
255: Statically inact
Note: If value = 0:
No terminal assigned, selection bit remains statically at "0".
If value = 255:
No terminal assigned, selection bit remains statically at "1".
F-DI: Failsafe Digital Input
SLS: Safely-Limited Speed

p10128 SI SLS limit bit 1 input terminal (processor 2) / SI SLS lim 1 DI P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 255 0
Description: Sets the fail-safe digital input (F-DI) for the limit value bit 1 of the "SLS" function.
Value: 0: Statically active
1: F-DI 0
2: F-DI 1
3: F-DI 2
255: Statically inact
Note: If value = 0:
No terminal assigned, selection bit remains statically at "0".
If value = 255:
No terminal assigned, selection bit remains statically at "1".
F-DI: Failsafe Digital Input
SLS: Safely-Limited Speed

© Siemens AG 2012 All Rights Reserved 1-637

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p10130 SI SDI positive input terminal (processor 2) / SI SDI pos DI P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 255 0
Description: Sets the fail-safe digital input (F-DI) for the "SDI positive" function.
Value: 0: Statically active
1: F-DI 0
2: F-DI 1
3: F-DI 2
255: Statically inact
Note: If value = 0:
No terminal assigned, safety function always active.
If value = 255:
No terminal assigned, safety function always inactive.
F-DI: Failsafe Digital Input
SDI: Safe Direction (safe motion direction)

p10131 SI SDI negative input terminal (processor 2) / SI SDI neg DI P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 255 0
Description: Sets the fail-safe digital input (F-DI) for the "SDI negative" function.
Value: 0: Statically active
1: F-DI 0
2: F-DI 1
3: F-DI 2
255: Statically inact
Note: If value = 0:
No terminal assigned, safety function always active.
If value = 255:
No terminal assigned, safety function always inactive.
F-DI: Failsafe Digital Input
SDI: Safe Direction (safe motion direction)

p10139 SI Safe State signal selection (processor 2) / SI Safe State Sel

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 2856
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 0001 bin
Description: Sets the signals for the drive group specific signal "Safe State".
Bit 0 = Power_removed
Bit 1 = SS1_active
Bit 2 = SS2_active
Bit 3 = SOS_active
Bit 4 = SLS_active

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Bit 5 = SDI_pos_active
Bit 6 = SDI_neg_active
Bit field: Bit Signal name 1 signal 0 signal FP
00 Power_removed Selected Not selected -
01 SS1_active Selected Not selected -
02 SS2_active Selected Not selected -
03 SOS_active Selected Not selected -
04 SLS_active Selected Not selected -
05 SDI_pos_active Selected Not selected -
06 SDI_neg_active Selected Not selected -
Note: Bit = 0 signal --> not selected
Bit = 1 signal --> selected
The selected signals (high-active) are OR'ed The result of the logic operation results in the status "Safe State".

p10140 SI F-DI input mode (processor 2) / SI F-DI mode P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 bin
Description: Sets the input mode for the safety digital inputs (F-DI).
Bit field: Bit Signal name 1 signal 0 signal FP
00 F-DI 1 (X130.2) NO contact NC contact 2850
01 F-DI 2 (X130.5) NO contact NC contact 2850
02 F-DI 3 (X131.2) NO contact NC contact 2850
Note: Only an NC contact can be connected for the safety digital inputs not listed.

p10142[0...5] SI F-DO 0 signal sources (processor 2) / SI F-DO 0 S_src P2

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 2857
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0 13 0
Description: Sets the signal sources for F-DO 0 (X131.6).
The 6 signal sources in p10142[0...5] are AND'ed and the result is output at F-DO 0.
Value: 0: No function
1: STO active
2: SS1 active
3: SS2 active
4: SOS active
5: SLS active
6: SSM feedback signal active
7: Safe state
8: SOS selected
9: Internal event
10: Active SLS stage bit 0
11: Active SLS stage bit 1
12: SDI positive active
13: SDI negative active
Index: [0] = AND logic operation input 1
[1] = AND logic operation input 2
[2] = AND logic operation input 3
[3] = AND logic operation input 4
[4] = AND logic operation input 5
[5] = AND logic operation input 6

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Note: F-DO: Failsafe Digital Output

p10146 SI test sensor feedback signal / SI test sens FS

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 2848
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - 0000 bin
Description: Sets the test of the feedback line for forced checking procedure.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Test F-DO 0 Test active No test -
Note: F-DO: Failsafe Digital Output

p10147 SI F-DO test stop mode / SI F-DO test mode

SERVO_S110-CAN, Can be changed: C2(95) Calculated: - Access level: 3
SERVO_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
0001 bin 0011 bin 0010 bin
Description: Sets the test stop mode for the safety digital output (F-DO)
Value: 1: Test mode 1 evaluation of int. diagnostic signal (passive load)
2: Test mode 2 read back F-DO in DI (relay circuit)
3: Test mode 3 read back F-DO in DI (actuator with feedback signal)
Dependency: Refer to: p10001, p10003, p10007, p10046

r10149 SI F-DI monitoring status (processor 2) / SI F-DI status P2

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the monitoring status of the fail-safe digital inputs (F-DI).
The F-DIs that are being used by the Safety Integrated functions are displayed.
If the module used has fewer than 3 F-DIs, "Freely available" is displayed for the F-DIs which are not in use.
Bit field: Bit Signal name 1 signal 0 signal FP
00 F-DI 0 Safety monitored Freely available -
01 F-DI 1 Safety monitored Freely available -
02 F-DI 2 Safety monitored Freely available -
Dependency: p10006 / p10106
p10022 / p10122
p10023 / p10123
p10024 / p10124
p10025 / p10125
p10026 / p10126
p10027 / p10127
p10028 / p10128
p10030 / p10130
p10031 / p10131
p10036 / p10136

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p10050 / p10150
Refer to: r10049

r10151.0...2 CO/BO: SI digital inputs status (processor 2) / SI DI status P2

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the single-channel debounced status of the digital inputs DI 17, DI 19, and DI 21.
Bit field: Bit Signal name 1 signal 0 signal FP
00 F-DI 0 second channel High Low -
01 F-DI 1 second channel High Low -
02 F-DI 2 second channel High Low -
Dependency: Refer to: p9501, p9601, p10117, p10140
Note: F-DI: Failsafe Digital Input
If a safety function is assigned to an input (e.g. via p10122), then the following applies:
- logical "0": Safety function is selected
- logical "1": Safety function is de-selected
The interrelationship between the logical level and the external voltage level at the input depends on the parameter-
ization (refer to p10140) of the input as either NC or NO contact and is aligned to the use of a safety function:
With 24 V at the input, NC contacts have a logical "1" level, for 0 V at the input, a logical "0" level.
This means that an NC/NC contact parameterization of 0 V at both inputs of the F-DI selects the safety function, for
24 V at both inputs, de-selects the safety function.
With 24 V at the input, NO contacts have a logical "0" level, for 0 V at the input, a logical "1" level.
This means that for an NC/NO contact parameterization, the level 0 V/24 V selects the safety function, the level 24
V/0 V de-selects the safety function.
The state of parameter r10151 is delayed by one monitoring clock cycle in relation to r10051.
The parameter is only updated in the following cases:
- If the Safety Extended Functions are enabled by means of activation via F-DI.
- If transfer of the F-DIs via PROFIsafe is enabled (see p9501).
In this case only the F-DIs transferred for PROFIsafe are displayed and updated (see p10050/p10150). All F-DIs
which have not been transferred have a static zero value.

r10152.0 CO/BO: SI digital outputs status (processor 2) / SI DO status P2

SERVO_S110-CAN, Can be changed: - Calculated: - Access level: 3
SERVO_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
SERVO_S110-PN
P-Group: Safety Integrated Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays the status of digital output DO 16- (X131.6) from processor 2.
Bit field: Bit Signal name 1 signal 0 signal FP
00 DO 0 High Low 2853
Note: F-DO: Failsafe Digital Output

© Siemens AG 2012 All Rights Reserved 1-641

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20000[0...9] Run-time group property / RTG property

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: -
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9003 0
Description: Allocates properties to run-time groups 0 to 9.
This property comprises the sampling time and for p20000[x] = 9003, the instant of the call within the sampling time.
Index x of p20000 corresponds to the number of the run-time group.
p20000[0] is used to set the property of run-time group 0.
...
p20000[9] is used to set the property of run-time group 9.
p20000[x] = 0 run-time group is not calculated.
p20000[x] = 1 free run-time group T_sample = 1 * r20002
p20000[x] = 2 free run-time group T_sample = 2 * r20002
p20000[x] = 3 free run-time group T_sample = 3 * r20002
p20000[x] = 4 free run-time group T_sample = 4 * r20002
...
p20000[x] = 255 free run-time group T_sample = 255 * r20002
p20000[x] = 256 free run-time group T_sample = 256 * r20002
p20000[x] = 1001 free run-time group T_sample = 1 * r20003
p20000[x] = 1002 free run-time group T_sample = 2 * r20003
p20000[x] = 1003 free run-time group T_sample = 3 * r20003
p20000[x] = 1004 free run-time group T_sample = 4 * r20003
p20000[x] = 1005 free run-time group T_sample = 5 * r20003
p20000[x] = 1006 free run-time group T_sample = 6 * r20003
p20000[x] = 1008 free run-time group T_sample = 8 * r20003
p20000[x] = 1010 free run-time group T_sample = 10 * r20003
p20000[x] = 1012 free run-time group T_sample = 12 * r20003
p20000[x] = 1016 free run-time group T_sample = 16 * r20003
p20000[x] = 1020 free run-time group T_sample = 20 * r20003
p20000[x] = 1024 free run-time group T_sample = 24 * r20003
p20000[x] = 1032 free run-time group T_sample = 32 * r20003
p20000[x] = 1040 free run-time group T_sample = 40 * r20003
p20000[x] = 1048 free run-time group T_sample = 48 * r20003
p20000[x] = 1064 free run-time group T_sample = 64 * r20003
p20000[x] = 1096 free run-time group T_sample = 96 * r20003
p20000[x] = 9003 fixed run-time group "calculate before setpoint channel" (only VECTOR, SERVO)
Value: 0: Do not calculate
1: T = 1 * r20002
2: T = 2 * r20002
3: T = 3 * r20002
4: T = 4 * r20002
5: T = 5 * r20002
6: T = 6 * r20002
7: T = 7 * r20002
8: T = 8 * r20002
9: T = 9 * r20002
10: T = 10 * r20002

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

11: T = 11 * r20002
12: T = 12 * r20002
13: T = 13 * r20002
14: T = 14 * r20002
15: T = 15 * r20002
16: T = 16 * r20002
17: T = 17 * r20002
18: T = 18 * r20002
19: T = 19 * r20002
20: T = 20 * r20002
21: T = 21 * r20002
22: T = 22 * r20002
23: T = 23 * r20002
24: T = 24 * r20002
25: T = 25 * r20002
26: T = 26 * r20002
27: T = 27 * r20002
28: T = 28 * r20002
29: T = 29 * r20002
30: T = 30 * r20002
31: T = 31 * r20002
32: T = 32 * r20002
33: T = 33 * r20002
34: T = 34 * r20002
35: T = 35 * r20002
36: T = 36 * r20002
37: T = 37 * r20002
38: T = 38 * r20002
39: T = 39 * r20002
40: T = 40 * r20002
41: T = 41 * r20002
42: T = 42 * r20002
43: T = 43 * r20002
44: T = 44 * r20002
45: T = 45 * r20002
46: T = 46 * r20002
47: T = 47 * r20002
48: T = 48 * r20002
49: T = 49 * r20002
50: T = 50 * r20002
51: T = 51 * r20002
52: T = 52 * r20002
53: T = 53 * r20002
54: T = 54 * r20002
55: T = 55 * r20002
56: T = 56 * r20002
57: T = 57 * r20002
58: T = 58 * r20002
59: T = 59 * r20002
60: T = 60 * r20002
61: T = 61 * r20002
62: T = 62 * r20002
63: T = 63 * r20002
64: T = 64 * r20002
65: T = 65 * r20002
66: T = 66 * r20002
67: T = 67 * r20002
68: T = 68 * r20002
69: T = 69 * r20002
70: T = 70 * r20002
71: T = 71 * r20002
72: T = 72 * r20002
73: T = 73 * r20002
74: T = 74 * r20002

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
Parameter
List of parameters

75: T = 75 * r20002
76: T = 76 * r20002
77: T = 77 * r20002
78: T = 78 * r20002
79: T = 79 * r20002
80: T = 80 * r20002
81: T = 81 * r20002
82: T = 82 * r20002
83: T = 83 * r20002
84: T = 84 * r20002
85: T = 85 * r20002
86: T = 86 * r20002
87: T = 87 * r20002
88: T = 88 * r20002
89: T = 89 * r20002
90: T = 90 * r20002
91: T = 91 * r20002
92: T = 92 * r20002
93: T = 93 * r20002
94: T = 94 * r20002
95: T = 95 * r20002
96: T = 96 * r20002
97: T = 97 * r20002
98: T = 98 * r20002
99: T = 99 * r20002
100: T = 100 * r20002
101: T = 101 * r20002
102: T = 102 * r20002
103: T = 103 * r20002
104: T = 104 * r20002
105: T = 105 * r20002
106: T = 106 * r20002
107: T = 107 * r20002
108: T = 108 * r20002
109: T = 109 * r20002
110: T = 110 * r20002
111: T = 111 * r20002
112: T = 112 * r20002
113: T = 113 * r20002
114: T = 114 * r20002
115: T = 115 * r20002
116: T = 116 * r20002
117: T = 117 * r20002
118: T = 118 * r20002
119: T = 119 * r20002
120: T = 120 * r20002
121: T = 121 * r20002
122: T = 122 * r20002
123: T = 123 * r20002
124: T = 124 * r20002
125: T = 125 * r20002
126: T = 126 * r20002
127: T = 127 * r20002
128: T = 128 * r20002
129: T = 129 * r20002
130: T = 130 * r20002
131: T = 131 * r20002
132: T = 132 * r20002
133: T = 133 * r20002
134: T = 134 * r20002
135: T = 135 * r20002
136: T = 136 * r20002
137: T = 137 * r20002
138: T = 138 * r20002

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

139: T = 139 * r20002

140: T = 140 * r20002
141: T = 141 * r20002
142: T = 142 * r20002
143: T = 143 * r20002
144: T = 144 * r20002
145: T = 145 * r20002
146: T = 146 * r20002
147: T = 147 * r20002
148: T = 148 * r20002
149: T = 149 * r20002
150: T = 150 * r20002
151: T = 151 * r20002
152: T = 152 * r20002
153: T = 153 * r20002
154: T = 154 * r20002
155: T = 155 * r20002
156: T = 156 * r20002
157: T = 157 * r20002
158: T = 158 * r20002
159: T = 159 * r20002
160: T = 160 * r20002
161: T = 161 * r20002
162: T = 162 * r20002
163: T = 163 * r20002
164: T = 164 * r20002
165: T = 165 * r20002
166: T = 166 * r20002
167: T = 167 * r20002
168: T = 168 * r20002
169: T = 169 * r20002
170: T = 170 * r20002
171: T = 171 * r20002
172: T = 172 * r20002
173: T = 173 * r20002
174: T = 174 * r20002
175: T = 175 * r20002
176: T = 176 * r20002
177: T = 177 * r20002
178: T = 178 * r20002
179: T = 179 * r20002
180: T = 180 * r20002
181: T = 181 * r20002
182: T = 182 * r20002
183: T = 183 * r20002
184: T = 184 * r20002
185: T = 185 * r20002
186: T = 186 * r20002
187: T = 187 * r20002
188: T = 188 * r20002
189: T = 189 * r20002
190: T = 190 * r20002
191: T = 191 * r20002
192: T = 192 * r20002
193: T = 193 * r20002
194: T = 194 * r20002
195: T = 195 * r20002
196: T = 196 * r20002
197: T = 197 * r20002
198: T = 198 * r20002
199: T = 199 * r20002
200: T = 200 * r20002
201: T = 201 * r20002
202: T = 202 * r20002

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
Parameter
List of parameters

203: T = 203 * r20002

204: T = 204 * r20002
205: T = 205 * r20002
206: T = 206 * r20002
207: T = 207 * r20002
208: T = 208 * r20002
209: T = 209 * r20002
210: T = 210 * r20002
211: T = 211 * r20002
212: T = 212 * r20002
213: T = 213 * r20002
214: T = 214 * r20002
215: T = 215 * r20002
216: T = 216 * r20002
217: T = 217 * r20002
218: T = 218 * r20002
219: T = 219 * r20002
220: T = 220 * r20002
221: T = 221 * r20002
222: T = 222 * r20002
223: T = 223 * r20002
224: T = 224 * r20002
225: T = 225 * r20002
226: T = 226 * r20002
227: T = 227 * r20002
228: T = 228 * r20002
229: T = 229 * r20002
230: T = 230 * r20002
231: T = 231 * r20002
232: T = 232 * r20002
233: T = 233 * r20002
234: T = 234 * r20002
235: T = 235 * r20002
236: T = 236 * r20002
237: T = 237 * r20002
238: T = 238 * r20002
239: T = 239 * r20002
240: T = 240 * r20002
241: T = 241 * r20002
242: T = 242 * r20002
243: T = 243 * r20002
244: T = 244 * r20002
245: T = 245 * r20002
246: T = 246 * r20002
247: T = 247 * r20002
248: T = 248 * r20002
249: T = 249 * r20002
250: T = 250 * r20002
251: T = 251 * r20002
252: T = 252 * r20002
253: T = 253 * r20002
254: T = 254 * r20002
255: T = 255 * r20002
256: T = 256 * r20002
1001: T = 1 * r20003
1002: T = 2 * r20003
1003: T = 3 * r20003
1004: T = 4 * r20003
1005: T = 5 * r20003
1006: T = 6 * r20003
1008: T = 8 * r20003
1010: T = 10 * r20003
1012: T = 12 * r20003
1016: T = 16 * r20003

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

1020: T = 20 * r20003
1024: T = 24 * r20003
1032: T = 32 * r20003
1040: T = 40 * r20003
1048: T = 48 * r20003
1064: T = 64 * r20003
1080: T = 80 * r20003
1096: T = 96 * r20003
9003: Before setp chann
Index: [0] = Run-time group 0
[1] = Run-time group 1
[2] = Run-time group 2
[3] = Run-time group 3
[4] = Run-time group 4
[5] = Run-time group 5
[6] = Run-time group 6
[7] = Run-time group 7
[8] = Run-time group 8
[9] = Run-time group 9
Dependency: Refer to: r20008
Caution: The assignment of the properties of the run-time groups should not be changed on drives in operation as this could
result in discontinuous signal transitions depending on the blocks used. At the 1st arithmetic cycle after the change,
the respective internal initialization value is present at the block connections and in each subsequent cycle the cal-
culated value is then present.
Note: Re value = 1 ... 256:
This value can only be set if, for sampling time T_sample of this run-time group, the following applies: 1 ms <=
T_sample <= r20003.
If value = 9003:
The fixed run-time groups p20000[x] = 9003 log on with the sampling time of the setpoint channel, although the
sampling time must be at least 1 ms. If, as a result of this limit, the actual sampling time deviates from the sampling
time of the setpoint channel p0115[3], alarm A20103 is output. Another run-time group with a sampling time >= 1
ms should be selected. "Calculate before setpoint channel" means before function diagrams 3010, 3020, 3030,
3040, etc. are calculated, if the setpoint channel is activated (p0108.8 = 1). If, e.g. for SERVO, a setpoint channel
has not been configured (p0108.8 = 0), then the calculation is made before function diagram 3095.

r20001[0...9] Run-time group sampling time / RTG sampling time

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- [ms] - [ms] - [ms]
Description: Displays the current sampling time of the run-time group 0 to 9.
Index: [0] = Run-time group 0
[1] = Run-time group 1
[2] = Run-time group 2
[3] = Run-time group 3
[4] = Run-time group 4
[5] = Run-time group 5
[6] = Run-time group 6
[7] = Run-time group 7
[8] = Run-time group 8
[9] = Run-time group 9

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r20002 Basis sampling time, hardware / Basis samp time HW

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- [ms] - [ms] - [ms]
Description: Displays the lowest sampling time effective at this drive object for values 1 to 256 of p20000.
T_sample = p20000 * r20002

r20003 Basis sampling time, software / Basis samp time SW

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- [ms] - [ms] - [ms]
Description: Displays the sampling time as factor effective on this drive object for values 1001 to 1096 of p20000.
T_sample = (p20000 - 1000) * r20003

r20005[0...9] Average computing time load of the run-time groups / Comp_load RTG
CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- [%] - [%] - [%]
Description: Share of the average computing time load which the FBLOCKS run-time group contributes to the overall computing
time load for the drive unit (r9976).
Index: [0] = Run-time group 0
[1] = Run-time group 1
[2] = Run-time group 2
[3] = Run-time group 3
[4] = Run-time group 4
[5] = Run-time group 5
[6] = Run-time group 6
[7] = Run-time group 7
[8] = Run-time group 8
[9] = Run-time group 9
Note: The run-time group to be measured has to be logged on (p20000[x] > 0).
The value for the computation time load is calculated in the drive unit using the project loaded. As such, the
r20005[x] values are not available in the expert list in SCOUT/STARTER offline mode.

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r20008[0...12] Hardware sampling times available / HW t_samp

CU_S110-CAN, Can be changed: - Calculated: - Access level: 3
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- [ms] - [ms] - [ms]
Description: Displays the assignment of the available hardware sampling times of the drive unit.
The term "hardware sampling times" refers to those r20002 sampling times that are formed as a multiple of the
basic sampling time and always < r20003.
Dependency: Refer to: p20000
Notice: For internal purposes, the drive unit always requires at least two (or several, depending on the parameterization of
p0115 of the drive objects) free hardware sampling times. Therefore the current number of hardware sampling
times that are still free can be read out in r7903.
If r7903=0, no additional sampling time that differs from r20008[0...12] can be provided from the Control Unit. If,
when selecting in this state, a run-time group with a sampling time < r20003 (p20000 <= 255) is to be set in p20000,
only run-time groups whose sampling time is already provided in r20008[0...12] can be selected.
Note: The 13 different sampling times available are displayed in r20008[0...12].
If the value of r20008[0...12] is not equal to 0, then it specifies the sampling time in ms.
A sampling time that is provided can be simultaneously used by system functions, several FBLOCKS run-time
groups, and several DCC run-time groups.
If the value of r20008[0...12] = 0, then this sampling time can still be freely assigned. It should be noted that the
basic system, depending on the selected basic sampling times p0115[0], requires at least two (sometimes several)
freely assignable hardware sampling times for internal functions. The number of hardware sampling times that can
still be freely assigned can be read out in r7903.
r20008[11] = 99999.00000 --> Hardware sampling time is not supported.
r20008[12] = 99999.00000 --> Hardware sampling time is not supported.
The sampling time of run-time groups that have been assigned to the PROFIBUS run-time groups (p20000 = 4000
... 4004) is not displayed in r20008. For this sampling time, one of the internally and permanently assigned hard-
ware sampling times is used.

p20020 Computing time measurement run-time group / t_meas RTG

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 10 0
Description: Only for internal Siemens service purposes.

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20022 Computing time measurement, duration / t_meas duration

CU_S110-CAN, Can be changed: U, T Calculated: - Access level: 4
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: -
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
60 [s] 10000 [s] 60 [s]
Description: Only for internal Siemens service purposes.

r20024[0...9] Computing time, minimum value / t_comp min.

CU_S110-CAN, Can be changed: - Calculated: - Access level: 4
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- [µs] - [µs] - [µs]
Description: Only for internal Siemens service purposes.
Index: [0] = Run-time group 0
[1] = Run-time group 1
[2] = Run-time group 2
[3] = Run-time group 3
[4] = Run-time group 4
[5] = Run-time group 5
[6] = Run-time group 6
[7] = Run-time group 7
[8] = Run-time group 8
[9] = Run-time group 9

r20025[0...9] Computing time, mean value / t_comp average

CU_S110-CAN, Can be changed: - Calculated: - Access level: 4
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- [µs] - [µs] - [µs]
Description: Only for internal Siemens service purposes.
Index: [0] = Run-time group 0
[1] = Run-time group 1
[2] = Run-time group 2
[3] = Run-time group 3
[4] = Run-time group 4
[5] = Run-time group 5
[6] = Run-time group 6
[7] = Run-time group 7

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 Parameter
List of parameters

[8] = Run-time group 8

[9] = Run-time group 9

r20026[0...9] Computing time, maximum value / t_comp max.

CU_S110-CAN, Can be changed: - Calculated: - Access level: 4
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- [µs] - [µs] - [µs]
Description: Only for internal Siemens service purposes.
Index: [0] = Run-time group 0
[1] = Run-time group 1
[2] = Run-time group 2
[3] = Run-time group 3
[4] = Run-time group 4
[5] = Run-time group 5
[6] = Run-time group 6
[7] = Run-time group 7
[8] = Run-time group 8
[9] = Run-time group 9

p20030[0...3] BI: AND 0 inputs / AND 0 inputs

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7210
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of input quantities I0, I1, I2, I3 of instance AND 0 of the AND function block.
Index: [0] = Input I0
[1] = Input I1
[2] = Input I2
[3] = Input I3

r20031 BO: AND 0 output Q / AND 0 output Q

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7210
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for binary quantity Q = I0 & I1 & I2 & I3 of instance AND 0 of the AND function block.

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20032 AND 0 run-time group / AND 0 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7210
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which the instance AND 0 of the AND function block is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20033 AND 0 run sequence / AND 0 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7210
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 10
Description: Setting parameter for the run sequence of instance AND 0 within the run-time group set in p20032.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

p20034[0...3] BI: AND 1 inputs / AND 1 inputs

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7210
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of input quantities I0, I1, I2, I3 of instance AND 1 of the AND function block.
Index: [0] = Input I0
[1] = Input I1
[2] = Input I2
[3] = Input I3

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r20035 BO: AND 1 output Q / AND 1 output Q

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7210
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for binary quantity Q = I0 & I1 & I2 & I3 of instance AND 1 of the AND function block.

p20036 AND 1 run-time group / AND 1 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7210
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which the instance AND 1 of the AND function block is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20037 AND 1 run sequence / AND 1 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7210
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 20
Description: Setting parameter for the run sequence of instance AND 1 within the run-time group set in p20036.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20038[0...3] BI: AND 2 inputs / AND 2 inputs

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7210
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of input quantities I0, I1, I2, I3 of instance AND 2 of the AND function block.
Index: [0] = Input I0
[1] = Input I1
[2] = Input I2
[3] = Input I3

r20039 BO: AND 2 output Q / AND 2 output Q

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7210
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for binary quantity Q = I0 & I1 & I2 & I3 of instance AND 2 of the AND function block.

p20040 AND 2 run-time group / AND 2 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7210
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which the instance AND 2 of the AND function block is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

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 Parameter
List of parameters

p20041 AND 2 run sequence / AND 2 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7210
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 30
Description: Setting parameter for the run sequence of instance AND 2 within the run-time group set in p20040.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

p20042[0...3] BI: AND 3 inputs / AND 3 inputs

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7210
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of input quantities I0, I1, I2, I3 of instance AND 3 of the AND function block.
Index: [0] = Input I0
[1] = Input I1
[2] = Input I2
[3] = Input I3

r20043 BO: AND 3 output Q / AND 3 output Q

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7210
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for binary quantity Q = I0 & I1 & I2 & I3 of instance AND 3 of the AND function block.

© Siemens AG 2012 All Rights Reserved 1-655

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20044 AND 3 run-time group / AND 3 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7210
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which the instance AND 3 of the AND function block is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20045 AND 3 run sequence / AND 3 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7210
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 40
Description: Setting parameter for the run sequence of instance AND 3 within the run-time group set in p20044.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

p20046[0...3] BI: OR 0 inputs / OR 0 inputs

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7212
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of input quantities I0, I1, I2, I3 of instance OR 0 of the OR function block.
Index: [0] = Input I0
[1] = Input I1
[2] = Input I2
[3] = Input I3

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r20047 BO: OR 0 output Q / OR 0 output Q

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7212
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for binary quantity Q = I0 | I1 | I2 | I3 of instance OR 0 of the OR function block.

p20048 OR 0 run-time group / OR 0 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7212
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which the instance OR 0 of the OR function block is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20049 OR 0 run sequence / OR 0 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7212
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 60
Description: Setting parameter for the run sequence of instance OR 0 within the run-time group set in p20048.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

© Siemens AG 2012 All Rights Reserved 1-657

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20050[0...3] BI: OR 1 inputs / OR 1 inputs

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7212
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of input quantities I0, I1, I2, I3 of instance OR 1 of the OR function block.
Index: [0] = Input I0
[1] = Input I1
[2] = Input I2
[3] = Input I3

r20051 BO: OR 1 output Q / OR 1 output Q

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7212
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for binary quantity Q = I0 | I1 | I2 | I3 of instance OR 1 of the OR function block.

p20052 OR 1 run-time group / OR 1 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7212
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which the instance OR 1 of the OR function block is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

1-658 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20053 OR 1 run sequence / OR 1 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7212
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 70
Description: Setting parameter for the run sequence of instance OR 1 within the run-time group set in p20052.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

p20054[0...3] BI: OR 2 inputs / OR 2 inputs

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7212
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of input quantities I0, I1, I2, I3 of instance OR 2 of the OR function block.
Index: [0] = Input I0
[1] = Input I1
[2] = Input I2
[3] = Input I3

r20055 BO: OR 2 output Q / OR 2 output Q

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7212
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for binary quantity Q = I0 | I1 | I2 | I3 of instance OR 2 of the OR function block.

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20056 OR 2 run-time group / OR 2 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7212
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which the instance OR 2 of the OR function block is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20057 OR 2 run sequence / OR 2 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7212
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 80
Description: Setting parameter for the run sequence of instance OR 2 within the run-time group set in p20056.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

p20058[0...3] BI: OR 3 inputs / OR 3 inputs

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7212
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of input quantities I0, I1, I2, I3 of instance OR 3 of the OR function block.
Index: [0] = Input I0
[1] = Input I1
[2] = Input I2
[3] = Input I3

1-660 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r20059 BO: OR 3 output Q / OR 3 output Q

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7212
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for binary quantity Q = I0 | I1 | I2 | I3 of instance OR 3 of the OR function block.

p20060 OR 3 run-time group / OR 3 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7212
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which the instance OR 3 of the OR function block is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20061 OR 3 run sequence / OR 3 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7212
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 90
Description: Setting parameter for the run sequence of instance OR 3 within the run-time group set in p20060.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

© Siemens AG 2012 All Rights Reserved 1-661

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20062[0...3] BI: XOR 0 inputs / XOR 0 inputs

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7214
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of input quantities I0, I1, I2, I3 of instance XOR 0 of the XOR function block.
Index: [0] = Input I0
[1] = Input I1
[2] = Input I2
[3] = Input I3

r20063 BO: XOR 0 output Q / XOR 0 output Q

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7214
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for binary quantity Q of instance XOR 0 of the XOR function block.

p20064 XOR 0 run-time group / XOR 0 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7214
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which the instance XOR 0 of the XOR function block is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

1-662 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20065 XOR 0 run sequence / XOR 0 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7214
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 110
Description: Setting parameter for the run sequence of instance XOR 0 within the run-time group set in p20064.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

p20066[0...3] BI: XOR 1 inputs / XOR 1 inputs

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7214
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of input quantities I0, I1, I2, I3 of instance XOR 1 of the XOR function block.
Index: [0] = Input I0
[1] = Input I1
[2] = Input I2
[3] = Input I3

r20067 BO: XOR 1 output Q / XOR 1 output Q

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7214
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for binary quantity Q of instance XOR 1 of the XOR function block.

© Siemens AG 2012 All Rights Reserved 1-663

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20068 XOR 1 run-time group / XOR 1 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7214
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which the instance XOR 1 of the XOR function block is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20069 XOR 1 run sequence / XOR 1 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7214
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 120
Description: Setting parameter for the run sequence of instance XOR 1 within the run-time group set in p20068.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

p20070[0...3] BI: XOR 2 inputs / XOR 2 inputs

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7214
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of input quantities I0, I1, I2, I3 of instance XOR 2 of the XOR function block.
Index: [0] = Input I0
[1] = Input I1
[2] = Input I2
[3] = Input I3

1-664 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r20071 BO: XOR 2 output Q / XOR 2 output Q

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7214
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for binary quantity Q of instance XOR 2 of the XOR function block.

p20072 XOR 2 run-time group / XOR 2 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7214
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which the instance XOR 2 of the XOR function block is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20073 XOR 2 run sequence / XOR 2 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7214
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 130
Description: Setting parameter for the run sequence of instance XOR 2 within the run-time group set in p20072.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

© Siemens AG 2012 All Rights Reserved 1-665

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20074[0...3] BI: XOR 3 inputs / XOR 3 inputs

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7214
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of input quantities I0, I1, I2, I3 of instance XOR 3 of the XOR function block.
Index: [0] = Input I0
[1] = Input I1
[2] = Input I2
[3] = Input I3

r20075 BO: XOR 3 output Q / XOR 3 output Q

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7214
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for binary quantity Q of instance XOR 3 of the XOR function block.

p20076 XOR 3 run-time group / XOR 3 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7214
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which the instance XOR 3 of the XOR function block is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

1-666 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20077 XOR 3 run sequence / XOR 3 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7214
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 140
Description: Setting parameter for the run sequence of instance XOR 3 within the run-time group set in p20076.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

p20078 BI: NOT 0 input I / NOT 0 input I

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7216
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of input quantity I of instance NOT 0 of the inverter.

r20079 BO: NOT 0 inverted output / NOT 0 inv output

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7216
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for the inverted output of instance NOT 0 of the inverter.

p20080 NOT 0 run-time group / NOT 0 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7216
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which the instance NOT 0 of the inverter is to be called.

© Siemens AG 2012 All Rights Reserved 1-667

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Value: 0: Run-time group 0

1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20081 NOT 0 run sequence / NOT 0 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7216
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 160
Description: Setting parameter for the run sequence of instance NOT 0 within the run-time group set in p20080.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

p20082 BI: NOT 1 input I / NOT 1 input I

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7216
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of input quantity I of instance NOT 1 of the inverter.

r20083 BO: NOT 1 inverted output / NOT 1 inv output

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7216
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for the inverted output of instance NOT 1 of the inverter.

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20084 NOT 1 run-time group / NOT 1 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7216
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which the instance NOT 1 of the inverter is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20085 NOT 1 run sequence / NOT 1 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7216
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 170
Description: Setting parameter for the run sequence of instance NOT 1 within the run-time group set in p20084.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

p20086 BI: NOT 2 input I / NOT 2 input I

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7216
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of input quantity I of instance NOT 2 of the inverter.

© Siemens AG 2012 All Rights Reserved 1-669

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r20087 BO: NOT 2 inverted output / NOT 2 inv output

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7216
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for the inverted output of instance NOT 2 of the inverter.

p20088 NOT 2 run-time group / NOT 2 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7216
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which the instance NOT 2 of the inverter is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20089 NOT 2 run sequence / NOT 2 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7216
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 180
Description: Setting parameter for the run sequence of instance NOT 2 within the run-time group set in p20088.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

1-670 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20090 BI: NOT 3 input I / NOT 3 input I

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7216
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of input quantity I of instance NOT 3 of the inverter.

r20091 BO: NOT 3 inverted output / NOT 3 inv output

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7216
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for the inverted output of instance NOT 3 of the inverter.

p20092 NOT 3 run-time group / NOT 3 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7216
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which the instance NOT 3 of the inverter is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

© Siemens AG 2012 All Rights Reserved 1-671

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20093 NOT 3 run sequence / NOT 3 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7216
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 190
Description: Setting parameter for the run sequence of instance NOT 3 within the run-time group set in p20092.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

p20094[0...3] CI: ADD 0 inputs / ADD 0 inputs

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: - Func. diagram: 7220
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: PERCENT Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of input quantities X0, X1, X2, X3 of instance ADD 0 of the adder.
Index: [0] = Input X0
[1] = Input X1
[2] = Input X2
[3] = Input X3

r20095 CO: ADD 0 output Y / ADD 0 output Y

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7220
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: PERCENT Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for the output quantity Y = X0 + X1 + X2 + X3 of instance ADD 0 of the adder.

1-672 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20096 ADD 0 run-time group / ADD 0 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7220
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which the instance ADD 0 of the adder is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20097 ADD 0 run sequence / ADD 0 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7220
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 210
Description: Setting parameter for the run sequence of instance ADD 0 within the run-time group set in p20096.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

p20098[0...3] CI: ADD 1 inputs / ADD 1 inputs

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: - Func. diagram: 7220
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: PERCENT Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of input quantities X0, X1, X2, X3 of instance ADD 1 of the adder.
Index: [0] = Input X0
[1] = Input X1
[2] = Input X2
[3] = Input X3

© Siemens AG 2012 All Rights Reserved 1-673

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r20099 CO: ADD 1 output Y / ADD 1 output Y

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7220
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: PERCENT Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for the output quantity Y = X0 + X1 + X2 + X3 of instance ADD 1 of the adder.

p20100 ADD 1 run-time group / ADD 1 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7220
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which the instance ADD 1 of the adder is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20101 ADD 1 run sequence / ADD 1 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7220
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 220
Description: Setting parameter for the run sequence of instance ADD 1 within the run-time group set in p20100.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

1-674 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20102[0...1] CI: SUB 0 inputs / SUB 0 inputs

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: - Func. diagram: 7220
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: PERCENT Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of minuend X1 and subtrahend X2 of instance SUB 0 of the subtractor.
Index: [0] = Minuend X1
[1] = Subtrahend X2

r20103 CO: SUB 0 difference Y / SUB 0 difference Y

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7220
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: PERCENT Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for the difference Y = X1 - X2 of instance SUB 0 of the subtractor.

p20104 SUB 0 run-time group / SUB 0 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7220
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which instance SUB 0 of the subtractor is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

© Siemens AG 2012 All Rights Reserved 1-675

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20105 SUB 0 run sequence / SUB 0 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7220
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 240
Description: Setting parameter for the run sequence of instance SUB 0 within the run-time group set in p20104.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

p20106[0...1] CI: SUB 1 inputs / SUB 1 inputs

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: - Func. diagram: 7220
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: PERCENT Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of minuend X1 and subtrahend X2 of instance SUB 1 of the subtractor.
Index: [0] = Minuend X1
[1] = Subtrahend X2

r20107 CO: SUB 1 difference Y / SUB 1 difference Y

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7220
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: PERCENT Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for the difference Y = X1 - X2 of instance SUB 1 of the subtractor.

1-676 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20108 SUB 1 run-time group / SUB 1 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7220
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which instance SUB 1 of the subtractor is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20109 SUB 1 run sequence / SUB 1 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7220
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 250
Description: Setting parameter for the run sequence of instance SUB 1 within the run-time group set in p20108.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

p20110[0...3] CI: MUL 0 inputs / MUL 0 inputs

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: - Func. diagram: 7222
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: PERCENT Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of the factors X0, X1, X2, X3 of instance MUL 0 of the multiplier.
Index: [0] = Factor X0
[1] = Factor X1
[2] = Factor X2
[3] = Factor X3

© Siemens AG 2012 All Rights Reserved 1-677

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r20111 CO: MUL 0 product Y / MUL 0 product Y

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7222
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: PERCENT Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for the product Y = X0 * X1 * X2 * X3 of instance MUL 0 of the multiplier.

p20112 MUL 0 run-time group / MUL 0 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7222
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which instance MUL 0 of the multiplier is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20113 MUL 0 run sequence / MUL 0 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7222
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 270
Description: Setting parameter for the run sequence of instance MUL 0 within the run-time group set in p20112.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

1-678 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20114[0...3] CI: MUL 1 inputs / MUL 1 inputs

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: - Func. diagram: 7222
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: PERCENT Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of the factors X0, X1, X2, X3 of instance MUL 1 of the multiplier.
Index: [0] = Factor X0
[1] = Factor X1
[2] = Factor X2
[3] = Factor X3

r20115 CO: MUL 1 product Y / MUL 1 product Y

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7222
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: PERCENT Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for the product Y = X0 * X1 * X2 * X3 of instance MUL 1 of the multiplier.

p20116 MUL 1 run-time group / MUL 1 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7222
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which instance MUL 1 of the multiplier is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

© Siemens AG 2012 All Rights Reserved 1-679

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20117 MUL 1 run sequence / MUL 1 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7222
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 280
Description: Setting parameter for the run sequence of instance MUL 1 within the run-time group set in p20116.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

p20118[0...1] CI: DIV 0 inputs / DIV 0 inputs

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: - Func. diagram: 7222
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: PERCENT Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of dividend X1 and divisor X2 of instance DIV 0 of the divider.
Index: [0] = Dividend X0
[1] = Divisor X1

r20119[0...2] CO: DIV 0 quotient / DIV 0 quotient

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7222
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: PERCENT Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for quotients Y = X1/X2, integer number quotients YIN, and division remainder MOD = (Y - YIN)
x X2 of instance DIV 0 of the divider.
Index: [0] = Quotient Y
[1] = Integer number quotient YIN
[2] = Div remainder MOD

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r20120 BO: DIV 0 divisor is zero QF / DIV 0 divisor=0 QF

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7222
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for the signal QF that the divisor X2 of instance DIV 0 of the divider is zero.
X2 = 0.0 => QF = 1

p20121 DIV 0 run-time group / DIV 0 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7222
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which instance DIV 0 of the divider is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20122 DIV 0 run sequence / DIV 0 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7222
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 300
Description: Setting parameter for the run sequence of instance DIV 0 within the run-time group set in p20121.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

© Siemens AG 2012 All Rights Reserved 1-681

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20123[0...1] CI: DIV 1 inputs / DIV 1 inputs

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: - Func. diagram: 7222
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: PERCENT Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of dividend X1 and divisor X2 of instance DIV 1 of the divider.
Index: [0] = Dividend X0
[1] = Divisor X1

r20124[0...2] CO: DIV 1 quotient / DIV 1 quotient

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7222
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: PERCENT Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for quotients Y = X1/X2, integer number quotients YIN, and division remainder MOD = (Y - YIN)
x X2 of instance DIV 1 of the divider.
Index: [0] = Quotient Y
[1] = Integer number quotient YIN
[2] = Div remainder MOD

r20125 BO: DIV 1 divisor is zero QF / DIV 1 divisor=0 QF

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7222
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for the signal QF that the divisor X2 of instance DIV 1 of the divider is zero.
X2 = 0.0 => QF = 1

1-682 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20126 DIV 1 run-time group / DIV 1 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7222
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which instance DIV 1 of the divider is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20127 DIV 1 run sequence / DIV 1 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7222
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 310
Description: Setting parameter for the run sequence of instance DIV 1 within the run-time group set in p20126.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

p20128 CI: AVA 0 input X / AVA 0 input X

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: - Func. diagram: 7224
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: PERCENT Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of the input quantity X of instance AVA 0 of the absolute value generator with sign evalua-
tion.

© Siemens AG 2012 All Rights Reserved 1-683

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r20129 CO: AVA 0 output Y / AVA 0 output Y

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7224
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: PERCENT Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for output quantity Y of instance AVA 0 of the absolute value generator with sign evaluation.

r20130 BO: AVA 0 input negative SN / AVA 0 input neg SN

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7224
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for signal SN that the input quantity X of instance AVA 0 of the absolute value generator with
sign evaluation is negative.
X < 0.0 => SN = 1

p20131 AVA 0 run-time group / AVA 0 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7224
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which instance AVA 0 of the absolute value generator with sign evalua-
tion is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

1-684 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20132 AVA 0 run sequence / AVA 0 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7224
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 340
Description: Setting parameter for the run sequence of instance AVA 0 within the run-time group set in p20131.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

p20133 CI: AVA 1 input X / AVA 1 input X

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: - Func. diagram: 7224
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: PERCENT Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of the input quantity X of instance AVA 1 of the absolute value generator with sign evalua-
tion.

r20134 CO: AVA 1 output Y / AVA 1 output Y

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7224
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: PERCENT Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for output quantity Y of instance AVA 1 of the absolute value generator with sign evaluation.

© Siemens AG 2012 All Rights Reserved 1-685

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r20135 BO: AVA 1 input negative SN / AVA 1 input neg SN

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7224
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for signal SN that the input quantity X of instance AVA 1 of the absolute value generator with
sign evaluation is negative.
X < 0.0 => SN = 1

p20136 AVA 1 run-time group / AVA 1 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7224
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which instance AVA 1 of the absolute value generator with sign evalua-
tion is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20137 AVA 1 run sequence / AVA 1 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7224
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 350
Description: Setting parameter for the run sequence of instance AVA 1 within the run-time group set in p20136.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

1-686 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20138 BI: MFP 0 input pulse I / MFP 0 inp_pulse I

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7230
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source for the input pulse I of instance MFP 0 of the pulse generator.

p20139 MFP 0 pulse duration in ms / MFP 0 pulse_dur ms

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7230
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0.00 60000.00 0.00
Description: Setting parameter for pulse duration T in milliseconds of instance MFP 0 of the pulse generator.

r20140 BO: MFP 0 output Q / MFP 0 output Q

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7230
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for output pulse Q of instance MFP 0 of the pulse generator.

p20141 MFP 0 run-time group / MFP 0 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7230
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which the instance MFP 0 of the pulse generator is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2

© Siemens AG 2012 All Rights Reserved 1-687

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20142 MFP 0 run sequence / MFP 0 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7230
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 370
Description: Setting parameter for the run sequence of instance MFP 0 within the run-time group set in p20141.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

p20143 BI: MFP 1 input pulse I / MFP 1 inp_pulse I

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7230
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source for the input pulse I of instance MFP 1 of the pulse generator.

p20144 MFP 1 pulse duration in ms / MFP 1 pulse_dur ms

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7230
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0.00 60000.00 0.00
Description: Setting parameter for pulse duration T in milliseconds of instance MFP 1 of the pulse generator.

1-688 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r20145 BO: MFP 1 output Q / MFP 1 output Q

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7230
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for output pulse Q of instance MFP 1 of the pulse generator.

p20146 MFP 1 run-time group / MFP 1 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7230
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which the instance MFP 1 of the pulse generator is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20147 MFP 1 run sequence / MFP 1 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7230
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 380
Description: Setting parameter for the run sequence of instance MFP 1 within the run-time group set in p20146.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

© Siemens AG 2012 All Rights Reserved 1-689

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20148 BI: PCL 0 input pulse I / PCL 0 inp_pulse I

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7230
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source for the input pulse I of instance PCL 0 of the pulse shortener.

p20149 PCL 0 pulse duration in ms / PCL 0 pulse_dur ms

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7230
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0.00 60000.00 0.00
Description: Setting parameter for pulse duration T in milliseconds of instance PCL 0 of the pulse shortener.

r20150 BO: PCL 0 output Q / PCL 0 output Q

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7230
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for output pulse Q of instance PCL 0 of the pulse shortener.

p20151 PCL 0 run-time group / PCL 0 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7230
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which the instance PCL 0 of the pulse shortener is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2

1-690 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20152 PCL 0 run sequence / PCL 0 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7230
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 400
Description: Setting parameter for the run sequence of instance PCL 0 within the run-time group set in p20151.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

p20153 BI: PCL 1 input pulse I / PCL 1 inp_pulse I

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7230
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source for the input pulse I of instance PCL 1 of the pulse shortener.

p20154 PCL 1 pulse duration in ms / PCL 1 pulse_dur ms

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7230
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0.00 60000.00 0.00
Description: Setting parameter for pulse duration T in milliseconds of instance PCL 1 of the pulse shortener.

© Siemens AG 2012 All Rights Reserved 1-691

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r20155 BO: PCL 1 output Q / PCL 1 output Q

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7230
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for output pulse Q of instance PCL 1 of the pulse shortener.

p20156 PCL 1 run-time group / PCL 1 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7230
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which the instance PCL 1 of the pulse shortener is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20157 PCL 1 run sequence / PCL 1 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7230
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 410
Description: Setting parameter for the run sequence of instance PCL 1 within the run-time group set in p20156.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

1-692 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20158 BI: PDE 0 input pulse I / PDE 0 inp_pulse I

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7232
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source for the input pulse I of instance PDE 0 of the closing delay device.

p20159 PDE 0 pulse delay time in ms / PDE 0 t_del ms

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7232
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0.00 60000.00 0.00
Description: Setting parameter for pulse delay time T in milliseconds of instance PDE 0 of the closing delay device.

r20160 BO: PDE 0 output Q / PDE 0 output Q

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7232
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for output pulse Q of instance PDE 0 of the closing delay device.

p20161 PDE 0 run-time group / PDE 0 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7232
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which instance PDE 0 of the closing delay device is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2

© Siemens AG 2012 All Rights Reserved 1-693

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20162 PDE 0 run sequence / PDE 0 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7232
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 430
Description: Setting parameter for the run sequence of instance PDE 0 within the run-time group set in p20161.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

p20163 BI: PDE 1 input pulse I / PDE 1 inp_pulse I

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7232
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source for the input pulse I of instance PDE 1 of the closing delay device.

p20164 PDE 1 pulse delay time in ms / PDE 1 t_del ms

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7232
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0.00 60000.00 0.00
Description: Setting parameter for pulse delay time T in milliseconds of instance PDE 1 of the closing delay device.

1-694 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r20165 BO: PDE 1 output Q / PDE 1 output Q

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7232
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for output pulse Q of instance PDE 1 of the closing delay device.

p20166 PDE 1 run-time group / PDE 1 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7232
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which instance PDE 1 of the closing delay device is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20167 PDE 1 run sequence / PDE 1 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7232
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 440
Description: Setting parameter for the run sequence of instance PDE 1 within the run-time group set in p20166.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

© Siemens AG 2012 All Rights Reserved 1-695

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20168 BI: PDF 0 input pulse I / PDF 0 inp_pulse I

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7232
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source for the input pulse I of instance PDF 0 of the breaking delay device.

p20169 PDF 0 pulse extension time in ms / PDF 0 t_ext ms

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7232
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0.00 60000.00 0.00
Description: Setting parameter for pulse extension time T in milliseconds of instance PDF 0 of the breaking delay device.

r20170 BO: PDF 0 output Q / PDF 0 output Q

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7232
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for output pulse Q of instance PDF 0 of the breaking delay device.

p20171 PDF 0 run-time group / PDF 0 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7232
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which the instance PDF 0 of the breaking delay device is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2

1-696 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20172 PDF 0 run sequence / PDF 0 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7232
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 460
Description: Setting parameter for the run sequence of instance PDF 0 within the run-time group set in p20171.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

p20173 BI: PDF 1 input pulse I / PDF 1 inp_pulse I

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7232
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source for the input pulse I of instance PDF 1 of the breaking delay device.

p20174 PDF 1 pulse extension time in ms / PDF 1 t_ext ms

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7232
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0.00 60000.00 0.00
Description: Setting parameter for pulse extension time T in milliseconds of instance PDF 1 of the breaking delay device.

© Siemens AG 2012 All Rights Reserved 1-697

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r20175 BO: PDF 1 output Q / PDF 1 output Q

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7232
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for output pulse Q of instance PDF 1 of the breaking delay device.

p20176 PDF 1 run-time group / PDF 1 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7232
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which the instance PDF 1 of the breaking delay device is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20177 PDF 1 run sequence / PDF 1 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7232
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 470
Description: Setting parameter for the run sequence of instance PDF 1 within the run-time group set in p20176.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

1-698 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20178[0...1] BI: PST 0 inputs / PST 0 inputs

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7234
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source for input pulse I and the reset input R of instance PST 0 of the pulse extension element.
Index: [0] = Input pulse I
[1] = Reset input R

p20179 PST 0 pulse duration in ms / PST 0 pulse_dur ms

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7234
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0.00 60000.00 0.00
Description: Setting parameter for pulse duration T in milliseconds of instance PST 0 of the pulse extension element.

r20180 BO: PST 0 output Q / PST 0 output Q

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7234
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for output pulse Q of instance PST 0 of the pulse extension element.

p20181 PST 0 run-time group / PST 0 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7234
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which the instance PST 0 of the pulse extension element is to be called.

© Siemens AG 2012 All Rights Reserved 1-699

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Value: 0: Run-time group 0

1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20182 PST 0 run sequence / PST 0 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7234
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 7999 490
Description: Setting parameter for the run sequence of instance PST 0 within the run-time group set in p20181.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

p20183[0...1] BI: PST 1 inputs / PST 1 inputs

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7234
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source for input pulse I and the reset input R of instance PST 1 of the pulse extension element.
Index: [0] = Input pulse I
[1] = Reset input R

p20184 PST 1 pulse duration in ms / PST 1 pulse_dur ms

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7234
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0.00 60000.00 0.00
Description: Setting parameter for pulse duration T in milliseconds of instance PST 1 of the pulse extension element.

1-700 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r20185 BO: PST 1 output Q / PST 1 output Q

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7234
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for output pulse Q of instance PST 1 of the pulse extension element.

p20186 PST 1 run-time group / PST 1 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7234
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which the instance PST 1 of the pulse extension element is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20187 PST 1 run sequence / PST 1 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7234
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 7999 500
Description: Setting parameter for the run sequence of instance PST 1 within the run-time group set in p20186.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20188[0...1] BI: RSR 0 inputs / RSR 0 inputs

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7240
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source for set input S and reset input R of instance RSR 0 of the RS flipflop.
Index: [0] = Set S
[1] = Reset R

r20189 BO: RSR 0 output Q / RSR 0 output Q

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7240
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for output Q of instance RSR 0 of the RS flipflop

r20190 BO: RSR 0 inverted output QN / RSR 0 inv outp QN

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7240
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for inverted output QN of instance RSR 0 of the RS flipflop.

p20191 RSR 0 run-time group / RSR 0 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7240
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which instance RSR 0 of the RS flipflop is to be called.

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Value: 0: Run-time group 0

1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20192 RSR 0 run sequence / RSR 0 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7240
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 7999 520
Description: Setting parameter for the run sequence of instance RSR 0 within the run-time group set in p20191.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

p20193[0...1] BI: RSR 1 inputs / RSR 1 inputs

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7240
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source for set input S and reset input R of instance RSR 1 of the RS flipflop.
Index: [0] = Set S
[1] = Reset R

r20194 BO: RSR 1 output Q / RSR 1 output Q

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7240
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for output Q of instance RSR 1 of the RS flipflop

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r20195 BO: RSR 1 inverted output QN / RSR 1 inv outp QN

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7240
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for inverted output QN of instance RSR 1 of the RS flipflop.

p20196 RSR 1 run-time group / RSR 1 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7240
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which instance RSR 1 of the RS flipflop is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20197 RSR 1 run sequence / RSR 1 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7240
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 7999 530
Description: Setting parameter for the run sequence of instance RSR 1 within the run-time group set in p20196.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

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SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20198[0...3] BI: DFR 0 inputs / DFR 0 inputs

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7240
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source for trigger input I, D input D, set input S, and reset input R of instance DFR 0 of the D flipflop.
Index: [0] = Trigger input I
[1] = D input D
[2] = Set S
[3] = Reset R

r20199 BO: DFR 0 output Q / DFR 0 output Q

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7240
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for output Q of instance DFR 0 of the D flipflop.

r20200 BO: DFR 0 inverted output QN / DFR 0 inv outp QN

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7240
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for the inverted output QN of instance DFR 0 of the D flipflop.

© Siemens AG 2012 All Rights Reserved 1-705

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20201 DFR 0 run-time group / DFR 0 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7240
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which instance DFR 0 of the D flipflop is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20202 DFR 0 run sequence / DFR 0 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7240
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 550
Description: Setting parameter for the run sequence of instance DFR 0 within the run-time group set in p20201.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

p20203[0...3] BI: DFR 1 inputs / DFR 1 inputs

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7240
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source for trigger input I, D input D, set input S, and reset input R of instance DFR 1 of the D flipflop.
Index: [0] = Trigger input I
[1] = D input D
[2] = Set S
[3] = Reset R

1-706 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r20204 BO: DFR 1 output Q / DFR 1 output Q

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7240
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for output Q of instance DFR 1 of the D flipflop.

r20205 BO: DFR 1 inverted output QN / DFR 1 inv outp QN

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7240
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for the inverted output QN of instance DFR 1 of the D flipflop.

p20206 DFR 1 run-time group / DFR 1 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7240
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which instance DFR 1 of the D flipflop is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

© Siemens AG 2012 All Rights Reserved 1-707

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20207 DFR 1 run sequence / DFR 1 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7240
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 560
Description: Setting parameter for the run-time group of instance DFR 1 within the run-time group set in p20206.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

p20208[0...1] BI: BSW 0 inputs / BSW 0 inputs

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7250
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of input quantities I0 and I1 of instance BSW 0 of the binary changeover switch.
Index: [0] = Input I0
[1] = Input I1

p20209 BI: BSW 0 switch setting I / BSW 0 sw_setting

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7250
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of the switch setting I of instance BSW 0 of the binary changeover switch.

1-708 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r20210 BO: BSW 0 output Q / BSW 0 output Q

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7250
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for output quantity Q of instance BSW 0 of the binary changeover switch.

p20211 BSW 0 run-time group / BSW 0 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7250
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which the instance BSW 0 of the binary changeover switch is to be
called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20212 BSW 0 run sequence / BSW 0 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7250
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 7999 580
Description: Setting parameter for the run sequence of instance BSW 0 within the run-time group set in p20211.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

© Siemens AG 2012 All Rights Reserved 1-709

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20213[0...1] BI: BSW 1 inputs / BSW 1 inputs

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7250
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of input quantities I0 and I1 of instance BSW 1 of the binary changeover switch.
Index: [0] = Input I0
[1] = Input I1

p20214 BI: BSW 1 switch setting I / BSW 1 sw_setting

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7250
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of the switch setting I of instance BSW 1 of the binary changeover switch.

r20215 BO: BSW 1 output Q / BSW 1 output Q

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7250
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for output quantity Q of instance BSW 1 of the binary changeover switch.

p20216 BSW 1 run-time group / BSW 1 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7250
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which the instance BSW 1 of the binary changeover switch is to be
called.

1-710 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Value: 0: Run-time group 0

1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20217 BSW 1 run sequence / BSW 1 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7250
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 7999 590
Description: Setting parameter for the run sequence of instance BSW 1 within the run-time group set in p20216.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

p20218[0...1] CI: NSW 0 inputs / NSW 0 inputs

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: - Func. diagram: 7250
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: PERCENT Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of input quantities X0 and X1 of instance NSW 0 of the numeric changeover switch.
Index: [0] = Input X0
[1] = Input X1

p20219 BI: NSW 0 switch setting I / NSW 0 sw_setting

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7250
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of the switch setting I of instance NSW 0 of the numeric changeover switch.

© Siemens AG 2012 All Rights Reserved 1-711

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r20220 CO: NSW 0 output Y / NSW 0 output Y

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7250
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: PERCENT Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for output quantity Y of instance NSW 0 of the numeric changeover switch.

p20221 NSW 0 run-time group / NSW 0 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7250
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which the instance NSW 0 of the numeric changeover switch is to be
called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20222 NSW 0 run sequence / NSW 0 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7250
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 610
Description: Setting parameter for the run sequence of instance NSW 0 within the run-time group set in p20221.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

1-712 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20223[0...1] CI: NSW 1 inputs / NSW 1 inputs

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: - Func. diagram: 7250
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: PERCENT Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of input quantities X0 and X1 of instance NSW 1 of the numeric changeover switch.
Index: [0] = Input X0
[1] = Input X1

p20224 BI: NSW 1 switch setting I / NSW 1 sw_setting

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7250
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of the switch setting I of instance NSW 1 of the numeric changeover switch.

r20225 CO: NSW 1 output Y / NSW 1 output Y

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7250
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: PERCENT Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for output quantity Y of instance NSW 1 of the numeric changeover switch.

p20226 NSW 1 run-time group / NSW 1 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7250
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which the instance NSW 1 of the numeric changeover switch is to be
called.

© Siemens AG 2012 All Rights Reserved 1-713

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

Value: 0: Run-time group 0

1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20227 NSW 1 run sequence / NSW 1 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7250
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 620
Description: Setting parameter for the run sequence of instance NSW 1 within the run-time group set in p20226.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

p20228 CI: LIM 0 input X / LIM 0 input X

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: - Func. diagram: 7260
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: PERCENT Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of input quantity X of instance LIM 0 of the limiter.

p20229 LIM 0 upper limit value LU / LIM 0 upper lim LU

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7260
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
-340.28235E36 340.28235E36 0.0000
Description: Setting parameter for the upper limit value LU of instance LIM 0 of the limiter.

1-714 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20230 LIM 0 lower limit value LL / LIM 0 lower lim LL

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7260
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
-340.28235E36 340.28235E36 0.0000
Description: Setting parameter for the lower limit value LL of instance LIM 0 of the limiter.

r20231 CO: LIM 0 output Y / LIM 0 output Y

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7260
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: PERCENT Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for the limited output quantity Y of instance LIM 0 of the limiter.

r20232 BO: LIM 0 input quantity at the upper limit QU / LIM 0 QU

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7260
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter of instance LIM 0 of limiter QU (upper limit reached), i.e. QU = 1 for X >= LU.

r20233 BO: LIM 0 input quantity at the lower limit QL / LIM 0 QL

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7260
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter of instance LIM 0 of limiter QL (lower limit reached), i.e. QL = 1 for X <= LL.

© Siemens AG 2012 All Rights Reserved 1-715

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20234 LIM 0 run-time group / LIM 0 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7260
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which instance LIM 0 of the limiter is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20235 LIM 0 run sequence / LIM 0 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7260
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 640
Description: Setting parameter for the run sequence of instance LIM 0 within the run-time group set in p20234.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

p20236 CI: LIM 1 input X / LIM 1 input X

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: - Func. diagram: 7260
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: PERCENT Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of input quantity X of instance LIM 1 of the limiter.

1-716 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20237 LIM 1 upper limit value LU / LIM 1 upper lim LU

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7260
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
-340.28235E36 340.28235E36 0.0000
Description: Setting parameter for the upper limit value LU of instance LIM 1 of the limiter.

p20238 LIM 1 lower limit value LL / LIM 1 lower lim LL

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7260
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
-340.28235E36 340.28235E36 0.0000
Description: Setting parameter for the lower limit value LL of instance LIM 1 of the limiter.

r20239 CO: LIM 1 output Y / LIM 1 output Y

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7260
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: PERCENT Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for the limited output quantity Y of instance LIM 1 of the limiter.

r20240 BO: LIM 1 input quantity at the upper limit QU / LIM 1 QU

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7260
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter of instance LIM 1 of limiter QU (upper limit reached), i.e. QU = 1 for X >= LU.

© Siemens AG 2012 All Rights Reserved 1-717

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r20241 BO: LIM 1 input quantity at the lower limit QL / LIM 1 QL

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7260
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter of instance LIM 1 of limiter QL (lower limit reached), i.e. QL = 1 for X <= LL.

p20242 LIM 1 run-time group / LIM 1 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7260
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which instance LIM 1 of the limiter is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20243 LIM 1 run sequence / LIM 1 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7260
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 650
Description: Setting parameter for the run sequence of instance LIM 1 within the run-time group set in p20242.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

1-718 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20244[0...1] CI: PT1 0 inputs / PT1 0 inputs

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: - Func. diagram: 7262
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: PERCENT Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of input quantity X and of setting value SV of instance PT1 0 of the smoothing element.
Index: [0] = Input X
[1] = Setting value SV

p20245 BI: PT1 0 accept setting value S / PT1 0 acc set val
CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7262
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source for the "accept setting value" signal of instant PT1 0 of the smoothing element.

p20246 PT1 0 smoothing time constant in ms / PT1 0 T_smooth ms

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7262
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0.00 340.28235E36 0.00
Description: Sets the smoothing time constant T in milliseconds of instance PT1 0 of the smoothing element.

r20247 CO: PT1 0 output Y / PT1 0 output Y

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7262
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: PERCENT Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for the smoothed output quantity Y of instance PT1 0 of the smoothing element.

© Siemens AG 2012 All Rights Reserved 1-719

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20248 PT1 0 run-time group / PT1 0 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7262
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which instance PT1 0 of the smoothing element is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20249 PT1 0 run sequence / PT1 0 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7262
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 670
Description: Setting parameter for the run sequence of instance PT1 0 within the run-time group set in p20248.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

p20250[0...1] CI: PT1 1 inputs / PT1 1 inputs

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: - Func. diagram: 7262
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: PERCENT Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of input quantity X and of setting value SV of instance PT1 1 of the smoothing element.
Index: [0] = Input X
[1] = Setting value SV

1-720 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20251 BI: PT1 1 accept setting value S / PT1 1 acc set val
CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7262
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source for the "accept setting value" signal of instant PT1 1 of the smoothing element.

p20252 PT1 1 smoothing time constant in ms / PT1 1 T_smooth ms

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7262
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0.00 340.28235E36 0.00
Description: Sets the smoothing time constant T in milliseconds of instance PT1 1 of the smoothing element.

r20253 CO: PT1 1 output Y / PT1 1 output Y

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7262
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: PERCENT Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for the smoothed output quantity Y of instance PT1 1 of the smoothing element.

p20254 PT1 1 run-time group / PT1 1 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7262
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which instance PT1 1 of the smoothing element is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2

© Siemens AG 2012 All Rights Reserved 1-721

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20255 PT1 1 run sequence / PT1 1 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7262
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 680
Description: Setting parameter for the run sequence of instance PT1 1 within the run-time group set in p20254.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

p20256[0...1] CI: INT 0 inputs / INT 0 inputs

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: - Func. diagram: 7264
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: PERCENT Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of input quantity X and of setting value SV of instance INT 0 of the integrator.
Index: [0] = Input X
[1] = Setting value SV

p20257 INT 0 upper limit value LU / INT 0 upper lim LU

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7264
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
-340.28235E36 340.28235E36 0.0000
Description: Sets the upper limit value LU of instance INT 0 of the integrator.

1-722 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20258 INT 0 lower limit value LL / INT 0 lower lim LL

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7264
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
-340.28235E36 340.28235E36 0.0000
Description: Sets the lower limit value LL of instance INT 0 of the integrator.

p20259 INT 0 integrating time constant in ms / INT 0 T_Integr ms

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7264
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0.00 340.28235E36 0.00
Description: Sets the integrating time constant Ti in milliseconds of instance INT 0 of the integrator.

p20260 BI: INT 0 accept setting value S / INT 0 acc set val
CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 7264
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source for the "accept setting value" signal of instant INT 0 of the integrator.

r20261 CO: INT 0 output Y / INT 0 output Y

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7264
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: PERCENT Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for output quantity Y of instance INT 0 of the integrator.
If LL>= LU, then the output quantity Y = LU.

© Siemens AG 2012 All Rights Reserved 1-723

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r20262 BO: INT 0 integrator at the upper limit QU / INT 0 QU

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7264
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for the signal QU that output quantity Y of instance INT 0 of the integrator has reached the upper
limit value LU.

r20263 BO: INT 0 integrator at the lower limit QL / INT 0 QL

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7264
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for the signal QL that output quantity Y of instance INT 0 of the integrator has reached the lower
limit value LL.

p20264 INT 0 run-time group / INT 0 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7264
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which instance INT 0 of the integrator is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

1-724 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20265 INT 0 run sequence / INT 0 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7264
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 700
Description: Setting parameter for the run sequence of instance INT 0 within the run-time group set in p20264.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

p20266 CI: LVM 0 input X / LVM 0 input X

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: - Func. diagram: 7270
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: PERCENT Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of input quantity X of instance LVM 0 of the double-sided limiter.

p20267 LVM 0 interval average value M / LVM 0 avg value M

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7270
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
-340.28235E36 340.28235E36 0.0000
Description: Setting parameter for the interval average M of instance LVM 0 of the double-sided limiter.

p20268 LVM 0 interval limit L / LVM 0 limit L

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7270
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
-340.28235E36 340.28235E36 0.0000
Description: Setting parameter for the interval limit L of instance LVM 0 of the double-sided limiter.

© Siemens AG 2012 All Rights Reserved 1-725

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20269 LVM 0 hyst HY / LVM 0 hyst HY

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7270
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
-340.28235E36 340.28235E36 0.0000
Description: Setting parameter for hysteresis HY of instance LVM 0 of the double-sided limiter.

r20270 BO: LVM 0 input quantity above interval QU / LVM 0 X above QU

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7270
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter of instance LVM 0 of the double-sided limiter that input quantity X was at least once X > M + L
and X is >= M + L - HY.

r20271 BO: LVM 0 input quantity within interval QM / LVM 0 X within QM

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7270
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter of instance LVM 0 of the double-sided limiter that the input quantity X lies within the interval.

r20272 BO: LVM 0 input quantity below interval QL / LVM 0 X below QL

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7270
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter of instance LVM 0 of the double-sided limiter that input quantity X was at least once X < M - L
and X is <= M - L + HY.

1-726 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20273 LVM 0 run-time group / LVM 0 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7270
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which instance LVM 0 of the double-sided limiter is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20274 LVM 0 run sequence / LVM 0 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7270
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 7999 720
Description: Setting parameter for the run sequence of instance LVM 0 within the run-time group set in p20273.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

p20275 CI: LVM 1 input X / LVM 1 input X

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: - Func. diagram: 7270
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: PERCENT Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of input quantity X of instance LVM 1 of the double-sided limiter.

© Siemens AG 2012 All Rights Reserved 1-727

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20276 LVM 1 interval average value M / LVM 1 avg value M

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7270
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
-340.28235E36 340.28235E36 0.0000
Description: Setting parameter for the interval average M of instance LVM 1 of the double-sided limiter.

p20277 LVM 1 interval limit L / LVM 1 limit L

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7270
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
-340.28235E36 340.28235E36 0.0000
Description: Setting parameter for the interval limit L of instance LVM 1 of the double-sided limiter.

p20278 LVM 1 hyst HY / LVM 1 hyst HY

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7270
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
-340.28235E36 340.28235E36 0.0000
Description: Setting parameter for hysteresis HY of instance LVM 1 of the double-sided limiter.

r20279 BO: LVM 1 input quantity above interval QU / LVM 1 X above QU

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7270
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter of instance LVM 1 of the double-sided limiter that input quantity X was at least once X > M + L
and X is >= M + L - HY.

1-728 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r20280 BO: LVM 1 input quantity within interval QM / LVM 1 X within QM

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7270
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter of instance LVM 1 of the double-sided limiter that the input quantity X lies within the interval.

r20281 BO: LVM 1 input quantity below interval QL / LVM 1 X below QL

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 Dynamic index: - Func. diagram: 7270
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter of instance LVM 1 of the double-sided limiter that input quantity X was at least once X < M - L
and X is <= M - L + HY.

p20282 LVM 1 run-time group / LVM 1 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7270
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which instance LVM 1 of the double-sided limiter is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

© Siemens AG 2012 All Rights Reserved 1-729

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20283 LVM 1 run sequence / LVM 1 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7270
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 7999 730
Description: Setting parameter for the run sequence of instance LVM within the run-time group set in p20282.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

p20284 CI: DIF 0 input X / DIF 0 input X

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned32 / FloatingPoint32 Dynamic index: - Func. diagram: 7264
CU_S110-PN,
SERVO_S110-CAN P-Group: - Units group: - Unit selection: -
(FBLOCKS), Not for motor type: - Scaling: PERCENT Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - 0
Description: Sets the signal source of input quantity X of instance DIF 0 of the differentiating element.

p20285 DIF 0 differentiating time constant in ms / DIF 0 T_diff ms

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7264
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0.00 340.28235E36 0.00
Description: Sets the differentiating time constant Td in milliseconds of instance DIF 0 of the differentiating element.

r20286 CO: DIF 0 output Y / DIF 0 output Y

CU_S110-CAN, Can be changed: - Calculated: - Access level: 1
CU_S110-DP, Data type: FloatingPoint32 Dynamic index: - Func. diagram: 7264
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: PERCENT Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
- - -
Description: Display parameter for output quantity Y of instance DIF 0 of the differentiating element.

1-730 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

p20287 DIF 0 run-time group / DIF 0 RTG

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Integer16 Dynamic index: - Func. diagram: 7264
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 9999 9999
Description: Setting parameter for the run-time group in which instance DIF 0 of the differentiating element is to be called.
Value: 0: Run-time group 0
1: Run-time group 1
2: Run-time group 2
3: Run-time group 3
4: Run-time group 4
5: Run-time group 5
6: Run-time group 6
7: Run-time group 7
8: Run-time group 8
9: Run-time group 9
9999: Do not calculate

p20288 DIF 0 run sequence / DIF 0 RunSeq

CU_S110-CAN, Can be changed: T Calculated: - Access level: 1
CU_S110-DP, Data type: Unsigned16 Dynamic index: - Func. diagram: 7264
CU_S110-PN,
P-Group: - Units group: - Unit selection: -
SERVO_S110-CAN
(FBLOCKS), Not for motor type: - Scaling: - Expert list: 1
SERVO_S110-DP
(FBLOCKS),
SERVO_S110-PN
(FBLOCKS)
Min Max Factory setting
0 32000 750
Description: Setting parameter for the run sequence of instance DIF 0 within the run-time group set in p20287.
Note: The function blocks with a lower run sequence value are calculated before function blocks with a higher run
sequence value.

r61000[0...239] PROFINET Name of Station / PN Name of Station

CU_S110-PN Can be changed: - Calculated: - Access level: 3
Data type: Unsigned8 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays PROFINET Name of Station.
Notice: An ASCII table (excerpt) can be found, for example, in the appendix to the List Manual.

© Siemens AG 2012 All Rights Reserved 1-731

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
List of parameters

r61001[0...3] PROFINET IP of Station / PN IP of Station

CU_S110-PN Can be changed: - Calculated: - Access level: 3
Data type: Unsigned8 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
Min Max Factory setting
- - -
Description: Displays PROFINET IP of Station.

1-732 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
Parameters for data sets

1.3 Parameters for data sets

1.3.1 Parameters for command data sets (CDS)

Note:
References: /FH3/ SINAMICS S110 Function Manual
Chapter "Data sets"

The following list contains the parameters that are dependent on the command data sets.
Product: S110, Version: 4402100, Language: eng, Type: CDS
p0820[0...n] BI: Drive Data Set selection DDS bit 0 / DDS select., bit 0
p0828[0...n] BI: Motor changeover, feedback signal / Mot_chng fdbk sig
p0840[0...n] BI: ON / OFF (OFF1) / ON / OFF (OFF1)
p0844[0...n] BI: No coast-down / coast-down (OFF2) signal source 1 / OFF2 S_src 1
p0845[0...n] BI: No coast-down / coast-down (OFF2) signal source 2 / OFF2 S_src 2
p0848[0...n] BI: No Quick Stop / Quick Stop (OFF3) signal source 1 / OFF3 S_src 1
p0849[0...n] BI: No Quick Stop / Quick Stop (OFF3) signal source 2 / OFF3 S_src 2
p0852[0...n] BI: Enable operation/inhibit operation / Operation enable
p0854[0...n] BI: Control by PLC/no control by PLC / Master ctrl by PLC
p0855[0...n] BI: Unconditionally release holding brake / Uncond open brake
p0856[0...n] BI: Speed controller enable / n_ctrl enable
p0858[0...n] BI: Unconditionally close holding brake / Uncond close brake
p1020[0...n] BI: Fixed speed setpoint selection Bit 0 / n_set_fixed Bit 0
p1021[0...n] BI: Fixed speed setpoint selection Bit 1 / n_set_fixed Bit 1
p1022[0...n] BI: Fixed speed setpoint selection Bit 2 / n_set_fixed Bit 2
p1023[0...n] BI: Fixed speed setpoint selection Bit 3 / n_set_fixed Bit 3
p1035[0...n] BI: Motorized potentiometer setpoint raise / Mop raise
p1036[0...n] BI: Motorized potentiometer lower setpoint / Mop lower
p1039[0...n] BI: Motorized potentiometer inversion / MotP inv
p1041[0...n] BI: Motorized potentiometer manual/automatic / Mop manual/auto
p1042[0...n] CI: Motorized potentiometer automatic setpoint / Mop auto setpoint
p1043[0...n] BI: Motorized potentiometer accept setting value / MotP acc set val
p1044[0...n] CI: Motorized potentiometer setting value / Mop set val
p1051[0...n] CI: Speed limit RFG positive direction of rotation / n_limit RFG pos
p1052[0...n] CI: Speed limit RFG negative direction of rotation / n_limit RFG neg
p1055[0...n] BI: Jog bit 0 / Jog bit 0
p1056[0...n] BI: Jog bit 1 / Jog bit 1
p1070[0...n] CI: Main setpoint / Main setpoint
p1071[0...n] CI: Main setpoint scaling / Main setp scal
p1075[0...n] CI: Suppl setpoint / Suppl setpoint
p1076[0...n] CI: Supplementary setpoint scaling / Suppl setp scal
p1085[0...n] CI: Speed limit in positive direction of rotation / n_limit pos
p1088[0...n] CI: Speed limit in negative direction of rotation / n_limit neg
p1110[0...n] BI: Inhibit negative direction / Inhib neg dir
p1111[0...n] BI: Inhibit positive direction / Inhib pos dir
p1113[0...n] BI: Setpoint inversion / Setp inv
p1122[0...n] BI: Bypass ramp-function generator / Bypass RFG
p1140[0...n] BI: Enable ramp-function generator/inhibit ramp-function generator / RFG enable

© Siemens AG 2012 All Rights Reserved 1-733

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
Parameter
Parameters for data sets

p1141[0...n] BI: Continue ramp-function generator/freeze ramp-function generator / Continue RFG

p1142[0...n] BI: Enable setpoint/inhibit setpoint / Setpoint enable
p1143[0...n] BI: Ramp-function generator, accept setting value / RFG accept set v
p1144[0...n] CI: Ramp-function generator setting value / RFG setting value
p1155[0...n] CI: Speed controller speed setpoint 1 / n_ctrl n_set 1
p1160[0...n] CI: Speed controller speed setpoint 2 / n_ctrl n_set 2
p1230[0...n] BI: Armature short-circuit / DC braking activation / ASC/DCBRK act
p1235[0...n] BI: External armature short-circuit, contactor feedback signal / ASC ext feedback
p1430[0...n] CI: Speed pre-control / n_prectrl
p1455[0...n] CI: Speed controller P gain adaptation signal / n_ctrl Adpt_sig Kp
p1466[0...n] CI: Speed controller P-gain scaling / n_ctrl Kp scal
p1476[0...n] BI: Speed controller hold integrator / n_ctrl integ stop
p1477[0...n] BI: Speed controller set integrator value / n_ctrl integ set
p1478[0...n] CI: Speed controller integrator setting value / n_ctr integ_setVal
p1497[0...n] CI: Moment of inertia, scaling / M_mom inert scal
p1501[0...n] BI: Change over between closed-loop speed/torque control / Changeov n/M_ctrl
p1502[0...n] BI: Freeze moment of inertia estimator / J_estim freeze
p1511[0...n] CI: Supplementary torque 1 / M_suppl 1
p1512[0...n] CI: Supplementary torque 1 scaling / M_suppl 1 scal
p1513[0...n] CI: Supplementary torque 2 / M_suppl 2
p1522[0...n] CI: Torque limit upper/motoring / M_max upper/mot
p1523[0...n] CI: Torque limit lower/regenerative / M_max lower/regen
p1528[0...n] CI: Torque limit upper/motoring scaling / M_max up/mot scal
p1529[0...n] CI: Torque limit lower/regenerative scaling / M_max low/gen scal
p1542[0...n] CI: Travel to fixed stop torque reduction / TfS M_red
p1545[0...n] BI: Activates travel to a fixed stop / TfS activation
p1550[0...n] BI: Transfer actual torque as torque offset / Accept act torque
p1551[0...n] BI: Torque limit variable/fixed signal source / M_lim var/fixS_src
p1552[0...n] CI: Torque limit upper scaling without offset / M_max up w/o offs
p1554[0...n] CI: Torque limit lower scaling without offset / M_max low w/o offs
p1569[0...n] CI: Supplementary torque 3 / M_suppl 3
p2103[0...n] BI: 1. Acknowledge faults / 1. Acknowledge
p2104[0...n] BI: 2. Acknowledge faults / 2. Acknowledge
p2105[0...n] BI: 3. Acknowledge faults / 3. Acknowledge
p2106[0...n] BI: External fault 1 / External fault 1
p2107[0...n] BI: External fault 2 / External fault 2
p2108[0...n] BI: External fault 3 / External fault 3
p2112[0...n] BI: External alarm 1 / External alarm 1
p2116[0...n] BI: External alarm 2 / External alarm 2
p2117[0...n] BI: External alarm 3 / External alarm 3
p2144[0...n] BI: Motor stall monitoring enable (negated) / Mot stall enab neg
p2148[0...n] BI: RFG active / RFG active
p2151[0...n] CI: Speed setpoint for messages/signals / n_set for msg
p2154[0...n] CI: Speed setpoint 2 / n_set 2
p2200[0...n] BI: Technology controller enable / Tec_ctrl enable
p2220[0...n] BI: Technology controller fixed value selection bit 0 / Tec_ctrl sel bit 0
p2221[0...n] BI: Technology controller fixed value selection bit 1 / Tec_ctrl sel bit 1
p2222[0...n] BI: Technology controller fixed value selection bit 2 / Tec_ctrl sel bit 2
p2223[0...n] BI: Technology controller fixed value selection bit 3 / Tec_ctrl sel bit 3
p2235[0...n] BI: Technology controller motorized potentiometer raise setpoint / Tec_ctrl mop raise
p2236[0...n] BI: Technology controller motorized potentiometer lower setpoint / Tec_ctrl mop lower
p2253[0...n] CI: Technology controller setpoint 1 / Tec_ctrl setp 1
p2254[0...n] CI: Technology controller setpoint 2 / Tec_ctrl setp 2

1-734 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
Parameters for data sets

p2264[0...n] CI: Technology controller actual value / Tec_ctrl act val

p2286[0...n] BI: Hold technology controller integrator / Tec_ctr integ stop
p2289[0...n] CI: Technology controller pre-control signal / Tec_ctrl prectrl
p2296[0...n] CI: Technology controller output scaling / Tec_ctrl outp scal
p2297[0...n] CI: Technology controller maximum limit signal source / Tec_ctrl m_lm s_sc
p2298[0...n] CI: Technology controller minimum limit signal source / Tec_ctrl min_l s_s
p2299[0...n] CI: Technology controller limit offset / Tech_ctrl lim offs

1.3.2 Parameters for drive data sets (DDS)

Note:
References: /FH3/ SINAMICS S110 Function Manual
Chapter "Data sets"

The following list contains the parameters that are dependent on the drive data sets.
Product: S110, Version: 4402100, Language: eng, Type: DDS
p0186[0...n] Motor Data Sets (MDS) number / MDS number
p0187[0...n] Encoder 1 encoder data set number / Enc 1 EDS number
p0188[0...n] Encoder 2 encoder data set number / Enc 2 EDS number
p0340[0...n] Automatic calculation, motor/control parameters / Calc auto par
p0572[0...n] Activate inhibit list / Act inhib list
p0578[0...n] Calculate technology-dependent parameters / Calc tec par
p0640[0...n] Current limit / Current limit
p0642[0...n] Encoderless operation current reduction / Encoderl op I_red
p1001[0...n] CO: Fixed speed setpoint 1 / n_set_fixed 1
p1002[0...n] CO: Fixed speed setpoint 2 / n_set_fixed 2
p1003[0...n] CO: Fixed speed setpoint 3 / n_set_fixed 3
p1004[0...n] CO: Fixed speed setpoint 4 / n_set_fixed 4
p1005[0...n] CO: Fixed speed setpoint 5 / n_set_fixed 5
p1006[0...n] CO: Fixed speed setpoint 6 / n_set_fixed 6
p1007[0...n] CO: Fixed speed setpoint 7 / n_set_fixed 7
p1008[0...n] CO: Fixed speed setpoint 8 / n_set_fixed 8
p1009[0...n] CO: Fixed speed setpoint 9 / n_set_fixed 9
p1010[0...n] CO: Fixed speed setpoint 10 / n_set_fixed 10
p1011[0...n] CO: Fixed speed setpoint 11 / n_set_fixed 11
p1012[0...n] CO: Fixed speed setpoint 12 / n_set_fixed 12
p1013[0...n] CO: Fixed speed setpoint 13 / n_set_fixed 13
p1014[0...n] CO: Fixed speed setpoint 14 / n_set_fixed 14
p1015[0...n] CO: Fixed speed setpoint 15 / n_set_fixed 15
p1030[0...n] Motorized potentiometer configuration / Mop configuration
p1037[0...n] Motorized potentiometer maximum speed / MotP n_max
p1038[0...n] Motorized potentiometer minimum speed / MotP n_min
p1040[0...n] Motorized potentiometer starting value / Mop start value
p1047[0...n] Motorized potentiometer ramp-up time / Mop ramp-up time
p1048[0...n] Motorized potentiometer ramp-down time / Mop ramp-down time
p1058[0...n] Jog 1 speed setpoint / Jog 1 n_set
p1059[0...n] Jog 2 speed setpoint / Jog 2 n_set
p1063[0...n] Speed limit setpoint channel / n_limit setp
p1080[0...n] Minimum speed / n_min

© Siemens AG 2012 All Rights Reserved 1-735

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
Parameter
Parameters for data sets

p1082[0...n] Maximum speed / n_max

p1083[0...n] CO: Speed limit in positive direction of rotation / n_limit pos
p1086[0...n] CO: Speed limit in negative direction of rotation / n_limit neg
p1091[0...n] Skip speed 1 / n_skip 1
p1092[0...n] Skip speed 2 / n_skip 2
p1093[0...n] Skip speed 3 / n_skip 3
p1094[0...n] Skip speed 4 / n_skip 4
p1101[0...n] Skip speed bandwidth / n_skip bandwidth
p1120[0...n] Ramp-function generator ramp-up time / RFG ramp-up time
p1121[0...n] Ramp-function generator ramp-down time / RFG ramp-down time
p1130[0...n] Ramp-function generator initial rounding-off time / RFG t_start_round
p1131[0...n] Ramp-function generator final rounding-off time / RFG t_end_delay
p1134[0...n] Ramp-function generator rounding-off type / RFG round-off type
p1135[0...n] OFF3 ramp-down time / OFF3 t_RD
p1136[0...n] OFF3 initial rounding-off time / RFGOFF3 t_strt_rnd
p1137[0...n] OFF3 final rounding-off time / RFG OFF3 t_end_del
p1145[0...n] Ramp-function generator tracking intensity. / RFG track intens
p1148[0...n] Ramp-function gen., tolerance for ramp-up and ramp-down active / RFG tol HL/RL act
p1151[0...n] Ramp-function generator configuration / RFG config
p1189[0...n] Speed setpoint configuration / n_ctrl config
p1192[0...n] DSC enc selection / DSC enc selection
p1193[0...n] DSC encoder adaptation factor / DSC encodAdaptFact
p1226[0...n] Threshold for zero speed detection / n_standst n_thresh
p1240[0...n] Vdc controller or Vdc monitoring configuration / Vdc_ctrl config
p1244[0...n] DC link voltage threshold upper / Vdc upper thresh
p1248[0...n] DC link voltage threshold lower / Vdc lower thresh
p1250[0...n] Vdc controller proportional gain / Vdc_ctrl Kp
p1300[0...n] Open-loop/closed-loop control operating mode / Op/cl-lp ctrl_mode
p1317[0...n] U/f control activation / Uf act
p1318[0...n] U/f control ramp-up/ramp-down time / Uf t_rmp-up_rmp-dn
p1319[0...n] U/f control voltage at zero frequency / Uf U at f=0 Hz
p1326[0...n] U/f control characteristic frequency / Uf char f4
p1327[0...n] U/f control characteristic voltage / Uf char U4
p1338[0...n] U/f mode resonance damping gain / Uf Res_damp gain
p1339[0...n] U/f mode resonance damping filter time constant / Uf Res_damp T
p1345[0...n] DC braking proportional gain / DCBRK Kp
p1346[0...n] DC braking, integral time / DCBRK Tn
p1349[0...n] U/f mode resonance damping maximum frequency / Uf res_damp f_max
p1400[0...n] Speed control configuration / n_ctrl config
p1402[0...n] Closed-loop current control and motor model configuration / I_ctrl config
p1404[0...n] Encoderless operation changeover speed / Encoderl op n_chg
p1414[0...n] Speed setpoint filter activation / n_set_filt act
p1415[0...n] Speed setpoint filter 1 type / n_set_filt 1 typ
p1416[0...n] Speed setpoint filter 1 time constant / n_set_filt 1 T
p1417[0...n] Speed setpoint filter 1 denominator natural frequency / n_set_filt 1 fn_d
p1418[0...n] Speed setpoint filter 1 denominator damping / n_set_filt 1 D_d
p1419[0...n] Speed setpoint filter 1 numerator natural frequency / n_set_filt 1 fn_n
p1420[0...n] Speed setpoint filter 1 numerator damping / n_set_filt 1 D_n
p1428[0...n] Speed pre-control balancing dead time / n_prectrBal t_dead
p1429[0...n] Speed pre-control balancing time constant / n_prectr bal T
p1433[0...n] Speed controller reference model natural frequency / n_ctrl RefMod fn
p1434[0...n] Speed controller reference model damping / n_ctrl RefMod D
p1435[0...n] Speed controller reference model dead time / n_ctrRefMod t_dead

1-736 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
Parameters for data sets

p1441[0...n] Actual speed smoothing time / n_act T_smooth

p1451[0...n] Speed actual value smoothing time sensorless / n_act t_sm SL
p1456[0...n] Speed controller P gain adaptation lower starting point / n_ctrl AdaptKpLow
p1457[0...n] Speed controller P gain adaptation upper starting point / n_ctrl AdaptKp up
p1458[0...n] Adaptation factor, lower / Adapt_factor lower
p1459[0...n] Adaptation factor, upper / Adapt_factor upper
p1460[0...n] Speed controller P gain adaptation speed, lower / n_ctrl Kp n lower
p1461[0...n] Speed controller Kp adaptation speed, upper scaling / n_ctrl Kp n upper
p1462[0...n] Speed controller integral time adaptation speed lower / n_ctrl Tn n lower
p1463[0...n] Speed controller Tn adaptation speed, upper scaling / n_ctrl Tn n upper
p1464[0...n] Speed controller adaptation speed, lower / n_ctrl n lower
p1465[0...n] Speed controller adaptation speed, upper / n_ctrl n upper
p1470[0...n] Speed controller encoderless operation P-gain / n_ctrl SLVC Kp
p1472[0...n] Speed controller encoderless operation integral time / n_ctrl SLVC Tn
p1494[0...n] Speed controller integrator feedback time constant / n_ctr integ_fdbk T
p1498[0...n] Load moment of inertia / Load mom of inert
p1517[0...n] Accelerating torque smoothing time constant / M_accel T_smooth
p1520[0...n] CO: Torque limit upper/motoring / M_max upper/mot
p1521[0...n] CO: Torque limit lower/regenerative / M_max lower/regen
p1524[0...n] CO: Torque limit upper/motoring scaling / M_max up/mot scal
p1525[0...n] CO: Torque limit lower/regenerative scaling / M_max low/gen scal
p1530[0...n] Power limit motoring / P_max mot
p1531[0...n] Power limit regenerative / P_max gen
p1532[0...n] CO: Torque limit offset / M_max offset
p1578[0...n] Flux reduction flux decrease smoothing time / Flux red dec t_sm
p1579[0...n] Flux reduction flux build-up smoothing time / Flux red up t_sm
p1581[0...n] Flux reduction factor / Flux red factor
p1585[0...n] Flux actual value, smoothing time / Flux actVal T_smth
p1590[0...n] Flux controller P gain / Flux controller Kp
p1592[0...n] Flux controller integral time / Flux controller Tn
p1612[0...n] Current setpoint, open-loop control, encoderless / I_setCtrEncoderl
p1656[0...n] Activates current setpoint filter / I_setp_filt act
p1657[0...n] Current setpoint filter 1 type / I_set_filt 1 Typ
p1658[0...n] Current setpoint filter 1 denominator natural frequency / I_set_filt 1 fn_n
p1659[0...n] Current setpoint filter 1 denominator damping / I_set_filt 1 D_n
p1660[0...n] Current setpoint filter 1 numerator natural frequency / I_set_filt 1 fn_z
p1661[0...n] Current setpoint filter 1 numerator damping / I_set_filt 1 D_z
p1662[0...n] Current setpoint filter 2 type / I_set_filt 2 Typ
p1663[0...n] Current setpoint filter 2 denominator natural frequency / I_set_filt 2 fn_n
p1664[0...n] Current setpoint filter 2 denominator damping / I_set_filt 2 D_n
p1665[0...n] Current setpoint filter 2 numerator natural frequency / I_set_filt 2 fn_z
p1666[0...n] Current setpoint filter 2 numerator damping / I_set_filt 2 D_z
p1701[0...n] Current controller reference model dead time / I_ctrRefMod t_dead
p1715[0...n] Current controller P gain / I_ctrl Kp
p1717[0...n] Current controller integral-action time / I_ctrl Tn
p1752[0...n] Motor model changeover speed operation with encoder / MotMod n_chgov enc
p1755[0...n] Motor model changeover speed encoderless operation / MotMod n_chgSnsorl
p1800[0...n] Pulse frequency setpoint / Pulse freq setp
p1821[0...n] Dir of rot / Dir of rot
p2140[0...n] Hysteresis speed 2 / n_hysteresis 2
p2141[0...n] Speed threshold 1 / n_thresh val 1
p2142[0...n] Hysteresis speed 1 / n_hysteresis 1
p2149[0...n] Monitoring configuration / Monit config

© Siemens AG 2012 All Rights Reserved 1-737

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
Parameter
Parameters for data sets

p2150[0...n] Hysteresis speed 3 / n_hysteresis 3

p2153[0...n] Speed actual value filter time constant / n_act_filt T
p2155[0...n] Speed threshold 2 / n_thresh val 2
p2156[0...n] On delay, comparison value reached / t_on cmpr val rchd
p2161[0...n] Speed threshold 3 / n_thresh val 3
p2162[0...n] Hysteresis speed n_act > n_max / Hyst n_act>n_max
p2163[0...n] Speed threshold 4 / n_thresh val 4
p2164[0...n] Hysteresis speed 4 / n_hysteresis 4
p2166[0...n] Off delay n_act = n_set / t_del_off n_i=n_so
p2167[0...n] Switch-on delay n_act = n_set / t_on n_act=n_set
p2174[0...n] Torque threshold value 1 / M_thresh val 1
p2175[0...n] Motor locked speed threshold / Mot lock n_thresh
p2177[0...n] Motor locked delay time / Mot lock t_del
p2181[0...n] Load monitoring response / Load monit resp
p2182[0...n] Load monitoring speed threshold value 1 / n_thresh 1
p2183[0...n] Load monitoring speed threshold value 2 / n_thresh 2
p2184[0...n] Load monitoring speed threshold value 3 / n_thresh 3
p2185[0...n] Load monitoring torque threshold 1, upper / M_thresh 1 upper
p2186[0...n] Load monitoring torque threshold 1, lower / M_thresh 1 lower
p2187[0...n] Load monitoring torque threshold 2, upper / M_thresh 2 upper
p2188[0...n] Load monitoring torque threshold 2, lower / M_thresh 2 lower
p2189[0...n] Load monitoring torque threshold 3, upper / M_thresh 3 upper
p2190[0...n] Load monitoring torque threshold 3, lower / M_thresh 3 lower
p2192[0...n] Load monitoring delay time / Load monit t_del
p2194[0...n] Torque threshold value 2 / M_thresh val 2
p2195[0...n] Torque utilization switch-off delay / M_util t_off
p2196[0...n] Torque utilization scaling / M_util scal
p2201[0...n] CO: Technology controller, fixed value 1 / Tec_ctr fix val 1
p2202[0...n] CO: Technology controller, fixed value 2 / Tec_ctr fix val 2
p2203[0...n] CO: Technology controller, fixed value 3 / Tec_ctr fix val 3
p2204[0...n] CO: Technology controller, fixed value 4 / Tec_ctr fix val 4
p2205[0...n] CO: Technology controller, fixed value 5 / Tec_ctr fix val 5
p2206[0...n] CO: Technology controller, fixed value 6 / Tec_ctr fix val 6
p2207[0...n] CO: Technology controller, fixed value 7 / Tec_ctr fix val 7
p2208[0...n] CO: Technology controller, fixed value 8 / Tec_ctr fix val 8
p2209[0...n] CO: Technology controller, fixed value 9 / Tec_ctr fix val 9
p2210[0...n] CO: Technology controller, fixed value 10 / Tec_ctr fix val 10
p2211[0...n] CO: Technology controller, fixed value 11 / Tec_ctr fix val 11
p2212[0...n] CO: Technology controller, fixed value 12 / Tec_ctr fix val 12
p2213[0...n] CO: Technology controller, fixed value 13 / Tec_ctr fix val 13
p2214[0...n] CO: Technology controller, fixed value 14 / Tec_ctr fix val 14
p2215[0...n] CO: Technology controller, fixed value 15 / Tec_ctr fix val 15
p2216[0...n] Technology controller fixed value selection method / Tec_ctr FixVal sel
p2230[0...n] Technology controller motorized potentiometer configuration / Tec_ctr mop config
p2237[0...n] Technology controller motorized potentiometer maximum value / Tec_ctrl mop max
p2238[0...n] Technology controller motorized potentiometer minimum value / Tec_ctrl mop min
p2240[0...n] Technology controller motorized potentiometer starting value / Tec_ctrl mop start
p2247[0...n] Technology controller motorized potentiometer ramp-up time / Tec_ctr mop t_r-up
p2248[0...n] Technology controller motorized potentiometer ramp-down time / Tec_ctrMop t_rdown
p2502[0...n] LR encoder assignment / Encoder assignment
p2503[0...n] LR length unit LU per 10 mm / LU per 10 mm
p2504[0...n] LR motor/load motor revolutions / Mot/load motor rev
p2505[0...n] LR motor/load motor revolutions / Mot/load motor rev

1-738 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
Parameters for data sets

p2506[0...n] LR length unit LU per load revolution / LU per load rev

p2519[0...n] LR position actual value preprocessing config. DDS changeover / s_act config DDS
p2533[0...n] LR position setpoint filter, time constant / s_set_filt T
p2534[0...n] LR speed pre-control factor / n_prectrl fact
p2535[0...n] LR speed pre-control balancing filter dead time / n_prectrFlt t_dead
p2536[0...n] LR speed pre-control, symmetrizing filter PT1 / n_prectrl filt PT1
p2538[0...n] LR proportional gain / Kp
p2539[0...n] LR integral time / Tn
p2546[0...n] LR dynamic following error monitoring tolerance / s_delta_monit tol
p2567[0...n] LR torque pre-control moment of inertia / M_prectr M_inertia
p2634[0...n] EPOS fixed stop maximum following error / Following err max
p2720[0...n] Load gear configuration / Load gear config
p2721[0...n] Load gear, rotary absolute gearbox, revolutions, virtual / Abs rot rev
p2722[0...n] Load gear, position tracking tolerance window / Pos track tol
r2723[0...n] CO: Load gear absolute value / Load gear abs_val
r2724[0...n] CO: Load gear position difference / Load gear pos diff
p2900[0...n] CO: Fixed value 1 [%] / Fixed value 1 [%]
p2901[0...n] CO: Fixed value 2 [%] / Fixed value 2 [%]
p2930[0...n] CO: Fixed value M [Nm] / Fixed value M [Nm]
p3233[0...n] Torque actual value filter, time constant / M_act_filt T
r3925[0...n] Identification final display / Ident final_disp
r3927[0...n] Motor data identification induction motor data determined / MotID ASM dat det
r3928[0...n] Motor data identification synchronous motor data determined / MotId PEM dat det
r3998[0...n] First drive commissioning / First drv_comm

1.3.3 Parameters for encoder data sets (EDS)

Note:
References: /FH3/ SINAMICS S110 Function Manual
Chapter "Data sets"

The following list contains the parameters that are dependent on the encoder data sets.
Product: S110, Version: 4402100, Language: eng, Type: EDS
p0141[0...n] Encoder interface (Sensor Module) component number / Enc_interf comp_no
p0142[0...n] Encoder component number / Encoder comp_no
p0144[0...n] Sensor Module detection via LED / SM detection LED
p0145[0...n] Activate/de-activate encoder interface / Enc_intf act/deact
r0146[0...n] Encoder interface active/inactive / Enc_intf act/inact
r0147[0...n] Sensor Module EEPROM data version / SM EEPROM version
r0148[0...n] Sensor Module firmware version / SM FW version
p0400[0...n] Encoder type selection / Enc_typ sel
p0401[0...n] Encoder type, OEM selection / Enc type OEM sel
p0404[0...n] Encoder configuration effective / Enc_config eff
p0405[0...n] Square-wave encoder track A/B / Sq-wave enc A/B
p0408[0...n] Rotary encoder pulse No. / Rot enc pulse No.
p0410[0...n] Encoder inversion actual value / Enc inv act value
p0414[0...n] Redundant coarse position value relevant bits (identified) / Relevant bits
p0415[0...n] Gx_XIST1 Coarse position safe most significant bit (identified) / Gx_XIST1 safe MSB
p0418[0...n] Fine resolution Gx_XIST1 (in bits) / Enc fine Gx_XIST1

© Siemens AG 2012 All Rights Reserved 1-739

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
Parameter
Parameters for data sets

p0419[0...n] Fine resolution absolute value Gx_XIST2 (in bits) / Enc fine Gx_XIST2
p0421[0...n] Absolute encoder rotary multiturn resolution / Enc abs multiturn
p0423[0...n] Absolute encoder rotary singleturn resolution / Enc abs singleturn
p0425[0...n] Encoder, rotary zero mark distance / Enc rot dist ZM
p0426[0...n] Encoder zero mark differential distance / Enc ZM Dif_dist
p0427[0...n] Encoder SSI baud rate / Enc SSI baud rate
p0428[0...n] Encoder SSI monoflop time / Enc SSI t_monoflop
p0429[0...n] Encoder SSI configuration / Enc SSI config
p0430[0...n] Sensor Module configuration / SM config
p0431[0...n] Angular commutation offset / Ang_com offset
p0432[0...n] Gearbox factor, encoder revolutions / Grbx_fact enc_rev
p0433[0...n] Gearbox factor, motor/load revolutions / Grbx_fact mot_rev
p0434[0...n] Encoder SSI error bit / Enc SSI error bit
p0435[0...n] Encoder SSI alarm bit / Enc SSI alarm bit
p0436[0...n] Encoder SSI parity bit / Enc SSI parity bit
p0437[0...n] Sensor Module configuration extended / SM config ext
p0438[0...n] Squarewave encoder filter time / Enc t_filt
p0439[0...n] Encoder ramp-up time / Enc ramp-up time
p0440[0...n] Copy encoder serial number / Copy enc ser_no
p0441[0...n] Encoder commissioning serial number part 1 / Enc comm ser_no 1
p0442[0...n] Encoder commissioning serial number part 2 / Enc comm ser_no 2
p0443[0...n] Encoder commissioning serial number part 3 / Enc comm ser_no 3
p0444[0...n] Encoder commissioning serial number part 4 / Enc comm ser_no 4
p0445[0...n] Encoder commissioning serial number part 5 / Enc comm ser_no 5
p0446[0...n] Encoder SSI number of bits before the absolute value / Enc SSI bit before
p0447[0...n] Encoder SSI number of bits absolute value / Enc SSI bit val
p0448[0...n] Encoder SSI number of bits after the absolute value / Enc SSI bit after
p0449[0...n] Encoder SSI number of bits, filler bits / Enc SSI fill bits
p0453[0...n] Pulse encoder evaluation zero speed measuring time / Enc_ev z 0 t_meas
p0493[0...n] Zero mark selection, input terminal / ZM_sel inp_term
p0494[0...n] Equivalent zero mark, input terminal / ZM_equiv input
p2507[0...n] LR absolute encoder adjustment status / Abs_enc_adj stat
p2525[0...n] CO: LR encoder adjustment, offset / Enc_adj offset
p4662[0...n] Encoder characteristic type / Enc char_type
p4663[0...n] Encoder characteristic K0 / Enc char K0
p4664[0...n] Encoder characteristic K1 / Enc char K1
p4665[0...n] Encoder characteristic K2 / Enc char K2
p4666[0...n] Encoder characteristic K3 / Enc char K3
p4670[0...n] Analog sensor configuration / Ana_sens config
p4671[0...n] Analog sensor input / Ana_sens inp
p4672[0...n] Analog sensor channel A voltage at actual value zero / Ana_sens A U at 0
p4673[0...n] Analog sensor channel A voltage per encoder period / Ana_sens A U/per
p4674[0...n] Analog sensor channel B voltage at actual value zero / Ana_sens B U at 0
p4675[0...n] Analog sensor channel B voltage per encoder period / Ana_sens B U/per
p4676[0...n] Analog sensor range limit threshold / Ana_sens lim thr
p4677[0...n] Analog sensor LVDT configuration / Ana_sens LVDT conf
p4678[0...n] Analog sensor LVDT ratio / An_sens LVDT ratio
p4679[0...n] Analog sensor LVDT phase / An_sens LVDT ph
p4680[0...n] Zero mark monitoring tolerance permissible / ZM_monit tol perm
p4681[0...n] Zero mark monitoring, tolerance window limit 1 positive / ZM tol lim 1 pos
p4682[0...n] Zero mark monitoring, tolerance window limit 1 negative / ZM tol lim 1 neg
p4683[0...n] Zero mark monitoring tolerance window alarm threshold positive / ZM tol A_thr pos
p4684[0...n] Zero mark monitoring tolerance window alarm threshold negative / ZM tol A_thr neg

1-740 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
Parameters for data sets

p4685[0...n] Speed actual value mean value generation / n_act mean val
p4686[0...n] Zero mark minimum length / ZM min length

1.3.4 Parameters for motor data sets (MDS)

Note:
References: /FH3/ SINAMICS S110 Function Manual
Chapter "Data sets"

The following list contains the parameters that are dependent on the motor data sets.
Product: S110, Version: 4402100, Language: eng, Type: MDS
p0131[0...n] Motor component number / Mot comp_no
p0300[0...n] Motor type selection / Mot type sel
p0301[0...n] Motor code number selection / Mot code No. sel
r0302[0...n] Motor code number of motor with DRIVE-CLiQ / Motor code Mot DLQ
r0303[0...n] Motor with DRIVE-CLiQ status word / Motor w DLQ ZSW
p0304[0...n] Rated motor voltage / Mot U_rated
p0305[0...n] Rated motor current / Mot I_rated
p0307[0...n] Rated motor power / Mot P_rated
p0308[0...n] Rated motor power factor / Mot cos_phi_rated
p0310[0...n] Rated motor frequency / Mot f_rated
p0311[0...n] Rated motor speed / Mot n_rated
p0312[0...n] Rated motor torque / Mot M_rated
r0313[0...n] Motor pole pair number, actual (or calculated) / Mot PolePairNo act
p0314[0...n] Motor pole pair number / Mot pole pair No.
p0316[0...n] Motor torque constant / Mot kT
p0318[0...n] Motor stall current / Mot I_standstill
p0319[0...n] Motor stall torque / Mot M_standstill
p0320[0...n] Motor rated magnetizing current/short-circuit current / Mot I_mag_rated
p0322[0...n] Maximum motor speed / Mot n_max
p0323[0...n] Maximum motor current / Mot I_max
p0324[0...n] Winding maximum speed / Winding n_max
p0325[0...n] Motor pole position identification current, 1st phase / Mot PolID I 1st ph
p0326[0...n] Motor stall torque correction factor / Mot M_stall_corr
p0327[0...n] Optimum motor load angle / Mot phi_load opt
p0328[0...n] Motor reluctance torque constant / Mot kT_reluctance
p0329[0...n] Motor pole position identification current / Mot PolID current
r0330[0...n] Rated motor slip / Mot slip_rated
r0331[0...n] Actual motor magnetizing current/short-circuit current / Mot I_mag_rtd act
r0332[0...n] Rated motor power factor / Mot cos_phi_rated
r0333[0...n] Rated motor torque / Mot M_rated
r0334[0...n] Actual motor-torque constant / Mot kT act
p0335[0...n] Motor cooling type / Motor cooling type
r0336[0...n] Actual rated motor frequency / Mot f_rated act
r0337[0...n] Rated motor EMF / Mot EMF_rated
p0338[0...n] Motor limit current / Mot I_limit
r0339[0...n] Rated motor voltage / Mot U_rated
p0341[0...n] Motor moment of inertia / Mot M_mom of inert
p0342[0...n] Ratio between the total and motor moment of inertia / Mot MomInert Ratio

© Siemens AG 2012 All Rights Reserved 1-741

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
Parameter
Parameters for data sets

p0344[0...n] Motor weight (for the thermal motor model) / Mot weight th mod
p0347[0...n] Motor de-excitation time / Mot t_de-excitat.
p0348[0...n] Speed at the start of field weakening Vdc = 600 V / Mot n_field weaken
p0350[0...n] Motor stator resistance, cold / Mot R_stator cold
p0352[0...n] Cable resistance / Mot R_cable cold
p0353[0...n] Motor series inductance / Mot L_series
p0354[0...n] Motor rotor resistance cold / damping resistance d axis / Mot R_r cold/R_D d
p0356[0...n] Motor stator leakage inductance / Mot L_stator leak.
p0358[0...n] Motor rotor leakage inductance / damping inductance, d axis / Mot L_r leak / LDd
p0360[0...n] Motor magnetizing inductance/magn. inductance, d axis saturated / Mot Lh/Lh d sat
r0370[0...n] Motor stator resistance, cold / Mot R_stator cold
r0373[0...n] Motor rated stator resistance / Mot R_stator rated
r0374[0...n] Motor rotor resistance cold / damping resistance d axis / Mot R_r cold / RDd
r0376[0...n] Rated motor rotor resistance / Mot R_rotor rated
r0377[0...n] Motor leakage inductance, total / Mot L_leak total
r0382[0...n] Motor magnetizing inductance transformed / Lh d axis saturated / Mot L_m tr/Lhd sat
r0384[0...n] Motor rotor time constant / damping time constant d axis / Mot T_rotor/T_Dd
r0386[0...n] Motor stator leakage time constant / Mot T_stator leak
p0391[0...n] Current controller adaptation, starting point KP / I_adapt pt KP
p0392[0...n] Current controller adaptation, starting point KP adapted / I_adapt pt KP adap
p0393[0...n] Current controller adaptation p gain adaptation / I_adapt Kp adapt
r0395[0...n] Actual stator resistance / R_stator act
r0396[0...n] Actual rotor resistance / R_rotor act
p0530[0...n] Bearing type selection / Bearing type sel
p0531[0...n] Bearing code number selection / Bear. code num sel
p0532[0...n] Bearing maximum speed / Bearing n_max
p0600[0...n] Motor temperature sensor for monitoring / Mot temp_sensor
p0601[0...n] Motor temperature sensor type / Mot_temp_sens type
p0604[0...n] Motor temperature alarm threshold / Mot_temp al thr
p0605[0...n] Motor temperature fault threshold / Mot_temp flt thr
p0606[0...n] Motor temperature timer / Mot_temp timer
p0607[0...n] Temperature sensor fault timer / Sensor fault time
p0611[0...n] I2t motor model thermal time constant / I2t mot_mod T
p0612[0...n] Thermal motor model configuration / Therm Mot_mod conf
p0615[0...n] I2t motor model fault threshold / I2t mot_mod thresh
p0616[0...n] Motor overtemperature alarm threshold 1 / Mot temp alarm 1
p0620[0...n] Thermal adaptation, stator and rotor resistance / Mot therm_adapt R
p0624[0...n] Motor Temperature Offset PT100 / Mot T_offset PT100
p0625[0...n] Motor ambient temperature / Mot T_ambient
p0626[0...n] Motor overtemperature, stator core / Mot T_over core
p0627[0...n] Motor overtemperature, stator winding / Mot T_over stator
p0628[0...n] Motor overtemperature rotor winding / Mot T_over rotor
r0630[0...n] Motor temperature model ambient temperature / MotTMod T_amb.
r0631[0...n] Motor temperature model, stator core temperature / MotTMod T_core
r0632[0...n] Motor temperature model, stator winding temperature / MotTMod T_copper
r0633[0...n] Motor temperature model, rotor temperature / MotTMod T_rotor
p0643[0...n] Overvoltage protection for synchronous motors / Overvolt_protect
p0650[0...n] Actual motor operating hours / Mot t_oper act
p0651[0...n] Motor operating hours maintenance interval / Mot t_op maint
p0826[0...n] Motor changeover, motor number / Mot_chng mot No.
p0827[0...n] Motor changeover status word bit number / Mot_chg ZSW bitNo.
p1231[0...n] Armature short-circuit / DC braking configuration / ASC/DCBRK config
p1232[0...n] DC braking, braking current / DCBRK I_brake

1-742 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter
Parameters for data sets

p1233[0...n] DC braking time / DCBRK time

p1234[0...n] Speed at the start of DC braking / DCBRK n_start
p1236[0...n] Ext. armature short-cct., contactor feedback signal monit. time / ASC ext t_monit
p1237[0...n] External armature short-circuit, delay time when opening / ASC ext t_wait
p1909[0...n] Motor data identification control word / MotID STW
p1958[0...n] Rotating measurement ramp-up/ramp-down time / Rot meas t_r up/dn
p1959[0...n] Rotating measurement configuration / Rot meas config
p1980[0...n] PolID technique / PolID technique
p1981[0...n] PolID distance max / PolID distance max
p1982[0...n] PolID selection / PolID selection
p1991[0...n] Motor changeover, angular commutation correction / Ang_com corr
p1993[0...n] PolID motion-based current / PolID I mot_bas
p1994[0...n] PolID motion-based rise time / PolID T mot_bas
p1995[0...n] PolID motion-based gain / PolID kp mot_bas
p1996[0...n] PolID motion-based integral time / PolID Tn mot_bas
p1997[0...n] PolID motion-based smoothing time / PolID t_sm mot_bas
p3049[0...n] MotId Speed at start of field weakening identified / ident
p3050[0...n] MotorId stator resistance identified / R_stator ident
p3054[0...n] MotId rotor resistance identified / R_rotor ident
p3056[0...n] MotId stator leakage inductance identified / L_stator leak
p3058[0...n] MotId rotor leakage inductance identified / L_rotor leak
p3060[0...n] MotId magnetizing inductance identified / MotId Lh ident

1.3.5 Parameters for power unit data sets (PDS)

Note:
References: /FH3/ SINAMICS S110 Function Manual
Chapter "Data Sets"

The following list contains the parameters that are dependent on the power unit data sets.
Product: S110, Version: 4402100, Language: eng, Type: PDS
p0121[0...n] Power unit component number / PU comp_no
r0127[0...n] Power unit version EPROM data / PU EPROM version
r0128[0...n] Power unit, firmware version / PU FW version
r0200[0...n] Power unit code number actual / PU code no. act
p0201[0...n] Power unit code number / PU code no
r0203[0...n] Actual power unit type / PU actual type
r0204[0...n] Power unit hardware properties / PU HW property
p0251[0...n] Operating hours counter power unit fan / PU fan t_oper

© Siemens AG 2012 All Rights Reserved 1-743

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
Parameter
Parameters for data sets

1-744 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
Function diagrams 2
Contents

2.1 Table of contents 2-746

2.2 Explanations on the function diagrams 2-753

2.3 Overviews 2-758

2.4 CU305 input/output terminals 2-768

2.5 PROFIdrive 2-776

2.6 Internal control/status words 2-813

2.7 Sequence control 2-826

2.8 Brake control 2-829

2.9 Safety Integrated 2-834

2.10 Setpoint channel 2-853

2.11 Setpoint channel not activated 2-862

2.12 Basic positioner (EPOS) 2-864

2.13 Position control 2-880

2.14 Encoder evaluation 2-885

2.15 Servo control 2-892

2.16 Technology functions 2-912

2.17 Free function blocks (FBLOCKS) 2-915

2.18 Technology controller 2-933

2.19 Signals and monitoring functions 2-938

2.20 Diagnostics 2-944

2.21 Data sets 2-950

2.22 CANopen interface 2-955

2.23 Basic Operator Panel 20 (BOP20) 2-962

© Siemens AG 2012 All Rights Reserved 2-745

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
Function diagrams
Table of contents

2.1 Table of contents

2.2 Explanations on the function diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-753

1020 – Explanation of the symbols (Part 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-754
1021 – Explanation of the symbols (Part 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-755
1022 – Explanation of the symbols (Part 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-756
1030 – Handling BICO technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-757

2.3 Overviews . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-758

1510 – CU305 input/output terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-759
1520 – PROFIdrive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-760
1530 – Internal control/status words, data sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-761
1550 – Setpoint channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-762
1580 – Servo control, encoder evaluations (position, speed, temperature) . . . . . . . . . . 2-763
1590 – Servo control, speed control and U/f control . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-764
1610 – Servo control, generation of the torque limits . . . . . . . . . . . . . . . . . . . . . . . . . . 2-765
1630 – Servo control, current control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-766
1750 – Monitoring functions, faults, alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-767

2.4 CU305 input/output terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-768

2020 – Digital inputs, electrically isolated (DI 0 to DI 3) . . . . . . . . . . . . . . . . . . . . . . . . . 2-769
2021 – Digital inputs, electrically isolated (DI 16 to DI 19) . . . . . . . . . . . . . . . . . . . . . . . 2-770
2022 – Digital inputs, electrically isolated (DI 20 to DI 22) . . . . . . . . . . . . . . . . . . . . . . . 2-771
2030 – Digital inputs/outputs, bidirectional (DI/DO 8 to DI/DO 9) . . . . . . . . . . . . . . . . . 2-772
2031 – Digital inputs/outputs, bidirectional (DI/DO 10 to DI/DO 11) . . . . . . . . . . . . . . . 2-773
2038 – Digital output (DO 16) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-774
2040 – Analog input (AI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-775

2.5 PROFIdrive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-776

2410 – PROFIBUS (PB), addresses and diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . 2-778
2420 – Standard telegrams and process data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-779
2422 – Manufacturer-specific telegrams and process data . . . . . . . . . . . . . . . . . . . . . . 2-780
2424 – Manufacturer-specific/free telegrams and process data . . . . . . . . . . . . . . . . . . 2-781
2439 – PZD receive signals, interconnection profile-specific . . . . . . . . . . . . . . . . . . . . . 2-782
2440 – PZD receive signals, interconnection, manufacturer-specific . . . . . . . . . . . . . . 2-783
2442 – STW1 control word interconnection (p2038 = 0) . . . . . . . . . . . . . . . . . . . . . . . . 2-784
2443 – STW1 control word interconnection (p2038 = 1) . . . . . . . . . . . . . . . . . . . . . . . . 2-785

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 Function diagrams
Table of contents

2444 – STW2 control word interconnection (p2038 = 0) . . . . . . . . . . . . . . . . . . . . . . . . 2-786

2445 – STW2 control word interconnection (p2038 = 1) . . . . . . . . . . . . . . . . . . . . . . . . 2-787
2449 – PZD send signals, interconnection, profile-specific . . . . . . . . . . . . . . . . . . . . . . 2-788
2450 – PZD send signals, interconnection, manufacturer-specific . . . . . . . . . . . . . . . . 2-789
2452 – ZSW1 status word interconnection (p2038 = 0) . . . . . . . . . . . . . . . . . . . . . . . . . 2-790
2453 – ZSW1 status word interconnection (p2038 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . 2-791
2454 – ZSW2 status word interconnection (p2038 = 0) . . . . . . . . . . . . . . . . . . . . . . . . . 2-792
2455 – ZSW2 status word interconnection (p2038 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . 2-793
2456 – MELDW status word interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-794
2462 – PosSTW-Pos control word interconnection (r0108.4 = 1) . . . . . . . . . . . . . . . . . 2-795
2463 – POS_STW1 positioning control word 1 interconnection (r0108.4 = 1) . . . . . . . 2-796
2464 – POS_STW2 positioning control word 2 interconnection (r0108.4 = 1) . . . . . . . 2-797
2466 – POS_ZSW1 positioning status word 1 interconnection (r0108.4 = 1) . . . . . . . . 2-798
2467 – POS_ZSW2 positioning status word 2 interconnection (r0108.4 = 1) . . . . . . . . 2-799
2468 – IF1 receive telegram, free interconnection via BICO (p0922 = 999) . . . . . . . . . 2-800
2470 – IF1 send telegram, free interconnection via BICO (p0922 = 999) . . . . . . . . . . . 2-801
2472 – IF1 status words, free interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-802
2475 – STW1 control word 1 interconnection (r0108.4 = 1) . . . . . . . . . . . . . . . . . . . . . 2-803
2476 – SATZANW-Pos block selection interconnection (r0108.4 = 1) . . . . . . . . . . . . . 2-804
2479 – ZSW1 status word 1 interconnection (r0108.4 = 1) . . . . . . . . . . . . . . . . . . . . . . 2-805
2480 – MDIMode interconnection (r0108.4 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-806
2481 – IF1 receive telegram, free interconnection via BICO (p0922 = 999) . . . . . . . . . 2-807
2483 – IF1 send telegram, free interconnection via BICO (p0922 = 999) . . . . . . . . . . . 2-808
2495 – CU_STW control word, Control Unit interconnection . . . . . . . . . . . . . . . . . . . . . 2-809
2496 – CU_ZSW status word, Control Unit interconnection . . . . . . . . . . . . . . . . . . . . . 2-810
2497 – A_DIGITAL interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-811
2498 – E_DIGITAL interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-812

2.6 Internal control/status words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-813

2501 – Control word, sequence control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-814
2503 – Status word, sequence control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-815
2505 – Control word, setpoint channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-816
2520 – Control word, speed controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-817
2522 – Status word, speed controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-818
2526 – Status word, closed-loop control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-819
2530 – Status word, current control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-820

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Function diagrams
Table of contents

2534 – Status word, monitoring functions 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-821

2536 – Status word, monitoring functions 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-822
2537 – Status word, monitoring functions 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-823
2546 – Control word, faults/alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-824
2548 – Status word, faults/alarms 1 and 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-825

2.7 Sequence control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-826

2610 – Sequencer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-827
2634 – Missing enable signals, line contactor control . . . . . . . . . . . . . . . . . . . . . . . . . . 2-828

2.8 Brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-829

2701 – Basic brake control (r0108.14 = 0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-830
2704 – Extended brake control, zero-speed detection (r0108.14 = 1) . . . . . . . . . . . . . . 2-831
2707 – Extended brake control, open/close brake (r0108.14 = 1) . . . . . . . . . . . . . . . . . 2-832
2711 – Extended brake control, signal outputs (r0108.14 = 1) . . . . . . . . . . . . . . . . . . . 2-833

2.9 Safety Integrated . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-834

2800 – Basic Functions, parameter manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-835
2802 – Basic Functions, monitoring functions and faults/alarms . . . . . . . . . . . . . . . . . . 2-836
2804 – Basic Functions, status words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-837
2810 – Basic Functions, STO (Safe Torque Off)/SS1 (Safe Stop 1) . . . . . . . . . . . . . . . 2-838
2811 – Basic Functions, STO (Safe Torque Off), safe pulse cancellation . . . . . . . . . . . 2-839
2814 – Basic Functions, SBC (Safe Brake Control) . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-840
2820 – Extended Functions, SLS (Safely-Limited Speed) . . . . . . . . . . . . . . . . . . . . . . . 2-841
2825 – Extended Functions, SS1, SS2, SOS, internal STOP B, C, D, F . . . . . . . . . . . . 2-842
2840 – Extended Functions, control word and status word . . . . . . . . . . . . . . . . . . . . . . 2-843
2846 – Extended Functions, parameter manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-844
2850 – Extended Functions (F-DI 0 ... F-DI 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-845
2853 – Extended Functions (F-DO 0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-846
2855 – Extended Functions, control interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-847
2856 – Extended Functions, Safe State selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-848
2857 – Extended Functions, assignment (F-DO 0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-849
2858 – Extended Functions, control via PROFIsafe (p9601.2 = p9601.3 = 1) . . . . . . . 2-850
2860 – Extended Functions, SSM (Safe Speed Monitor) . . . . . . . . . . . . . . . . . . . . . . . 2-851
2861 – Extended Functions, SDI (Safe Direction) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-852

2-748 © Siemens AG 2012 All Rights Reserved

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 Function diagrams
Table of contents

2.10 Setpoint channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-853

3010 – Fixed speed setpoints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-854
3020 – Motorized potentiometer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-855
3030 – Main/supplementary setpoint, setpoint scaling, jogging . . . . . . . . . . . . . . . . . . . 2-856
3040 – Direction limitation and direction reversal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-857
3050 – Skip frequency bands and speed limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-858
3060 – Basic ramp-function generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-859
3070 – Extended ramp-function generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-860
3080 – Ramp-function generator selection, status word, tracking . . . . . . . . . . . . . . . . . 2-861

2.11 Setpoint channel not activated . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-862

3095 – Generating the speed limits (r0108.8 = 0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-863

2.12 Basic positioner (EPOS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-864

3610 – Jog mode (r0108.4 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-865
3612 – Referencing/reference point approach mode (r0108.4 = 1) (p2597 = 0 signal) . 2-866
3614 – Flying referencing mode (r0108.4 = 1) (p2597 = 1 signal) . . . . . . . . . . . . . . . . . 2-867
3615 – Traversing block mode, external block change (r0108.4 = 1) . . . . . . . . . . . . . . 2-868
3616 – Traversing block mode (r0108.4 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-869
3617 – Travel to fixed stop (r0108.4 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-870
3618 – Direct setpoint input/MDI mode, dynamic values (r0108.4 = 1) . . . . . . . . . . . . . 2-871
3620 – Direct setpoint input/MDI mode (r0108.4 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . 2-872
3625 – Mode control (r0108.4 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-873
3630 – Traversing range limits (r0108.4 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-874
3635 – Interpolator (r0108.4 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-875
3640 – Control word block selection/MDI selection (r0108.4 = 1) . . . . . . . . . . . . . . . . . 2-876
3645 – Status word 1 (r0108.3 = 1, r0108.4 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-877
3646 – Status word 2 (r0108.3 = 1, r0108.4 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-878
3650 – Status word, active traversing block/MDI active (r0108.4 = 1) . . . . . . . . . . . . . . 2-879

2.13 Position control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-880

4010 – Position actual value preprocessing (r0108.3 = 1) . . . . . . . . . . . . . . . . . . . . . . . 2-881
4015 – Position controller (r0108.3 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-882
4020 – Standstill/positioning monitoring (r0108.3 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . 2-883
4025 – Dynamic following error monitoring, cam controllers (r0108.3 = 1) . . . . . . . . . . 2-884

© Siemens AG 2012 All Rights Reserved 2-749

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Function diagrams
Table of contents

2.14 Encoder evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-885

4704 – Position and temperature sensing, encoders 1 ... 2 . . . . . . . . . . . . . . . . . . . . . . 2-886
4710 – Speed actual value and pole position sensing, motor encoder (encoder 1) . . . 2-887
4720 – Encoder interface, receive signals, encoders 1 ... 2 . . . . . . . . . . . . . . . . . . . . . 2-888
4730 – Encoder interface, send signals, encoders 1 ... 2 . . . . . . . . . . . . . . . . . . . . . . . 2-889
4735 – Reference mark search with external zero mark, encoder 1 . . . . . . . . . . . . . . . 2-890
4740 – Probe evaluation, measured value memory, encoders 1 ... 2 . . . . . . . . . . . . . . 2-891

2.15 Servo control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-892

5020 – Speed setpoint filter and speed pre-control . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-893
5030 – Reference model/pre-control balancing/speed limitation . . . . . . . . . . . . . . . . . . 2-894
5040 – Speed controller with encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-895
5042 – Speed controller, torque/speed pre-control with encoder (p1402.4 = 1) . . . . . . 2-896
5050 – Kp_n-/Tn_n adaptation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-897
5060 – Torque setpoint, control type changeover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-898
5210 – Speed controller without encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-899
5300 – U/f control for diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-900
5301 – Signaling function variable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-901
5490 – Speed control configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-902
5610 – Torque limiting/reduction/interpolator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-903
5620 – Motoring/generating torque limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-904
5630 – Upper/lower torque limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-905
5640 – Mode changeover, power/current limiting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-906
5650 – Vdc_max controller and Vdc_min controller . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-907
5710 – Current setpoint filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-908
5714 – Iq and Id controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-909
5722 – Field current/flux input, flux reduction, flux controller . . . . . . . . . . . . . . . . . . . . . 2-910
5730 – Interface to the Motor Module (gating signals, current actual values) . . . . . . . . 2-911

2.16 Technology functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-912

7014 – External Armature Short-Circuit (EASC, p0300 = 2xx or 4xx) . . . . . . . . . . . . . . 2-913
7017 – DC brake (p0300 = 1xx) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-914

2.17 Free function blocks (FBLOCKS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-915

7200 – General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-916
7210 – AND (AND function block with 4 inputs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-917
7212 – OR (OR function block with 4 inputs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-918

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 Function diagrams
Table of contents

7214 – XOR (XOR function block with 4 inputs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-919

7216 – NOT (inverter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-920
7220 – ADD (adder with 4 inputs), SUB (subtracter) . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-921
7222 – MUL (multiplier), DIV (divider) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-922
7224 – AVA (absolute value generator) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-923
7230 – MFP (pulse generator), PCL (pulse contractor) . . . . . . . . . . . . . . . . . . . . . . . . . 2-924
7232 – PDE (ON delay), PDF (OFF delay) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-925
7234 – PST (pulse stretcher) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-926
7240 – RSR (RS flip-flop), DFR (D flip-flop) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-927
7250 – BSW (binary switch), NSW (numeric switch) . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-928
7260 – LIM (limiter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-929
7262 – PT1 (smoothing element) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-930
7264 – INT (integrator), DIF (derivative-action element) . . . . . . . . . . . . . . . . . . . . . . . . 2-931
7270 – LVM (double-sided limit monitor with hysteresis) . . . . . . . . . . . . . . . . . . . . . . . . 2-932

2.18 Technology controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-933

7950 – Fixed values (r0108.16 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-934
7951 – Fixed values, direct selection (p2216 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-935
7954 – Motorized potentiometer (r0108.16 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-936
7958 – Closed-loop control (r0108.16 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-937

2.19 Signals and monitoring functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-938

8010 – Speed signals 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-939
8011 – Speed signals 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-940
8012 – Torque signals, motor locked/stalled . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-941
8014 – Thermal monitoring, power unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-942
8016 – Thermal monitoring, motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-943

2.20 Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-944

8060 – Fault buffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-945
8065 – Alarm buffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-946
8070 – Fault/alarm trigger word (r2129) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-947
8075 – Fault/alarm configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-948
8134 – Measuring sockets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-949

2.21 Data sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-950

8560 – Command Data Sets (CDS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-951

© Siemens AG 2012 All Rights Reserved 2-751

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Function diagrams
Table of contents

8565 – Drive Data Sets (DDS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-952

8570 – Encoder Data Sets (EDS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-953
8575 – Motor Data Sets (MDS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-954

2.22 CANopen interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-955

9204 – Receive telegram, free PDO mapping (p8744 = 2) . . . . . . . . . . . . . . . . . . . . . . 2-956
9206 – Receive telegram, Predefined Connection Set (p8744 = 1) . . . . . . . . . . . . . . . 2-957
9208 – Send telegram, free PDO mapping (p8744 = 2) . . . . . . . . . . . . . . . . . . . . . . . . 2-958
9210 – Send telegram, Predefined Connection Set (p8744 = 1) . . . . . . . . . . . . . . . . . . 2-959
9220 – Control word, CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-960
9226 – Status word, CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-961

2.23 Basic Operator Panel 20 (BOP20) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-962

9912 – Control word interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-963

2-752 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Function diagrams
Explanations on the function diagrams

2.2 Explanations on the function diagrams

Function diagrams

1020 – Explanation of the symbols (Part 1) 2-754

1021 – Explanation of the symbols (Part 2) 2-755

1022 – Explanation of the symbols (Part 3) 2-756

1030 – Handling BICO technology 2-757

© Siemens AG 2012 All Rights Reserved 2-753

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Parameter Connectors Binectors Connectors/binectors
Fig. 2-1 Symbol Meaning Symbol Meaning Symbol Meaning Symbol Meaning
2-754

Explanations on the function diagrams

Function diagrams
Parameter name [Unit] Parameter name
Monitoring parameter
rxxxx [x...y] rxxxx
(parameter may appear . Name Name Connector/binector output CO/BO
rxxxx
pxxxx pxxxx Binektoreingang BI
(xxxx) Connector input CI. (Def) Werkseinstellung (Def).
Parameter name [Unit]
Cross references between diagrams
1020 – Explanation of the symbols (Part 1)

Index name Monitoring parameter name Name

rxxxx[x] with index.
pxxxx[y] pxxxx[y] Binector input BI with Symbol Meaning
(xxxx [x]) Connector input CI with index [y] (Def) index [y] and factory Signal path
setting (Def). The function diagrams are sub-divided into signal
[aaaa.b] paths 1...8 in order to facilitate orientation.
Parameter name Setting parameter name Name Text Text = Unique signal designation
from ... to [Unit] (if the parameter appears [aaaa.b] aaaa = Signal goes to target diagram aaa
pxxxx[y...z] Connector input CI with index pxxxx[y...z] Binector input BI with
pxxxx[y...z] (Def) a multiple number of times, (xxxx [y]) (Def) index range [y...z] and b = Signal goes to signal path b
range [y...z]
then diagram references factory setting (Def). Text Text = Unique signal designation
are specified). [cccc.d] cccc = Signal comes from source diagram cccc
name [unit] Name
[aaaa.b] Connector output CO with [dimension d = Signal comes from signal path d
rxxxx[y...z] rxxxx Binector output BO.
Parameter name unit] and index range [y...z].
Index name Setting parameter with
from ... to [Unit] index (if the parameter
name [unit] name
Cross references for control bits
pxxxx[y] (Def) appears a multiple number
rxxxx[y]
Connector output CO
rxxxx.y Binector output BO with Symbol Meaning
of times, then diagram
[dimension unit] and with index [y] bit y. pxxxx= Original parameter of signal
references are specified).
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

pxxxx aaaa = Signal comes from source diagram aaaa

[aaaa.b] b = Signal comes from signal path b
Data sets Information on parameters, binectors, connectors
Symbol Meaning Symbol Meaning
Parameter name (up to 18 characters)
Sampling times
Parameter name
pxxxx[C]
Symbol Meaning
Parameter belongs to the [Unit] [dimension unit]
Command Data Set (CDS). ZZZ.ZZ μs Fixed time slice.
rxxxx[y] or "r" = monitoring parameter. These parameters are read-only
pxxxx[D] rxxxx[y...z] or "xxxx" stands for the parameter number
Parameter belongs to the PROFIdrive sampling time According to presetting in p2048. (In
rxxxx[y].ww or "[y]" specifies the valid index, "[y...z]" specifies the applicable index range
Drive Data Set (DDS). synchronous mode, bus clock is valid.)
rxxxx.ww ".ww" specifies the bit number (e.g. 0...15).
© Siemens AG 2012 All Rights Reserved

CAN bus sampling time According to presetting in p2048.

pxxxx[E] pxxxx[y] or "p" = setting parameter. These parameters can be changed.
Parameter belongs to the pxxxx[y...z] or "xxxx" stands for the parameter number,
Encoder Data Set (EDS). pxxxx[y].ww or "[y]" specifies the applicable index, "[y...z]" specifies the applicable index range Background There is no fixed sampling time for this
pxxxx.ww ".ww" specifies the bit number (e.g. 0...15). function. The processing takes place in
Refer to [1020.7] background. The cycle time depends on
pxxxx[M] Parameter belongs to the from ... to Value range. the computational load of the control unit.
Motor Data Set (MDS).
(xxxx[y].ww) Parameter number (xxxx) with Index number [y] and bit number .ww. Not relevant A static state is displayed here. The
sampling time data is not relevant.
pxxxx[P] Refer to [1020.7]
Parameter belongs to the (Def) Factory setting.
Power unit Data Set (PDS).
(Def.w) Factory setting with bit number as prefix.

[aaaa.b] Diagram references for setting parameters that occur a multiple number of times.
[Function diagram number, signal path]

1 2 3 4 5 6 7 8
DO: All objects fp_1020_98_eng.vsd Function diagram
- 1020 -
Explanations for the function diagrams - Explanation of the symbols (Part 1) 28.05.10 V04.04.00 SINAMICS S110
 Symbols for computational and closed-loop
Pre-assigned binectors and connectors Symbols for logic functions
Fig. 2-2
control functions
Fixed percentage values S
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

Fixed value 1 1 Logical inversion

-10 000.00...10 000.00 [%]
p2900[D]
p2900[D] (0.00) x 1 y Threshold value switch 1/0
Fixed value 2 AND element
-10 000.00...10 000.00 [%] with logical inversion Outputs at y a logical "1" if x < S.
p2901[D] & 0
1021 – Explanation of the symbols (Part 2)

p2901[D] (0.00)
of an input signal S
[8] = Fixed value -5 % R/S flip-flop
[9] = Fixed value -10 % Threshold value switch 0/1
S Q x 1 y
[10] = Fixed value -20 % S = setting input
[11] = Fixed value -50 % R = reset input Outputs at y a logical "1" if x > S.
[12] = Fixed value -100 % R Q 0
Q = non-inverted output
[13] = Fixed value -150 % Q = inverted output S
[14] = Fixed value -200 %
r2902[0...14] (0.00) r2902[0...14] x1 Exclusiv-OR/XOR
y Threshold value 1/0 with
=1 1
x2 y = 1 for x1 x2 x y hysteresis
Pre-assigned binectors and connectors
Outputs a logical "1" at y if x < S.
0
Fixed speed values Symbols for computational and If x >= S + H then y returns to 0.
closed-loop control functions
n_set_fixed 1
-210 000.000...210 000.000 [1/min] x y Sign reversal H
p1001[D] (0.000)
p1001[D] -1
y = -x S
Threshold value 0/1 with
n_set_fixed 15
-210 000.000...210 000.000 [1/min] x y Absolute value generator hysteresis
p1015[D]
p1015[D] (0.000) y = |x| 1 Outputs a logical "1" at y if x > S.
x y
If x <= S - H then y returns to 0.
x1
y Divider 0
Pre-assigned binectors and connectors

Explanations on the function diagrams

x1
x2 y=
x2
Fixed torque values H
x y
Comparator
Fixed value M [Nm] >0 Limiter
Output y = a logical "1", if the analog LU MLU
-100 000.00...100 000.00 [Nm] x is limited to the upper limit LU and the lower
p2930[D] signal x > 0, i.e. is positive.
p2930[D] (0.00) x y limit LL and output at y.
The digital signals MLU and MLL have the
dx y
Differentiator value "1", if the upper or lower limit is active.
x dx
dt y=
Switch symbol dt LL MLL

Function diagrams
pxxxx
Sample & Hold element
Simple changeover switch Symbol for monitoring SET Sample and hold element.
0
The switch position is shown according to Monitoring
x S&H y y = x if SET = 1
Axxxxx (not retentively saved at POWER OFF)
the factory setting Monitoring or
(in this case, switch position 1 in the In the bottom right-hand corner of
1 Fxxxxx
the diagram.
2-755

default state on delivery).

1 2 3 4 5 6 7 8
DO: All objects fp_1021_98_eng.vsd Function diagram
- 1021 -
Explanations for the function diagrams - Explanation of the symbols (Part 2) 25.05.08 V04.04.00 SINAMICS S110
 Switch-on delay

Fig. 2-3
pxxxx
x y PT1 element 2nd-order filter (bandstop/general filter)
2-756

Explanations on the function diagrams

Function diagrams
T 0 Natural frequency, numerator Damping, numerator
x T 0 y fn_z D_z
pxxxx pxxxx pxxxx
pxxxx

The digital signal x must have the value "1" without any interruption
1022 – Explanation of the symbols (Part 3)

y
during the time T before output y changes to "1".

T T T T
|y| fs
t
x y
x f_B
Delay element, first order. f
2nd Order Filter
y
pxxxx = time constant
Switch-off delay
pxxxx
x y
Natural frequency, denominator Damping, denominator
0 T
fn_n D_n
x 0 T y pxxxx pxxxx
pxxxx
Used as bandstop filter
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

The digital signal x must have the value "0" without interruption during
the time T before output y changes to "0". - center frequency fs: fn_z = fs
fn_n = fs
T T T T PT2 low pass
x - bandwidth f_B: D_z = 0
Natural frequency, denominator Damping, denominator f_B
y fn_n D_n D_n =
2
. fs
pxxxx pxxxx
Transfer function when used as general filter
Delay (switch-on and switch-off) s 2 2
. D_z .
+ s + 1
© Siemens AG 2012 All Rights Reserved

pxxxx pxxxx 2 fn_z 2 fn_z

x y
H(s) =
T1 T2
|y|
s 2 2 D_n. .
D + s + 1
x T1 T2 y x y 2 fn_n 2 fn_n

pxxxx pxxxx fn
f
The digital signal x must have the value "1" without interruption during
time T1 or must have the value "0" during time T2 before output y Analog adder can be activated
changes its signal state. Transfer function
T1 T1 T2 T2
1 x1
The following applies to I = 1 signal: y = x1 + x2
H(s) = y
s 2 2 . D_n . x2
x + s + 1
2 fn_n 2 fn_n The following applies to I = 0 signal: y = x1

I
y

1 2 3 4 5 6 7 8
DO: All objects fp_1022_98_eng.vsd Function diagram
- 1022 -
Explanations for the function diagrams - Explanation of the symbols (Part 3) 22.01.09 V04.04.00 SINAMICS S110
 Handling BICO technology
Fig. 2-4
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

Binectors are binary signals that can be freely interconnected (BO = Binector Output).
Binector: r0723.15
They represent a bit of a "BO:" display parameter (e.g. bit 15 from r0723).

Connector: r0723 Connectors are "analog signals" that can be freely interconnected (e.g. percentage variables, speeds or torques).
1030 – Handling BICO technology

Connectors are also "CO:" display parameters (CO = Connector Output).

Parameterization:
At the signal destination, the required binector or connector is selected using appropriate parameters:
"BI:" parameter for binectors (BI = Binector Input)
or
"CI:" parameter for connectors (CI = Connector Input)

Example:
The main setpoint for the speed controller (CI: p1070) should be received from the output of the motorized potentiometer (CO: r1050) and
the "jog" command (BI: p1055) from digital input DI 0 (BO: r0722.0, X133.1 terminal) on the CU305.

Digital input 1 Control bit 8 r0898.8 Setpoint channel

DI 0
p1055 [C]
X133.1 r0722.0 722.0

[2020] [2501]

Motorized potentiometer
2

Explanations on the function diagrams

Main setpoint
p1070[C] Speed controller
Raise
r1050 1050
Lower

Jog setpoint 1

[3020] [3030]

Function diagrams
Parameterizing steps:
1 p1055[0] = 722.0 Terminal X133.1 acts as "Jog bit 0".

2 p1070[0] = 1050 The output of the motorized potentiometer acts as main setpoint for the speed controller.
2-757

1 2 3 4 5 6 7 8
DO: All objects fp_1030_98_eng.vsd Function diagram
- 1030 -
Explanations for the function diagrams - Handling BICO technology 22.01.09 V04.04.00 SINAMICS S110
 Function diagrams
Overviews

2.3 Overviews

Function diagrams

1510 – CU305 input/output terminals 2-759

1520 – PROFIdrive 2-760

1530 – Internal control/status words, data sets 2-761

1550 – Setpoint channel 2-762

1580 – Servo control, encoder evaluations (position, speed, temperature) 2-763

1590 – Servo control, speed control and U/f control 2-764

1610 – Servo control, generation of the torque limits 2-765

1630 – Servo control, current control 2-766

1750 – Monitoring functions, faults, alarms 2-767

2-758 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 CU305 Simulation for DI 0...DI 22 1 = Simulation on <3> 4000.00 μs

Fig. 2-5
+24 V DC p0795.0...22
to the next
r0721.0...22
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

device
<1> Fast measuring probe inputs.
~ 0 <2> Jumper open, electrical isolation for
DI 0...3
= X124 r0722.0...22 1 r0723.0...22
<3> There are the digital inputs DI 0...3,
+ M + + 24 V 1
Simulation signals 8...11 and 16…22
1510 – CU305 input/output terminals

+ p0796.0...22
M M
M M

X133
4 digital inputs, electrically isolated
1
DI 0 r0722.0 1 r0723.0
2
DI 1
3
DI 2
... ...
4
DI 3 r0722.3 1 r0723.3
5
M2 [2020]
<2> 6
M2
7 p0728.8 4 digital inputs/outputs, bidirectional
+Temp
-Temp 0
r0722.8 1 r0723.8
p0738
X132
1 1
... ...
DI/DO 8 <1> [2030]
2
3
DI/DO 9 <1> p0728.11 ... ... ...
DI/DO 10 <1> 0
4
DI/DO 11 <1> r0722.11 1 r0723.11
5 p0741
M
6 1
M [2031]
10 V 7
AI + 1 analog input
8 A
AI - r0755[0]
D [%]
X131 [2040]
1
DI 20 3 digital inputs, electrically isolated
2
DI 21+ r0722.20 1 r0723.20 1 digital output
3
DI 21-
4
DI 22
... ... [2022]
5
DO 16+ r0722.22 1 r0723.22
6
DO 16- p0746
7
24 V
[2032]
M1
X130 4 digital inputs, electrically isolated
1
DI 16 r0722.16 1 r0723.16

Function diagrams
2
DI 17+
3
4
DI 17-
DI 18
... ...
5
DI 19+

Overviews
6
DI 19- r0722.19 1 r0723.19
7 [2021]
24 V
M1
2-759

1 2 3 4 5 6 7 8
DO: CU_S110 fp_1510_98_eng.vsd Function diagram
- 1510 -
Overviews - CU305 input/output terminals 19.06.09 V04.04.00 SINAMICS S110
 PB address Interconnecting the permanently assigned receive telegrams. Receive telegram

Fig. 2-6
p0918
Signal Description Interconnection
2-760

Overviews
Function diagrams
LED ... ... ...
Axxxxx
Monitoring
Fxxxxx
... ... ...
1520 – PROFIdrive

Diagnostics rxxxx

Permanently assigned telegrams [2439] ... [2447] [2495] [2497] Drive

[2410] PROFIBUS PROFINET (PN) address, diagnostics n
Interconnecting the permanently assigned send telegrams
PD telegr_sel
p0922
Signal Description Interconnection
Telegram 1, 2 ... 9
Signal ... ... ...
assignment PZD1
Signal x
... ... ...
PZD32
[2449] ... [2457] [2496] [2498]
Interconnecting the free receive telegram
[2420] Standard telegrams and process data
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

PROFIdrive
PZD1
PD Telegr_ausw
p0922 PZD2
PZD3 Send telegram
Telegram 102 ... 111
..
Signal assignment .
PZD1
...
Signal x

PZD32
[2460] [2481]
© Siemens AG 2012 All Rights Reserved

[2422] Manufacturer-specific telegrams and process data Interconnecting the free send telegram
PZD1 Drive
PD Telegr_sel n
p0922 PZD2
PZD3
Telegram 390 ..... 391
Signal assignment
PZD1
Signal x ...

Free telegram
PZD32 999
[2470] [2472] [2483]
[2424] Manufacturer-specific/free telegrams and process data

1 2 3 4 5 6 7 8
DO: All objects fp_1520_98_eng.vsd Function diagram
- 1520 -
Overviews - PROFIdrive 16.11.10 V04.04.00 SINAMICS S110
 Sequence control Current control
CDS - Command Data Sets
Fig. 2-7 r0898 r1408
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

0 0 r0836
STW ZSW
0
sequence control Current control STW
15 15
CDS selection
[2501] [2530] 31
1530 – Internal control/status words, data sets

[8560]
r0899 Monitoring functions
0
ZSW
sequence control
r2197 DDS - Drive Data Sets
15 0
ZSW Monitoring
[2503] r0837
functions 1 0
15
STW
[2534]
Setpoint Channel 31
DDS selection
r2198
[8565]
STW3 r1198 0
ZSW Monitoring
0
STW functions 2
setpoint channel
15 MDS - Motor Data Sets
15
[2536]
[2505] r0838[0]
r2199 0
0 STW
Speed controller ZSW Monitoring MDS selection
functions 3 15
15
[8575]
r1406 [2537]
0
STW Faults/alarms
n-controller
PDS - Power unit Data Sets
15 r2138
[2520] 0
STW 0
r1407 Faults/alarms STW
15 PDS selection
0 15
ZSW [2546]
n-controller [8580]
15 r2139
[2522] 0
ZSW
Faults/alarms 1
15
Regelung

Function diagrams
[2548]
r0056 r2135
0 0
ZSW ZSW

Overviews
controller Faults/alarms 2
15 15
[2526]
2-761

[2548]

1 2 3 4 5 6 7 8
DO: All objects fp_1530_98_eng.vsd Function diagram
- 1530 -
Overviews - Internal control/status words, data sets 27.03.08 V04.04.00 SINAMICS S110
 4000.00 μs

Fig. 2-8
2-762

Overviews
Function diagrams
Jog 1
r0898.8
Jog 2
1550 – Setpoint channel

r1024
r0898.9
Main setpoint
p1070 0 0
+
Supplementary setpoint
+
0 1 RFG setpoint
[3010] Fixed speed setpoints Setpt after limit
p1075 n_set_1 at the input

1 0
+/- r1114

raise Jog setpoint 1 pos

p1058
1 1 neg
Jog setpoint 2
p1059 (-1)

r1050 [3030] Main/supplementary setpoint, setpoint scaling, [3040] Direction of rotating limiting/changeover [3050] Skip (suppression) bandwidth
jogging and speed limiting
r1119
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

lower
250 μs
RFG selection RFG n_set at outp
p1115 r1150
[3020] Motorized potentiometer

n_set_4 p1155
0 + n_ctrl setp sum
r1170
+
1 + [1590.1]
p1160
[3060] Basic ramp-function
generator r1438
© Siemens AG 2012 All Rights Reserved

+
– n_act
ZSW r1199

n_set_5
Ramp-function
generator M_limit
tracking

[3070] Expanded ramp-function generator

[3080] Ramp-function generator selection, status word, tracking

Simulate ramp-function generator

1 2 3 4 5 6 7 8
DO: SERVO fp_1550_98_eng.vsd Function diagram
- 1550 -
Overviews - Setpoint channel 26.07.10 V04.04.00 SINAMICS S110
 Fig. 2-9
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

Position sensing for encoders Speed actual value and pole position identification for motor encoder (encoder 1)
Fault/
1580 – Servo control, encoder evaluations (position, speed, temperature)

p0418 p0410.1 alarm messages Transformat_angle

Position counter F31100-A32999 Pole position
Encoder r0094
Fine resolution Position actual identification
n_act mot. encoder 1
n + value 1
~
SMx x2 III 31 n 0 r0061
- r0483[n-1] p0432 p0410.0 p1821
Fine resolution Gn_XIST1 p1441
Temp. from sensor n
p0400...
x2n Inverting 1 n_ist glatt
n
x absolute III
x2 r0021
Feinauf- 100 ms
Position actual lösung 0
Error
Sequence value 2 n_act smooth
n_act_measurement
p0419 control r0483[n-1] r0063
Reference mark position p0433
for Gn_XIST2 Gn_XIST2
Measuring probe position n_act calculation
from the measured Encoderless (sensorless) closed-loop control
value memory
[4710]
[4704]

Measuring probe evaluation for encoders

Control word Gn_STW for encoders Status word Gn_ZSW for encoders Control
p0480[n-1] r0487[n-1] r0481[n-1] DI 8 X_IST
0 0 DI 9
SET
1 1 DI 10
DI 11 SET

SET
15 15
Measuring probe SET
[4720] [4730]
signals from the 2 from 4 selection
"fast" digital inputs 4 measured value
[2030, 2031] memory for XIST2

Function diagrams
[4740]

Overviews
2-763

1 2 3 4 5 6 7 8
DO: SERVO fp_1580_98_eng.vsd Function diagram
- 1580 -
Overviews - Servo control, encoder evaluations (position, speed, temperature) 10.07.09 V04.04.00 SINAMICS S110
 [5050] Kp_n and Tp_n adaptation
Closed-loop speed control, servo with encoder Forming the
r1538

Fig. 2-10
Kp adaptation Tn adaptation
torque limits
2-764

Overviews
Function diagrams
r1539

[5620]...[5650]

Torque
setpoint
1590 – Servo control, speed control and U/f control

n_set after n_act > p1404

n_ctrl setp sum Kp n_ctrl p1300 Torque
filter
r1170 r0062 PI-M_output pre-control
0 M_set before
[1550.8] r1480
21 M_limit
[5040.8] M_set_6
n_pre-ctrl_1 Reference r1509
1 [1630.1]
p1430 Tn
model 20
(0) n_pre-ctrl_2
Pre-control
symmetriz-
[5020] Speed setpoint filter ation Integrator
and speed pre-control [5610] Torque limiting
Control

Sampling times:
[5030] Speed limiting [5040] Speed controller
r1438 n_ctrl 1000.00 μs Adaptation
n_act smooth Actual speed PI-M_output
Closed-loop
n_act measured
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

value 250.00 μs
Speed actual value sensing r0063 r1480 speed control
n_act calculated
[5210.7] Closed-loop
[4710] 250.00 μs
current control
p1317
n_ctrl n_set U_quadrature
r1438 axis_set
n_set after filter 0
r1733
Acceleration Uq
r0062 [5714.8] 1
model
U_direct axis_set [5730.1]
0
r1732
[5210] Closed-loop speed control, servo with encoder Ud
© Siemens AG 2012 All Rights Reserved

[5714.8] Ud_set_3 1

[5060] Setpoint input, changeover of the closed-loop control type

n U

f p1400 r1407 r0056

f
... ... ...
Ramp-function generator
[5300] V/f open-loop control for diagnostics

[5490] Closed-loop speed [2522] Status word, [2526] Status word,

control, configuration speed controller closed-loop control

1 2 3 4 5 6 7 8
DO: SERVO fp_1590_98_eng.vsd Function diagram
- 1590 -
Overviews - Servo control, speed control and V/f control 28.10.08 V04.04.00 SINAMICS S110
 Mode torque limiting For synchronous motor 1000.00 μs

Fig. 2-11
Torque limit input Power limits generating
[5490.7] p1400.4
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

For induction motor 250.00 μs

M_max_upper/mot M_max_upper/mot tot M_max

M
0 upper effective
1610 – Servo control, generation of the torque limits

2 1 p1522 r1534 [Nm] Iq_max_1 [A] [Nm]

r1538
n
M_max_upper/mot scal 1
p1528
[3616.7] Torque limits [5060]
upper/lower Power limits [5610]
motoring [5714]
[8012]

M M_max_lower/gen M_max_lower/gen tot M_max

0 lower effective
p1523 r1535 [Nm] Iq_min_1 [A] [Nm]
r1539
n
M_max_lower/gen scal 1
3 4
p1529
Compatible to
[3616.7] MASTERDRIVES and
MICROMASTER
M
[5630] Upper/lower torque [5640] Mode changeover,
limit 2 1 power/current limiting
n [5650] Vdc_max controller
and Vdc_min
controller
M_max_upper/mot M_max_upper/mot tot
M
1 p1522 r1534

n M_max_upper/mot scal Stall power P_stall The 4 quadrants

3 [5730] M
p1528 M From the
Torque limits closed-
[3616.7] motoring/ Torque factor M2Iq +
loop
regenerating n current [5730]
2 1
3 4 control Maximum torque-generating current Iq_max total
M_max_lower/gen M_max_lower/gen tot [5722] Reverse, Forwards,
M generating motoring
p1523 r1535
2 – + n
n

Function diagrams
M_max_lower/gen scal
4 reverse, Forwards,
p1529 motoring generating
[3616.7] Compatible to
SIMODRIVE 3 4

Overviews
[5620] Motoring/generating –
2-765

torque limit

1 2 3 4 5 6 7 8
DO: SERVO fp_1610_98_eng.vsd Function diagram
- 1610 -
Overviews - Servo control, generation of the torque limits 28.10.08 V04.04.00 SINAMICS S110
 Fig. 2-12
Power module
2-766

Overviews
Function diagrams
Iq controller
Iq_set U_quad_set |U|
M_set_6 Iq
[1590.8] r0077 r1733
+ –
1630 – Servo control, current control

Trans-
r0072
Adaptation Kp U_output
M2Iq

~
M

[5710] Current setpoint filter

Kp U

Id_set U_direct-axis_set formation

r0075 r1732
+ –
Id controller

[5714] Current controller Motor model

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

I_act U
r0069[0]

Id_act
r0076 Trans-
I_act V
r0069[1]
Motor type
SM
Field current input Iq_act
synchronous motor
r0078[0] I_act W
r0069[2]
© Siemens AG 2012 All Rights Reserved

Limit
ASM
formation
Flux setpoint (input)
Induction motor

Flux controller [5730] Control signals, current actual values

[5722] Field current input, flux controller

1 2 3 4 5 6 7 8
DO: SERVO fp_1630_98_eng.vsd Function diagram
- 1630 -
Overviews - Servo control, current control 18.10.10 V04.04.00 SINAMICS S110
 Fig. 2-13
Fxxxxx
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

n_act smooth n_act smth message Fyyyyy III r0945 r0949 r0948 r2109 r3115 r3120 r3122 III
III
r0063 r2169
[4710] [8012] System runtime
Fzzzzz Code Value comin going Drive Co.nu. Diag Fault case count
r0969
faults r0952
1750 – Monitoring functions, faults, alarms

[8060] Fault buffer

Axxxxx
n_ctrl setp sum r2122 r2124 r2123 r2125 r3121 r3123 III
Ayyyyy
r1170 III
[3080]
n_max Azzzzz Code Value comin going Co.nu. Diag Alarms counter
alarms r2111
n_ctrl setp sum
r1438 [8065] Alarm buffer
[5210]

r2129
p2128
[0]

[15]
[8010] Speed monitoring 1 [8011] Speed monitoring 2

[8070] Fault/alarm trigger word

M_set total
r0079
[5610] <1> Changing the fault response Changing the message type
[0] p2100 p2101 [0] p2118 p2119
M_act [1] [1]
M_max upper eff Limit value monitor r0080
r1538
[5730] [19] [19]
[5650]

M_max lower eff Changing the acknowledge mode

n_act smth message [0] p2126 p2127

Function diagrams
r1539
[5650] r2169 [1]

[8010]
n_act smth message [8013] load monitoring [19]
Motor locked

Overviews
r2169
[8010] [8012] Torque monitoring [8075] Fault/alarm configuration
2-767

<1> Only for p0108.17 = 1.

1 2 3 4 5 6 7 8
DO: All objects fp_1750_98_eng.vsd Function diagram
- 1750 -
Overviews - Monitoring functions, faults, alarms 29.06.10 V04.04.00 SINAMICS S110
 Function diagrams
CU305 input/output terminals

2.4 CU305 input/output terminals

Function diagrams

2020 – Digital inputs, electrically isolated (DI 0 to DI 3) 2-769

2021 – Digital inputs, electrically isolated (DI 16 to DI 19) 2-770

2022 – Digital inputs, electrically isolated (DI 20 to DI 22) 2-771

2030 – Digital inputs/outputs, bidirectional (DI/DO 8 to DI/DO 9) 2-772

2031 – Digital inputs/outputs, bidirectional (DI/DO 10 to DI/DO 11) 2-773

2038 – Digital output (DO 16) 2-774

2040 – Analog input (AI) 2-775

2-768 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 24 V DC to the next device
4000.00 s

Fig. 2-14
X124.+ +24 V
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

DI 0 … DI 3 DI 0 … DI 3
inverted
X124.+
r0723 r0722

X124.M M
2020 – Digital inputs, electrically isolated (DI 0 to DI 3)

+
1 = Simulation on
X124.M M
<1> p0795.0
r0721.0
X133.1 DI 0 0 1 r0723.0

r0722.0
p0796.0
1

24 V

p0795.1
r0721.1
X133.2 DI 1 0 1 r0723.1

r0722.1
p0796.1
1

p0795.2
r0721.2
X133.3 DI 2 0 1 r0723.2

r0722.2
p0796.2
1

CU305 input/output terminals

5V p0795.3
r0721.3
X133.4 DI 3 0 1 r0723.3

Function diagrams
r0722.3
<1> p0796.3
X133.5 M2 1
+

<1>
<1> When using the electrical isolation, omit the 24 V X133.6 M2
terminal jumper and connect the load power supply <1>
shown as a dashed line.
2-769

1 2 3 4 5 6 7 8
DO: CU_S110 fp_2020_98_eng.vsd Function diagram
- 2020 -
CU305 input/output terminals - Digital inputs, electrically isolated (DI 0 ... DI 3) 01.06.10 V04.04.00 SINAMICS S110
 24 V DC to the next device
4000.00 s

Fig. 2-15
X124.+ +24 V
2-770

CU305 input/output terminals

Function diagrams
DI 16 … DI 19 DI 16 … DI 19
inverted
X124.+
r0723 r0722

X124.M M
2021 – Digital inputs, electrically isolated (DI 16 to DI 19)

+
1 = Simulation on
X124.M M
<1> p0795.16
r0721.16
X130.1 DI 16 0 1 r0723.16

r0722.16
p0796.16
1

24 V

p0795.17
r0721.17
X130.2 DI 17 0 1 r0723.17

r0722.17
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

p0796.17
1

p0795.18
r0721.18
X130.4 DI 18 0 1 r0723.18

r0722.18
p0796.18
1
© Siemens AG 2012 All Rights Reserved

5V p0795.19
r0721.19
X130.5 DI 19 0 1 r0723.19

r0722.19
<1> p0796.19
X130.8 M1 1
+

<1>
<1> When using the electrical isolation, omit the 24 V M
terminal jumper and connect the load power supply <1>
shown as a dashed line.

1 2 3 4 5 6 7 8
DO: CU_S110 fp_2021_98_eng.vsd Function diagram
- 2021 -
CU305 input/output terminals - Digital inputs, electrically isolated (DI 16 ... DI 19) 26.03.09 V04.04.00 SINAMICS S110
 24 V DC to the next device
4000.00 s

Fig. 2-16
X124.+ +24 V
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

DI 20 … DI 22 DI 20 … DI 22
inverted
X124.+
r0723 r0722

X124.M M
2022 – Digital inputs, electrically isolated (DI 20 to DI 22)

+
1 = Simulation on
X124.M M
<1> p0795.20
r0721.20
X131.1 DI 20 0 1 r0723.20

r0722.20
p0796.20
1

24 V

p0795.21
r0721.21
X131.2 DI 21 0 1 r0723.21

r0722.21
p0796.21
1

p0795.22
r0721.22
X131.4 DI 22 0 1 r0723.22

r0722.22
p0796.22
1

CU305 input/output terminals

5V

Function diagrams
<1>
X131.8 M1
+

<1>
<1> When using the electrical isolation, omit the 24 V M
terminal jumper and connect the load power supply <1>
shown as a dashed line.
2-771

1 2 3 4 5 6 7 8
DO: CU_S110 fp_2022_98_eng.vsd Function diagram
- 2022 -
CU305 input/output terminals - Digital inputs, electrically isolated (DI 20 ... DI 22) 26.03.09 V04.04.00 SINAMICS S110
 24 V DC to the next device
X124.+ +24 V 4000.00 μs

Fig. 2-17
2-772

CU305 input/output terminals

Function diagrams
X124.+ DI/DO 8 … 9 DI/DO 8 … 9
inverted
r0723 r0722
X124.M M
p0796.8 (0) p0795.8 (0)

+
2030 – Digital inputs/outputs, bidirectional (DI/DO 8 to DI/DO 9)

X124.M M 1 r0723.8
r0721.8 1
p0728.8 (0)
DI DI r0722.8
0
0 p0748.8 (0)
X132.1 DI/DO 8
24 V
CU S_q DI/DO 8
<3>
1 0 p0738
DO DO
(0)
<1> 1
1

1
r0747.8
0
0
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

p0796.9 (0) p0795.9 (0)

1 r0723.9
DI 9_probe
r0721.9 1
p0728.9 (0) <2>
DI DI r0722.9
0
0 p0748.9 (0)
X132.2 DI/DO 9
© Siemens AG 2012 All Rights Reserved

<3>
5V CU S_q DI/DO 9
1 0 p0739
DO DO
(0)
<1> 1
1

X132.5 M r0747.9
0
0

<1> The connection shown as a dashed line applies <2> Can be used as fast measuring probe inputs (refer
when used as digital output (p0728.x = 1). to [4735], [4740]).
<3> The digital output access authority is displayed in
r0729.

1 2 3 4 5 6 7 8
DO: CU_S110 fp_2030_98_eng.vsd Function diagram
- 2030 -
CU305 input/output terminals - Digital inputs/outputs, bidirectional (DI/DO 8 ... DI/DO 9) 26.03.09 V04.04.00 SINAMICS S110
 24 V DC to the next device
X124.+ +24 V 4000.00 μs

Fig. 2-18
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

X124.+ DI/DO 10 … 11 DI/DO 10 … 11

inverted
r0723 r0722
X124.M M
p0796.10 (0) p0795.10 (0)

+
2031 – Digital inputs/outputs, bidirectional (DI/DO 10 to DI/DO 11)

X124.M M 1 r0723.10
DI 10_probe
r0721.10 1
p0728.10 (0) <2>
DI DI r0722.10
0
0 p0748.10 (0)
X132.3 DI/DO 10
24 V
CU S_q DI/DO 10
<3> 1 0 p0740
DO DO
(0)
<1> 1
1

1
r0747.10
0
0

p0796.11 (0) p0795.11 (0)

1 r0723.11
DI 11_probe
r0721.11 1
p0728.11 (0) <2>
DI DI r0722.11
0
0 p0748.11 (0)
X132.4 DI/DO 11
5V CU S_q DI/DO 11
<3> 1 0 p0741

CU305 input/output terminals

DO DO
(0)
<1> 1
1

Function diagrams
X132.5 M r0747.11
0
0

<1> The connection shown as a dashed line applies <2> Can be used as fast measuring probe inputs (refer
when used as digital output (p0728.x = 1). to [4735], [4740]).
<3> The digital output access authority is displayed in
2-773

r0729.
1 2 3 4 5 6 7 8
DO: CU_S110 fp_2031_98_eng.vsd Function diagram
- 2031 -
CU305 input/output terminals - Digital inputs/outputs, bidirectional (DI/DO 10 ... DI/DO 11) 21.02.11 V04.04.00 SINAMICS S110
 p0799[0] (4000.00 μs)

Fig. 2-19
2-774

CU305 input/output terminals

Function diagrams
24 V <1>
2038 – Digital output (DO 16)

24 V1 M1
CU DO Status
r0747

X130.8 M1

X130.7 24 V1

X131.5 DO 16+
24 V DO 16 p0748.16 (0)
r0747.16
X131.8 M1 CU S_q DO 16
5V
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

0 p0746 (0) <2>

1
1
© Siemens AG 2012 All Rights Reserved

<1> Additional external I/O supply <2> For restrictions, refer to p0746.

1 2 3 4 5 6 7 8
DO: CU_S110 fp_2038_98_eng.vsd Function diagram
- 2038 -
CU305 input/output terminals - Digital output (DO 16) 23.12.11 V04.04.00 SINAMICS S110
 <4> 4000.00 μs
Analogeingang Typ

Fig. 2-20
p0756 (4) -11.000...11.000 V -11.000...11.000 V
Hardware smoothing p0757[0] (0.000) p0759[0] (10.000)
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

Offset <1>
100 μs
-20.000...20.000 V [V]
r0752[0] p0797.0
p0763[0] (0.000)
0 y [%]
X132.7 -1000.00...1000.00 %
+ A + y2
0 0 p0760[0] (100.00)
AI x y [%]
2040 – Analog input (AI)

X132.8 D + 4 x1 x2 x
-10...+10 V <2> - 1 -1000.00...1000.00 % [V]
y1
p0758[0] (0.00)
Simulation mode
-20.000...20.000 V Scaling
p0798[0] (0.000)

Enable Reference quantities x1

p200x y
p0767[0]
Window to suppress noise p0769[0]
x
(0) Smoothing x2
0.00...20.00 % (1) x1 x x 2
0.0...1 000.0 ms
p0768[0] (0.00)
p0766 [0] p0753[0] (0.0) 100 %

0
0%
<1> Caution: The voltage 0 0 x y = x if |y - x| > p0768 y r0755[0]
between an input and otherwise y = y(old)
1
-1 1
1 <3>
the grounding point
must not exceed 35V.

<2> Differential inputs!

For input signals
referred to ground,
terminal 8 must be

CU305 input/output terminals

connected to the
reference potential M.

<3> When interconnected

further, the output
signals are referred to
the reference

Function diagrams
quantities
p2000 ... r2004
(100 % p200x).
<4> p0756
= 0: 0 V ... +10 V
= 4: -10 V ... +10 V
2-775

1 2 3 4 5 6 7 8
DO: CU_S110 fp_2040_98_eng.vsd Function diagram
- 2040 -
CU305 - Analog input (AI) 07.08.09 V04.04.00 SINAMICS
 Function diagrams
PROFIdrive

2.5 PROFIdrive

Function diagrams

2410 – PROFIBUS (PB), addresses and diagnostics 2-778

2420 – Standard telegrams and process data 2-779

2422 – Manufacturer-specific telegrams and process data 2-780

2424 – Manufacturer-specific/free telegrams and process data 2-781

2439 – PZD receive signals, interconnection profile-specific 2-782

2440 – PZD receive signals, interconnection, manufacturer-specific 2-783

2442 – STW1 control word interconnection (p2038 = 0) 2-784

2443 – STW1 control word interconnection (p2038 = 1) 2-785

2444 – STW2 control word interconnection (p2038 = 0) 2-786

2445 – STW2 control word interconnection (p2038 = 1) 2-787

2449 – PZD send signals, interconnection, profile-specific 2-788

2450 – PZD send signals, interconnection, manufacturer-specific 2-789

2452 – ZSW1 status word interconnection (p2038 = 0) 2-790

2453 – ZSW1 status word interconnection (p2038 = 1) 2-791

2454 – ZSW2 status word interconnection (p2038 = 0) 2-792

2455 – ZSW2 status word interconnection (p2038 = 1) 2-793

2456 – MELDW status word interconnection 2-794

2462 – PosSTW-Pos control word interconnection (r0108.4 = 1) 2-795

2463 – POS_STW1 positioning control word 1 interconnection (r0108.4 = 1) 2-796

2464 – POS_STW2 positioning control word 2 interconnection (r0108.4 = 1) 2-797

2466 – POS_ZSW1 positioning status word 1 interconnection (r0108.4 = 1) 2-798

2467 – POS_ZSW2 positioning status word 2 interconnection (r0108.4 = 1) 2-799

2468 – IF1 receive telegram, free interconnection via BICO (p0922 = 999) 2-800

2470 – IF1 send telegram, free interconnection via BICO (p0922 = 999) 2-801

2472 – IF1 status words, free interconnection 2-802

2475 – STW1 control word 1 interconnection (r0108.4 = 1) 2-803

2476 – SATZANW-Pos block selection interconnection (r0108.4 = 1) 2-804

2-776 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Function diagrams
PROFIdrive

2479 – ZSW1 status word 1 interconnection (r0108.4 = 1) 2-805

2480 – MDIMode interconnection (r0108.4 = 1) 2-806

2481 – IF1 receive telegram, free interconnection via BICO (p0922 = 999) 2-807

2483 – IF1 send telegram, free interconnection via BICO (p0922 = 999) 2-808

2495 – CU_STW control word, Control Unit interconnection 2-809

2496 – CU_ZSW status word, Control Unit interconnection 2-810

2497 – A_DIGITAL interconnection 2-811

2498 – E_DIGITAL interconnection 2-812

© Siemens AG 2012 All Rights Reserved 2-777

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 PROFIBUS sampling time

Fig. 2-21
CU-specific functions Drive-specific functions (available once for each drive object)
Refer to [1020.7]
2-778

PROFIdrive
Function diagrams
Alarms
Setting the PROFIBUS address Monitoring functions Faults
PB state t_monit
p2047
Cyclic telegrams <1>
from the master A01920 "PROFIBUS:
2410 – PROFIBUS (PB), addresses and diagnostics

PB PZD state Setpoint failure Interruption cyclic connection"

T 0
r2043.0 t > t_response <2> PD fault delay
PD PZD state Clock cycle synchronous operation active t No cyclic telegrams from the 0...100 s
master p2044 (0)
r2043.1
PB address
1...126 T 0 F01910 "PROFIBUS: Setpoint timeout"
p0918 (126) p0918 S Q
No telegrams from the master
DIP switch on the control unit
R Q
DP ADDRESS Actual
ON PROFIBUS
1...126 Memory address

1 2 4 8 16 32 64 SET
F01911 "IF1: PB/PN clock cycle synchronous operation clock cycle failure"
Significance A01921 "PROFIBUS: Receive setpoints after To"
Sign-of-life from the A01930 "IF1: PB/PN current controller clock cycle clock cycle synchronous not equal"
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

POWER ON clock cycle A01931 "IF1: PB/PN speed controller clock cycle clock cycle synchronous not equal"
synchronous master A01940 "IF1: PB/PN clock cycle synchronism not reached"
All DIP switches to ON or OFF
==> set the address using p0918 A01941 "IF1: PB/PN clock signal missing when establishing bus"
A01943 "IF1: PB/PN clock cycle signal faulted when establishing the bus"
A01944 "IF1: PB/PN sign-of-life synchronism not reached"
PB status A01950 "IF1: PB/PN clock cycle synchronous operation synchronization unsuccessful"
PB addr switch dia r2054
A01900 "PROFIBUS: Configuration telegram error"
r2057
A01901 "PROFIBUS: Parameterizing telegram error"
A01902 "IF1: PB/PN clock cycle synchronous
PB diag standard
operation parameterization not permissible"
r2055[0...2]
© Siemens AG 2012 All Rights Reserved

PROFINET address <1> The monitoring function is only executed after at least one
"valid" cyclic telegram has been received. "Valid" means:
PN Name of Station PD mast-SoL diag the master is in operation and net data are transmitted.
r61000[0...239] Diagnostic parameters r2065 <2> The response monitoring time t_response is automatically
PD mast-SoL S_Src defined when configuring PROFIBUS / PROFINET (PN)
<4> p2045 (e.g. HW Config made by SIEMENS).
r2050[3] (0) <3> Only for the clock-cycle synchronous operation of the
PN IP of Station
SERVO drive object.
r61001[0...3] <3> <4> p2045 is automatically interconnected when the telegram
PB diag clock sync is selected.
r2064[0...7] r2075 IF1 diag offs recv
r2076 IF1 diag offs send

1 2 3 4 5 6 7 8
DO: CU_S110, SERVO fp_2410_98_eng.vsd Function diagram
- 2410 -
PROFIdrive - PROFIBUS (PB)/PROFINET (PN), addresses and diagnostics 17.10.11 V04.04.00 SINAMICS S110
 <1> <2> <3>
PROFIdrive sampling time

Fig. 2-22
PD Telegram select
p0922 (999) Refer to [1020.7]
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

Interconnec-
tion is made
[2440] [2450] automatically
according to

1 2 3 4 7 9
2420 – Standard telegrams and process data

Telegram

Appl.- Class 1 1 1, 4 1, 4 3 3
PZD1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1
PZD2 NSOLL_A NIST_A SATZANW AKTSATZ SATZANW AKTSATZ
NSOLL_B NIST_B NSOLL_B NIST_B NSOLL_B NIST_B
PZD3 STW2 ZSW2
PZD4 STW2 ZSW2 STW2 ZSW2 STW2 ZSW2
MDI_TARPOS XIST_A
PZD5 G1_STW G1_ZSW G1_STW G1_ZSW
PZD6 G2_STW
G1_XIST1 G1_XIST1 MDI_VELOCITY
PROFIBUS/PROFINET

PROFIBUS/PROFINET

PZD7
Receive telegram from

PZD8 MDI_ACC
G1_XIST2 G1_XIST2
PZD9 MDI_DEC
Send telegram to

PZD10 G2_ZSW MDI_MOD

PZD11
G2_XIST1
PZD12
PZD13
G2_XIST2
PZD14
PZD15
PZD16
PZD17
PZD18
PZD19
PZD20
PZD21
PZD22
PZD23
PZD24
PZD25
PZD26
PZD27
PZD28
PZD29
PZD30
PZD31
PZD32

<1> Depending on the drive object, only specific telegrams can be used.

Function diagrams
<2> If p0922 = 999 is changed to another value, the telegram is automatically assigned as specified in [2420] - [2424].
If p0922 999 is changed to p0922 = 999, the "old" telegram assignment is maintained as specified in [2420] - [2424]!
<3> The maximum number of PZD words depends on the drive object type.

PROFIdrive
= Position encoder signal
2-779

1 2 3 4 5 6 7 8
DO: SERVO fp_2420_98_eng.vsd Function diagram
- 2420 -
PROFIdrive - Standard telegrams and Process Data 16.11.10 V04.04.00 SINAMICS S110
 <1> <2> <4> PROFIdrive sampling time

Fig. 2-23
PD Telegr_select
p0922 (999) Refer to [1020.7]
2-780

PROFIdrive
Function diagrams
Interconnec-
tion is made [2440] [2450] automatically
according to
2422 – Manufacturer-specific telegrams and process data

Telegramm 102 103 110 111

Appl.- Class 1, 4 1, 4 3 3
PZD1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1
PZD2 SATZANW AKTSATZ POS_STW1 POS_ZSW1
NSOLL_B NIST_B NSOLL_B NIST_B
PZD3 PosSTW PosZSW POS_STW2 POS_ZSW2
PZD4 STW2 ZSW2 STW2 ZSW2 STW2 ZSW2 STW2 ZSW2
PZD5 MOMRED MELDW MOMRED MELDW OVERRIDE MELDW OVERRIDE MELDW
PZD6 G1_STW G1_ZSW G1_STW G1_ZSW MDI_ MDI_
Xist_A XIST_A
PZD7 G2_STW TARPOS TARPOS
G1_XIST1 G1_XIST1
PZD8 MDI_ MDI_
NIST_B
PZD9 VELOCITY VELOCITY
G1_XIST2 G1_XIST2
PZD10 MDI_ACC MDI_ACC FAULT_CODE
PZD11 G2_ZSW MDI_DEC MDI_DEC WARN_CODE
PZD12 MDI_MODE <3> <3>
G2_XIST1
PZD13
PZD14
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

G2_XIST2
PZD15
PZD16
PZD17
PZD18
PZD19
PZD20
PZD21
PZD22
PZD23
PZD24
PZD25
© Siemens AG 2012 All Rights Reserved

PZD26
PZD27
PZD28
PZD29
PZD30
PZD31
PZD32
<1> Depending on the drive object, only specific telegrams can be used.
<2> If p0922 = 999 is changed to another value, the telegram is automatically assigned as specified in [2420] - [2424].
If p0922 999 is changed to p0922 = 999, the "old" telegram assignment is maintained as specified in [2420] - [2424]!
<3> Can be freely connected.
<4> The maximum number of PZD words depends on the drive object type.
= Position encoder signal

1 2 3 4 5 6 7 8
DO: SERVO fp_2422_98_eng.vsd Function diagram
- 2422 -
PROFIdrive - Manufacturer-specific telegrams and Process Data 20.07.10 V04.04.00 SINAMICS S110
 <1> <2> <4>
PROFIdrive sampling time

Fig. 2-24
PD Telegram select
p0922 (999) Refer to [1020.7]
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

Interconnection
is made [2440] [2450] automatically [2481] [2483]
according to
2424 – Manufacturer-specific/free telegrams and process data

Telegram 390 391 392 393 394 999

Appl.- Class - - - - - -
PZD1 CU_STW1 CU_ZSW1 CU_STW1 CU_ZSW1 CU_STW1 CU_ZSW1 CU_STW1 CU_ZSW1 CU_STW1 CU_ZSW1 STW1 <3> ZSW1 <3>
PZD2 A_DIGITAL E_DIGITAL A_DIGITAL E_DIGITAL A_DIGITAL E_DIGITAL A_DIGITAL E_DIGITAL A_DIGITAL E_DIGITAL

Transmit telegram length freely selectable via central

Receive telegram length freely selectable via central
PZD3 MT_STW MT_ZSW MT_STW MT_ZSW A_DIGITAL_1 E_DIGITAL_1 A_DIGITAL_1 E_DIGITAL_1
PZD4 MT1_ZS_F MT1_ZS_F MT_STW MT_ZSW

PROFIdrive configuration in the master

PROFIdrive configuration in the master

PZD5 MT1_ZS_S MT1_ZS_S MT1_ZS_F
PZD6 MT2_ZS_F MT2_ZS_F MT1_ZS_S
PZD7 MT2_ZS_S MT2_ZS_S MT2_ZS_F
PZD8 MT3_ZS_F MT2_ZS_S
PZD9 MT3_ZS_S MT3_ZS_F
PZD10 MT4_ZS_F MT3_ZS_S
PZD11 MT4_ZS_S MT4_ZS_F
PZD12 MT5_ZS_F MT4_ZS_S
PZD13 MT5_ZS_S MT5_ZS_F
PZD14 MT6_ZS_F MT5_ZS_S
PZD15 MT6_ZS_S MT6_ZS_F
PZD16 MT6_ZS_S
PZD17 MT7_ZS_F
PZD18 MT7_ZS_S
PZD19 MT8_ZS_F
PZD20 MT8_ZS_S
PZD21 E_ANALOG
PZD22
PZD23
PZD24
PZD25
PZD26
PZD27
PZD28
PZD29
PZD30
PZD31
PZD32

Function diagrams
<1> Depending on the drive object, only specific telegrams can be used.
<2> If p0922 = 999 is changed to another value, the telegram is automatically assigned as specified in [2420] - [2424].
If p0922 999 is changed to p0922 = 999, the "old" telegram assignment is maintained as specified in [2420] - [2424]!
<3> In order to comply with the PROFIdrive profile, PZD1 must be used as control word 1 (STW1) or status word 1 (ZSW1).

PROFIdrive
p2037 = 2 should be set if STW1 is not transferred with PZD1 as specified in the PROFIdrive profile.
<4> The maximum number of PZD words depends on the drive object type.
2-781

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DO: CU_S110 fp_2424_98_eng.vsd Function diagram
- 2424 -
PROFIdrive - Manufacturer-specific/free telegrams and Process Data 15.10.10 V04.04.00 SINAMICS S110
 PROFIdrive sampling time

Fig. 2-25 Refer to [1020.7]

2-782

PROFIdrive
Function diagrams
Signal receivers for PZD receive signals <1> <2>
PROFIBUS
PROFINET PROFIdrive Interconnection
Signal Meaning Function diagram Data type Normalization
Signal No. parameter
2439 – PZD receive signals, interconnection profile-specific

[2442][2443]
STW1 Control word 1 1 (bit-by-bit) U16 -
[2475]
[2444]
STW2 Control word 2 3 (bit-by-bit) U16 -
[2445]
PROFIdrive
receive telegram p1070 (Erw. Soll.) [3030.2]
NSOLL_A Speed setpoint A (16-bit) 5 I16 4000 hex p2000
p1155 [3080.4]
Header [3030.2]
p1070 (Erw. Soll.)
NSOLL_B Speed setpoint B (32-bit) 7 [3080.4] I32 4000 0000 hex p2000
Drive object 1 p1155
[3090.8]
Drive object 2 G1_STW Encoder 1 control word 9 p0480[0] [4720] U16 -

[2468], [2481] G2_STW Encoder 2 control word 13 p0480[1] [4720] U16 -

. r2090...r2095 bit
. r2050[0...n] WORD A_DIGITAL Digital output (16-bit) 22 (bit-by-bit) [2497] U16 -
. r2060[0...30] DWORD
SATZANW Pos block selection 32 (bit-by-bit) [2476] I32 -
...
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

MDI_TARPOS MDI position 34 p2642 [3618] I32 1 hex 1 LU

Drive object n
MDI_VELOCITY MDI velocity 35 p2643 [3618] I32 1 hex 1000 LU/min
Telegram assignment
. according to p0922 MDI_ACC MDI acceleration override 36 p2644 [3618] I16 4000 hex 100%
. [2420]
. MDI_DEC MDI deceleration override 37 p2645 [3618] I16 4000 hex 100%

MDI_MOD MDI mode 38 (bit-by-bit) -

Drive object m

Trailer
© Siemens AG 2012 All Rights Reserved

<1> When selecting a standard telegram or a manufacturer-specific telegram via p0922, these interconnection parameters of the command data set CDS0 are automatically set.
<2> Data type according to to the PROFIdrive profile: I16 = Integer16, I32 = Integer32, U16 = Unsigned16, U32 = Unsigned32.

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DO: CU_S110, SERVO fp_2439_98_eng.vsd Function diagram
- 2439 -
PROFIdrive - PZD receive signals, connection of profile-specific 16.11.10 V04.04.00 SINAMICS S110
 PROFIdrive sampling time

Fig. 2-26 Refer to [1020.7]

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

Signal receivers for PZD receive signals <1> <2>

2440 – PZD receive signals, interconnection, manufacturer-specific

PROFIBUS PROFIdrive Interconnection Function

Signal Meaning Data type Normalization
PROFINET Signal No. parameter diagram

MOMRED Torque reduction 101 p1542 [5610.2] I16 4000 hex p2003

MT_STW Measuring probe control word 130 p0682 - U16

POS_STW Pos control word 203 (bitwise) [2462] U16

PROFIdrive
receive telegram OVERRIDE Pos velocity override 205 p2646 [3630] I16 4000 hex 100%

POS_STW1 Pos control word 1 220 (bitwise) [2463] U16

Header
POS_STW2 Pos control word 2 222 (bitwise) [2464] U16
Drive object 1
MDI_MOD Pos MDI mode 229 p2654 [3620] U16
Drive object 2
CU_STW1 Control word 1 for Control Unit 500 (bitwise) [2495] U16
[2460], [2481]
. r2090...r2095 bit
. r2050[0...n] WORD
. r2060[0...30] DWORD
...
Drive object n

Telegram assignment
. according to p0922
. [2420]
.
Drive object m

Trailer

Function diagrams
PROFIdrive
<1> When selecting a standard telegram or a manufacturer-specific telegram via p0922, these interconnection parameters of the command data set CDS0 are automatically set.
<2> Data type according to to the PROFIdrive profile: I16 = Integer16, I32 = Integer32, U16 = Unsigned16, U32 = Unsigned32.
2-783

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- 2440 -
PROFIdrive - PZD receive signals interconnection manufacturer-specific 16.11.10 V04.04.00 SINAMICS S110
 Signal targets for STW1 in Interface Mode SINAMICS (p2038 = 0) <1> PROFIdrive sampling time

Fig. 2-27 Interconnection [Function diagram] [Function diagram] Refer to [1020.7]

2-784

PROFIdrive
Function diagrams
Signal Meaning Inverted
parameters internal control word signal target

= ON (pulses can be enabled)

STW1.0 p0840[0] = r2090.0 [2501.3] [2610] -
0 = OFF1 (braking with ramp-function generator, then pulse cancellation and ready-to-power-up)
2442 – STW1 control word interconnection (p2038 = 0)

1 = No OFF2 (enable is possible)

STW1.1 p0844[0] = r2090.1 [2501.3] [2610] -
0 = OFF2 (immediate pulse cancellation and power-on inhibit)

1 = No OFF3 (enable possible)

STW1.2 p0848[0] = r2090.2 [2501.3] [2610] -
0 = OFF3 (braking with the OFF3 ramp p1135, then pulse cancellation and power-on inhibit)

1 = Enable operation (pulses can be enabled)

STW1.3 p0852[0] = r2090.3 [2501.3] [2610] -
0 = Inhibit operation (cancel pulses)

1 = Operating condition (the ramp-function generator can be enabled)

STW1.4 p1140[0] = r2090.4 [2501.3] [3060] [3070] [3080] -
0 = Inhibit ramp-function generator (set the ramp-function generator output to zero)

1 = Enable the ramp-function generator

STW1.5 p1141[0] = r2090.5 [2501.3] [3060] [3070] -
0 = Stop the ramp-function generator (freeze the ramp-function generator output)

1 = Enable setpoint
STW1.6 p1142[0] = r2090.6 [2501.3] [3060] [3070] [3080] -
0 = Inhibit setpoint (set the ramp-function generator input to zero)
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

STW1.7 = 1. Acknowledge faults p2103[0] = r2090.7 [2546.1] [8060] -

STW1.8 Reserved - - - -

STW1.9 Reserved - - - -

STW1.10 1 = Control via PLC <2> p0854[0] = r2090.10 [2501.3] [2501] -

STW1.11 1 = Setpoint inversion p1113[0] = r2090.11 [2505.3] [3040] -

© Siemens AG 2012 All Rights Reserved

STW1.12 Reserved - - - -

STW1.13 1 = Motorized potentiometer setpoint raise p1035[0] = r2090.13 [2505.3] [3020] -

STW1.14 1 = Motorized potentiometer setpoint lower p1036[0] = r2090.14 [2505.3] [3020] -

STW1.15 Reserved - - - -

<1> Used in telegrams 1, 2, 3, 4, 7, 9, 110, 111.

<2> STW1.10 must be set to ensure that the drive object accepts the process data (PZD).

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DO: SERVO fp_2442_98_eng.vsd Function diagram
- 2442 -
PROFIdrive - STW1 control word interconnection (p2038 = 0) 08.12.10 V04.04.00 SINAMICS S110
 PROFIdrive sampling time

Fig. 2-28 Signal targets for STW1 in Interface Mode SIMODRIVE 611 universal (p2038 = 1) <1> Refer to [1020.7]
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

Interconnection [Function diagram] [Function diagram]

Signal Meaning Inverted
parameters internal control word signal target

= ON (pulses can be enabled)

STW1.0 p0840[0] = r2090.0 [2501.3] [2610] -
0 = OFF1 (braking with ramp-function generator, then pulse cancellation, ready-to-power-up)
2443 – STW1 control word interconnection (p2038 = 1)

1 = No OFF2 (enable is possible)

STW1.1 p0844[0] = r2090.1 [2501.3] [2610] -
0 = OFF2 (immediate pulse cancellation and power-on inhibit)

1 = No OFF3 (enable possible)

STW1.2 p0848[0] = r2090.2 [2501.3] [2610] -
0 = OFF3 (braking with the OFF3 ramp p1135, then pulse cancellation and power-on inhibit)

1 = Enable operation (pulses can be enabled)

STW1.3 p0852[0] = r2090.3 [2501.3] [2610] -
0 = Inhibit operation (cancel pulses)

1 = Operating condition (the ramp-function generator can be enabled)

STW1.4 p1140[0] = r2090.4 [2501.3] [3060] [3070] [3080] -
0 = Inhibit ramp-function generator (set the ramp-function generator output to zero)

1 = Enable the ramp-function generator

STW1.5 p1141[0] = r2090.5 [2501.3] [3060] [3070] -
0 = Stop the ramp-function generator (freeze the ramp-function generator output)

1 = Enable setpoint
STW1.6 p1142[0] = r2090.6 [2501.3] [3060] [3070] [3080] -
0 = Inhibit setpoint (set the ramp-function generator input to zero)

STW1.7 = Acknowledge faults p2103[0] = r2090.7 [2546.1] [8060] -

STW1.8 Reserved - - - -

STW1.9 Reserved - - - -

STW1.10 1 = Control via PLC <2> p0854[0] = r2090.10 [2501.3] [2501] -

STW1.11 1 = Ramp-function generator active p2148[0] = r2090.11 - [8010] -

STW1.12 1 = Unconditionally open the holding brake p0855[0] =- r2090.12 [2501.3] [2701] -

STW1.13 Reserved - - - -

Function diagrams
1 = Closed-loop torque control active
STW1.14 p1501[0] =- r2090.14 [2520.3] [5060] -
0 = Closed-loop speed control active

PROFIdrive
STW1.15 Reserved - - - -

<1> Used in telegrams 1, 2, 3, 4, 102, 103.

2-785

<2> STW1.10 must be set to ensure that the drive object accepts the process data (PZD).

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DO: SERVO fp_2443_98_eng.vsd Function diagram
- 2443 -
PROFIdrive - STW1 control word interconnection (p2038 = 1) 17.10.08 V04.04.00 SINAMICS S110
 Signal targets for STW2 in Interface Mode SINAMICS (p2038 = 0) <1> PROFIdrive sampling time

Fig. 2-29 Interconnection [Function diagram] [Function diagram] Refer to [1020.7]

2-786

PROFIdrive
Function diagrams
Signal Meaning Inverted
parameters internal control word signal target

p0820[0] = r2093.0
STW2.0 Drive data set selection DDS, bit 0 - [8565] -
<3> r2092.0
2444 – STW2 control word interconnection (p2038 = 0)

p0821[0] = r2093.1
STW2.1 Drive data set selection DDS, bit 1 - [8565] -
<3> r2092.1

p0822[0] = r2093.2
STW2.2 Drive data set selection DDS, bit 2 - [8565] -
<3> r2092.2

p0823[0] = r2093.3
STW2.3 Drive data set selection DDS, bit 3 - [8565] -
<3> r2092.3

p0824[0] = r2093.4
STW2.4 Drive data set selection DDS, bit 4 - [8565] -
<3> r2092.4

STW2.5 Reserved - - - -

STW2.6 Reserved - - - -
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

STW2.7 1 = Parking axis p0897 = r2093.7 - - -

STW2.8 1 = Traverse to fixed endstop <2> p1545[0] = r2093.8 [2520.2] [8012] -

STW2.9 Reserved - - - -

STW2.10 Reserved - - - -

STW2.11 1 = Motor changeover, feedback Signal p0828[0] = r2093.11 - - -

© Siemens AG 2012 All Rights Reserved

STW2.12 Master sign-of-life, bit 0

STW2.13 Master sign-of-life, bit 1

p2045 = r2050[3] - [2410] -
STW2.14 Master sign-of-life, bit 2

STW2.15 Master sign-of-life, bit 3

<1> Used in telegrams 2, 3, 4, 7, 9, 110 and 111. <2> Not for telegrams 9, 110, and 111. <3> Only for telegram 9.

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DO: SERVO fp_2444_98_eng.vsd Function diagram
- 2444 -
PROFIdrive - STW2 control word interconnection (p2038 = 0) 02.03.11 V04.04.00 SINAMICS S110
 PROFIdrive sampling time

Fig. 2-30 Signal targets for STW2 in Interface Mode SIMODRIVE 611 universal (p2038 = 1) <1> Refer to [1020.7]
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

Interconnection [Function diagram] [Function diagram]

Signal Meaning Inverted
parameters internal control word signal target

STW2.0 Drive data set selection DDS, bit 0 p0820[0] = r2093.0 - [8565] -
2445 – STW2 control word interconnection (p2038 = 1)

STW2.1 Reserved - - - -

STW2.2 Reserved - - - -

STW2.3 Reserved - - - -

STW2.4 1 = Bypass ramp-function generator <3> p1122[0] = r2093.4 - [3060] [3070] -

STW2.5 Reserved - - - -

STW2.6 1 = Integrator inhibit, speed controller <2> p1477[0] = r2093.6 - [5040] [5210] -

STW2.7 1 = Parking axis selection p0897 = r2093.7 - - -

STW2.8 1 = Traverse to fixed endstop p1545[0] = r2093.8 [2520.2] [8012] -

STW2.9 Reserved - - - -

STW2.10 Reserved - - - -

STW2.11 = Motor changeover, feedback signal p0828[0] = r2093.11 - - -

STW2.12 Master sign-of-life, bit 0

STW2.13 Master sign-of-life, bit 1

p2045 = r2050[3] - [2410] -

Function diagrams
STW2.14 Master sign-of-life, bit 2

PROFIdrive
STW2.15 Master sign-of-life, bit 3

<1> Used in telegrams 2, 3, 4, 102, 103.

<3> Only if the function module "extended setpoint channel" is active (r0108.8 = 1).
2-787

<2> For a 1 signal, the integral component of the speed controller is cleared and the integrator is inhibited.

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DO: SERVO fp_2445_98_eng.vsd Function diagram
- 2445 -
PROFIdrive - STW2 control word interconnection (p2038 = 1) 25.01.10 V04.04.00 SINAMICS S110
 PROFIdrive sampling time

Fig. 2-31
Signal sources for PZD send signals <1>
Refer to [1020.7]
2-788

PROFIdrive
Function diagrams
PROFIdrive Interconnection
Signal Description Function diagram Data type Normalization
Signal No. parameter
ZSW1 Status word 1 2 r2089[0] [2452][2453][2479] <2> U16 -
ZSW2 Status word 2 4 r2089[1] [2454][2455] <2> U16 - PROFIdrive send
telegram
2449 – PZD send signals, interconnection, profile-specific

NIST_A Speed setpoint A (16 bit) 6 I32 4000 hex p2000

r0063 [4710] Header
NIST_B Speed setpoint B (32 bit) 8 I16 4000 0000 hex p2000

G1_ZSW Encoder 1 status word 10 r0481[0] [4730] U16 Drive object 1

G1_XIST1 Encoder 1 actual position 1 11 r0482[0] [4704] U32 Drive object 2
G1_XIST2 Encoder 1 actual position 2 12 r0483[0] [4704] U32 Send words 1...16
p2051[0...15] WORD
G2_ZSW Encoder 2 status word 14 r0481[1] [4730] U16 r2053[0...15] WORD .
G2_XIST1 Encoder 2 actual position 1 15 r0482[1] [4704] U32 p2061[0...14] DWORD .
G2_XIST2 Encoder 2 actual position 2 16 r0483[1] [4704] U32
r2063[0...14] DWORD .
E_DIGITAL Digital inputs 21 r2089[2] [2459] U16 ...
XIST_A Position actual value A 28 r2521[0] [4010] I32 1 hex 1 LU Drive object n
AKTSATZ Pos selected block 33 r2670 [3650] U16 Telegram
assignment .
according to p0922 .
[2420] .
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

Drive object m

Trailer

PROFIBUS
© Siemens AG 2012 All Rights Reserved

PROFINET

<1> Data type according to the PROFIdrive profile: I16 = Integer16, I32 = Integer32, U16 = Unsigned16, U32 = Unsigned32

1 2 3 4 5 6 7 8
DO: SERVO fp_2449_98_eng.vsd Function diagram
- 2449 -
PROFIdrive - PZD send signals connection profile-specific 16.11.10 V04.04.00 SINAMICS S110
 PROFIdrive sampling time

Fig. 2-32 Refer to [1020.7]

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

Signal sources for PZD send signals <1>

PROFIdrive Interconnection Function
Signal Description Data type Normalization
Signal No. parameter diagram PROFIdrive send
MELDW Message word 102 r2089[2] [2456] U16 - telegram
2450 – PZD send signals, interconnection, manufacturer-specific

MT_ZSW Measuring probe status word 131 r0688 - U16 - Header

MT1_ZS_F Measuring probe 1 measuring time, falling edge 132 r0687[0] - U16 -
Drive object 1
MT1_ZS_S Measuring probe 1 measuring time, rising edge 133 r0686[0] - U16 -
MT2_ZS_F Measuring probe 2 measuring time, falling edge 134 r0687[1] - U16 - Drive object 2
Send words 1...16
MT2_ZS_S Measuring probe 2 measuring time, rising edge 135 r0686[1] - U16 - p2051[0...15] WORD
r2053[0...15] WORD .
POS_ZSW Pos status word 204 r2683 [3645] U16 -
p2061[0...14] DWORD .
POS_ZSW1 Pos status word 1 221 r2089[3] [2466] U16 - r2063[0...14] DWORD .
POS_ZSW2 Pos status word 2 223 r2089[4] [2467] U16 - ...
FAULT_CODE Fault code 301 r2131 [8060] U16 -
Drive object n
WARN_CODE Alarm code 303 r2132 [8065] U16 -
Telegram
CU_ZSW1 Status word 1 for Control Unit 501 r2089[1] [2496] U16 - assignment .
according to p0922 .
[2420] .
Drive object m

Trailer

PROFIBUS
PROFINET

Function diagrams
PROFIdrive
<1> Data type according to the PROFIdrive profile: I16 = Integer16, I32 = Integer32, U16 = Unsigned16, U32 = Unsigned32
2-789

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DO: SERVO fp_2450_98_eng.vsd Function diagram
- 2450 -
PROFIdrive - PZD send signals interconnection manufacturer-specific 16.11.10 V04.04.00 SINAMICS S110
 Signal sources for ZSW1 im Interface Mode SINAMICS (p2038 = 0) <1> PROFIdrive Abtastzeit

Fig. 2-33 Interconnection [Function diagram] [Function diagram] Inverted siehe [1020.7]
2-790

PROFIdrive
Function diagrams
Signal Meaning
parameters Internal status word signal source <2>

ZSW1.0 1 = Ready to power-up p2080[0] = r0899.0 [2503.7] [2610] -

2452 – ZSW1 status word interconnection (p2038 = 0)

ZSW1.1 1 = Ready to operate p2080[1] = r0899.1 [2503.7] [2610] -

ZSW1.2 1 = Operation enabled p2080[2] = r0899.2 [2503.7] [2610] -

ZSW1.3 1 = Fault present p2080[3] = r2139.3 [2548.7] [8060] -

ZSW1.4 1 = No coast down active (OFF2 inactive) p2080[4] = r0899.4 [2503.7] [2610] -

ZSW1.5 1 = No fast stop active (OFF3 inactive) p2080[5] = r0899.5 [2503.7] [2610] -

ZSW1.6 1 = Power-on inhibit active p2080[6] = r0899.6 [2503.7] [2610] -

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

ZSW1.7 1 = Alarm present p2080[7] = r2139.7 [2548.7] [8065] -

ZSW1.8 1 = Speed setpoint - actual value deviation within tolerance t_off p2080[8] = r2197.7 [2534.7] [8010] -

ZSW1.9 1 = Control requested <3> p2080[9] = r0899.9 [2503.7] [2503] -

ZSW1.10 1 = f or n comparison value reached/exceeded p2080[10] = r2199.1 [2536.7] [8010] -

ZSW1.11 1 = I, M, or P limit not reached p2080[11] = r1407.7 [2522.7] [5610]

© Siemens AG 2012 All Rights Reserved

ZSW1.12 1 = Open holding brake p2080[12] = r0899.12 [2503.7] [2701] -

ZSW1.13 1 = No motor overtemperature alarm p2080[13] = r2135.14 [2548.7] [8016]

1 = Motor rotates forwards (n_act 0)

ZSW1.14 p2080[14] = r2197.3 [2534.7] [8010] -
0 = Motor rotates backwards (n_act < 0)

ZSW1.15 1 = No alarm, thermal overload, power unit p2080[15] = r2135.15 [2548.7] [8014]

<1> Used in telegrams 1, 2, 3, 4, 7, 9, 110, 111.

<2> The ZSW1 is generated using the binector-connector converter (BI: p2080[0...15], inversion: p2088[0].0...p2088[0].15) <3> The drive object is ready to accept data.

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DO: SERVO fp_2452_98_eng.vsd Function diagram
- 2452 -
PROFIdrive - ZSW1 status word interconnection (p2038 = 0) 17.10.08 V04.04.00 SINAMICS S110
 PROFIdrive sampling time

Fig. 2-34 Signal sources for ZSW1 in Interface Mode SIMODRIVE 611 universal (p2038 = 1) <1>
Refer to [1020.7]
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

Interconnection [Function diagram] [Function diagram]

Signal Meaning Inverted
parameters Internal status word Signal source

ZSW1.0 1 = Ready to power-up p2080[0] = r0899.0 [2503.7] [2610] -

2453 – ZSW1 status word interconnection (p2038 = 1)

ZSW1.1 1 = Ready to operate p2080[1] = r0899.1 [2503.7] [2610] -

ZSW1.2 1 = Operation enabled p2080[2] = r0899.2 [2503.7] [2610] -

ZSW1.3 1 = Fault present p2080[3] = r2139.3 [2548.7] [8060] -

ZSW1.4 1 = No coast down active p2080[4] = r0899.4 [2503.7] [2610] -

ZSW1.5 1 = No fast stop active p2080[5] = r0899.5 [2503.7] [2610] -

ZSW1.6 1 = Power-on inhibit active p2080[6] = r0899.6 [2503.7] [2610] -

ZSW1.7 1 = Alarm present p2080[7] = r2139.7 [2548.7] [8065] -

ZSW1.8 1 = Speed setpoint - actual value deviation within tolerance t_off p2080[8] = r2197.7 [2534.7] [8010] -

ZSW1.9 1 = Control requested <2> p2080[9] = r0899.9 [2503.7] [2503] -

ZSW1.10 1 = f or n comparison value reached/exceeded p2080[10] = r2199.1 [2536.7] [8010] -

ZSW1.11 1 = Alarm class bit 0 p2080[11] = r2139.11 - - -

ZSW1.12 1 = Alarm class bit 1 p2080[12] = r2139.12 - - -

ZSW1.13 Reserved - - - -

Function diagrams
ZSW1.14 1 = Closed-loop torque control active p2080[14] = r1407.2 [2522.7] [2522] -

PROFIdrive
ZSW1.15 Reserved - - - -

<1> Used in telegrams 1, 2, 3, 4, 102, 103.

2-791

<2> The drive object is ready to accept data.

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DO: SERVO fp_2453_98_eng.vsd Function diagram
- 2453 -
PROFIdrive - ZSW1 status word interconnection (p2038 = 1) 17.10.08 V04.04.00 SINAMICS S110
 Signal sources for ZSW2 in Interface Mode SINAMICS (p2038 = 0) <1>
PROFIdrive sampling time

Fig. 2-35 Interconnection [Function diagram] [Function diagram] Refer to [1020.7]

2-792

PROFIdrive
Function diagrams
Signal Meaning Inverted
parameters internal status word signal source

ZSW2.0 1 = Drive data set DDS effective, bit 0 p2081[0] = r0051.0 - [8565] -
2454 – ZSW2 status word interconnection (p2038 = 0)

ZSW2.1 Reserved - - - -

ZSW2.2 Reserved - - - -

ZSW2.3 Reserved - - - -

ZSW2.4 Reserved - - - -

ZSW2.5 1 = Alarm class bit 0 p2081[5] = r2139.11 - - -

ZSW2.6 1 = Alarm class bit 1 p2081[6] = r2139.12 - - -

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

ZSW2.7 1 = Parking axis active p2081[7] = r0896.0 - - -

ZSW2.8 1 = Traverse to fixed endstop p2081[8] = r1406.8 - [2520] -

ZSW2.9 Reserved - - - -

ZSW2.10 1 = Pulses enabled p2082[13] = r0899.11 - - -

ZSW2.11 1 = Motor data set changeover active p2081[11] = r0835.0 - - -

© Siemens AG 2012 All Rights Reserved

ZSW2.12 Slave sign-of-life bit 0

ZSW2.13 Slave sign-of-life bit 1

<2> Implicitly interconnected - - -
ZSW2.14 Slave sign-of-life bit 2

ZSW2.15 Slave sign-of-life bit 3

<1> Used in telegrams 2, 3, 4, 7, 110, 111.

<2> These signals are automatically interconnected for clock-cycle synchronous operation.

1 2 3 4 5 6 7 8
DO: SERVO fp_2454_98_eng.vsd Function diagram
- 2454 -
PROFIdrive - ZSW2 status word interconnection (p2038 = 0) 25.01.10 V04.04.00 SINAMICS S110
 PROFIdrive sampling time

Fig. 2-36 Signal sources for ZSW2 in Interface Mode SIMODRIVE 611 universal (p2038 = 1) <1> Refer to [1020.7]
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

Interconnection [Function diagram] [Function diagram] Inverted

Signal Meaning
parameters Internal status word Signal source <4>

ZSW2.0 1 = Drive data set DDS effective, bit 0 p2081[0] = r0051.0 - [8565] -
2455 – ZSW2 status word interconnection (p2038 = 1)

ZSW2.1 Reserved - - - -

ZSW2.2 Reserved - - - -

ZSW2.3 Reserved - - - -

ZSW2.4 1 = Ramp-function generator inactive <3> p2081[4] = r1199.2 - [3060] [3080]

ZSW2.5 1 = Holding brake open p2081[5] = r0899.12 [2503.7] [2701] -

ZSW2.6 1 = Integrator inhibit, speed controller p2081[6] = r2093.6 - [5040] [5210] -

ZSW2.7 1 = Parking axis active p2081[7] = r0896.0 - - -

ZSW2.8 1 = Traverse to fixed endstop p2081[8] = r1406.8 - [2520] -

ZSW2.9 Reserved - - - -

ZSW2.10 Reserved - - - -

ZSW2.11 1 = Data set changeover active p2081 [11] = r0835.0 - - -

ZSW2.12 Slave sign-of-life bit 0

ZSW2.13 Slave sign-of-life bit 1

Implicitly interconnected - - -

Function diagrams
<2>
ZSW2.14 Slave sign-of-life bit 2

PROFIdrive
ZSW2.15 Slave sign-of-life bit 3

<1> Used in telegrams 2, 3, 4, 102, 103. <3> Only if the function module "extended setpoint channel" is active (r0108.8 = 1).
2-793

<2> These signals are automatically interconnected for clock-cycle synchronous operation. <4> The ZSW1 is generated using the binector-connector converter (BI: p2080[0...15], inversion: p2088[0].0...p2088[0].15)

1 2 3 4 5 6 7 8
DO: SERVO fp_2455_98_eng.vsd Function diagram
- 2455 -
PROFIdrive - ZSW2 status word interconnection (p2038 = 1) 25.01.10 V04.04.00 SINAMICS S110
 PROFIdrive sampling time

Fig. 2-37 Signal sources for MELDW <1> Refer to [1020.7]

2-794

PROFIdrive
Function diagrams
Interconnection [Function diagram] [Function diagram] Inverted
Signal Meaning
parameters Internal status word signal source <2>

1 = Ramp-up/ramp-down completed
MELDW.0 p2082[0] = r2199.5 [2537.7] [8010] -
0 = Ramp-function generator active
2456 – MELDW status word interconnection

MELDW.1 1 = Torque utilization [%] < torque threshold value 2 (p2194) p2082[1] = r2199.11 [2537.7] [8012] -

MELDW.2 1 = |n_act| < speed threshold value 3 (p2161) p2082[2] = r2199.0 [2537.7] [8010] -

MELDW.3 1 = |n_act|
speed threshold value 2 (p2155) p2082[3] = r2197.1 [2534.7] [8010] -

MELDW.4 1 = Vdc_min controller activ (Vdc < p1248) p2082[4] = r0056.15 - - -

MELDW.5 Variable signaling function p2082[5] = r3294 - [5301] -

MELDW.6 1 = No motor overtemperature alarm p2082[6] = r2135.14 [2548.7] [8016]

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

MELDW.7 1 = No alarm, thermal overload, power unit p2082[7] = r2135.15 [2548.7] [8014]

MELDW.8 1 = Speed setpoint - actual value deviation within tolerance t_on p2082[8] = r2199.4 [2537.7] [8010] -

MELDW.9 Reserved - - - -

MELDW.10 Reserved - - - -
© Siemens AG 2012 All Rights Reserved

MELDW.11 1 = Controller enable p2082[11] = r0899.8 [2503.7] [2610] -

MELDW.12 1 = Drive ready p2082[12] = r0899.7 [2503.7] [2610] -

MELDW.13 1 = Pulses enabled p2082[13] = r0899.11 [2503.7] [2610] -

MELDW.14 Reserved - - - -

MELDW.15 Reserved - - - -

<1> Used in telegrams 102, 103, 110 and 111.

<2> The status word is generated using the binector-connector converter p2088[2].

1 2 3 4 5 6 7 8
DO: SERVO fp_2456_98_eng.vsd Function diagram
- 2456 -
PROFIdrive - MELDW status word interconnection 08.12.10 V04.04.00 SINAMICS S110
 PROFIdrive sampling time

Fig. 2-38 Signal targets for POS_STW (positioning mode, r0108.4 = 1) <1> Refer to [1020.7]
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

Interconnection [Function diagram] [Function diagram]

Signal Meaning Inverted
parameters internal control word signal target

1 = Tracking mode active

POS_STW.0 p2655[0] = r2092.0 - [3635] -
0 = No tracking mode active
2462 – PosSTW-Pos control word interconnection (r0108.4 = 1)

1 = Set home position

POS_STW.1 p2596 = r2092.1 - [3612] -
0 = Do not set home position

POS_STW.2 1 = Reference cam active p2612 = r2092.2 - [3612] -

POS_STW.3 Reserved - - - -

POS_STW.4 Reserved - - - -

1 = Jogging, incremental active

POS_STW.5 p2591 = r2092.5 - [3610] -
0 = Jogging, velocity active

POS_STW.6 Reserved - - - -

POS_STW.7 Reserved - - - -

POS_STW.8 Reserved - - - -

POS_STW.9 Reserved - - - -

POS_STW.10 Reserved - - - -

POS_STW.11 Reserved - - - -

POS_STW.12 Reserved - - - -

POS_STW.13 Reserved - - - -

Function diagrams
POS_STW.14 Reserved - - - -

PROFIdrive
POS_STW.15 Reserved - - - -

<1> Used in telegram 110, 999.

2-795

1 2 3 4 5 6 7 8
DO: SERVO fp_2462_98_eng.vsd Function diagram
- 2462 -
PROFIdrive - POS_STW-Pos control word interconnection (r0108.4 = 1) 08.10.08 V04.04.00 SINAMICS S110
 PROFIdrive Abtastzeit

Fig. 2-39 Signal targets for POS_STW1 (positioning mode, r0108.4 = 1) <1> siehe [1020.7]
2-796

PROFIdrive
Function diagrams
Interconnection [Function diagram] [Function diagram]
Signal Meaning Inverted
parameters internal control word signal target

POS_STW1.0 Traversing block selection, bit 0 p2625 = r2091.0 - - -

2463 – POS_STW1 positioning control word 1 interconnection (r0108.4 = 1)

POS_STW1.1 Traversing block selection, bit 1 p2626 = r2091.1 - - -

POS_STW1.2 Traversing block selection, bit 2 p2627 = r2091.2 - - -

POS_STW1.3 Traversing block selection, bit 3 p2628 = r2091.3 - - -

POS_STW1.4 Traversing block selection, bit 4 p2629 = r2091.4 - - -

POS_STW1.5 Traversing block selection, bit 5 p2630 = r2091.5 - - -

POS_STW1.6 Reserved - - - -
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

POS_STW1.7 Reserved - - - -

1 = Absolute positioning is selected.

POS_STW1.8 p2648 = r2091.8 - - -
0 = Relative positioning is selected.

POS_STW1.9 1 = Absolute positioning/MDI direction selection, positive. p2651 = r2091.9 - - -

2 = Absolute positioning/MDI direction selection, negative.
3 = Absolute positioning through the shortest distance.
POS_STW1.10 0 = Absolute positioning through the shortest distance. p2652 = r2091.10 - - -
© Siemens AG 2012 All Rights Reserved

POS_STW1.11 Reserved - - - -

0 = Activate MDI block change with of a traversing task (STW1.6)

POS_STW1.12 p2649 = r2091.12 - - -
1 = Continuous transfer

POS_STW1.13 Reserved - - - -

1 = signal setting-up selected

POS_STW1.14 p2653 = r2091.14 - - -
0 = signal positioning selected.

POS_STW1.15 1 = MDI selection p2647 = r2091.15 - - -

<1> Used in telegram 111.

1 2 3 4 5 6 7 8
DO: SERVO fp_2463_98_eng.vsd Function diagram
- 2463 -
PROFIdrive – POS_STW1-Pos control word 1 interconnection (r0108.4 = 1) 25.01.10 V04.04.00 SINAMICS S110
 PROFIdrive sampling time

Fig. 2-40 Signal targets for POS_STW2 (positioning mode, r0108.4 = 1) <1> Refer to [1020.7]
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

Interconnection [Function diagram] [Function diagram]

Signal Meaning Inverted
parameters internal control word signal target

POS_STW2.0 1 = Tracking mode active p2655 = r2092.0 - [3635] -

2464 – POS_STW2 positioning control word 2 interconnection (r0108.4 = 1)

POS_STW2.1 1 = Set reference point p2596 = r2092.1 - [3612] -

POS_STW2.2 1 = Reference cam active p2612 = r2092.2 - [3612] -

POS_STW2.3 Reserved - - - -

POS_STW2.4 Reserved - - - -

1 = Jogging, incremental active

POS_STW2.5 p2591 = r2092.5 - [3610] -
0 = Jogging, velocity active

POS_STW2.6 Reserved - - - -

POS_STW2.7 Reserved - - - -

1 = Referencing type selection for flying referencing

POS_STW2.8 p2597 = r2092.8 - - -
0 = Referencing type selection for search for reference

1 = Start the search for reference in the negative direction

POS_STW2.9 p2604 = r2092.9 - - -
0 = Start the search for reference in the positive direction.

1 = Measuring probe 2 is activated

POS_STW2.10 p2510[0] = r2092.10 - - -
0 = Measuring probe 1 is activated

1 = Falling edge of the measuring probe

POS_STW2.11 p2511[0] = r2092.11 - - -
0 = Rising edge of the measuring probe

POS_STW2.12 Reserved - - - -

POS_STW2.13 Reserved - - - -

Function diagrams
POS_STW2.14 1 = Software limit switch activation p2582 = r2092.14 - - -

PROFIdrive
POS_STW2.15 1 = STOP cam activ p2568 = r2092.15 - - -

<1> Used in telegram 111.

2-797

1 2 3 4 5 6 7 8
DO: SERVO fp_2464_98_eng.vsd Function diagram
- 2464 -
PROFIdrive – POS_STW2-POS control word 2 interconnection (r0108.4 = 1) 08.10.08 V04.04.00 SINAMICS S110
 PROFIdrive sampling time

Fig. 2-41 Signal targets for POS_ZSW1 (positioning mode, r0108.4 = 1) <1> Refer to [1020.7]
2-798

PROFIdrive
Function diagrams
Interconnection [Function diagram] [Function diagram]
Signal Meaning Inverted
parameters internal control word signal target

POS_ZSW1.0 Active Traversing Block Bit 0 (20) p2083[0] = r2670[0] - - -

2466 – POS_ZSW1 positioning status word 1 interconnection (r0108.4 = 1)

POS_ZSW1.1 Active Traversing Block Bit 1 (21) p2083[1] = r2670[1] - - -

POS_ZSW1.2 Active Traversing Block Bit 2 (22) p2083[2] = r2670[2] - - -

POS_ZSW1.3 Active Traversing Block Bit 3 (23) p2083[3] = r2670[3] - - -

POS_ZSW1.4 Active Traversing Block Bit 4 (24) p2083[4] = r2670[4] - - -

POS_ZSW1.5 Active Traversing Block Bit 5 (25) p2083[5] = r2670[5] - - -

POS_ZSW1.6 Reserved - - - -
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

POS_ZSW1.7 Reserved - - - -

POS_ZSW1.8 1 = STOP cam minus active p2083[08] = r2684[13] - - -

POS_ZSW1.9 1 = STOP cam plus aktiv p2083[09] = r2684[14] - - -

POS_ZSW1.10 1 = Jogging active p2083[10] = r2094[0] - - -

© Siemens AG 2012 All Rights Reserved

POS_ZSW1.11 1 = Reference point approach active p2083[11] = r2094[1] - - -

POS_ZSW1.12 1 = Flying referencing active p2083[12] = r2684[1] - - -

POS_ZSW1.13 1 = Traversing Block active p2083[13] = r2094[2] - - -

POS_ZSW1.14 1 = Set-up active p2083[14] = r2094[4] - - -

1 = MDI active
POS_ZSW1.15 p2083[15] = r2670[15] - - -
0 = MDI inactive

<1> Used in telegram 111.

1 2 3 4 5 6 7 8
DO: SERVO fp_2466_98_eng.vsd Function diagram
- 2466 -
PROFIdrive – POS_ZSW1-Pos status word 1 interconnection (r0108.4 = 1) 08.10.08 V04.04.00 SINAMICS S110
 PROFIdrive Abtastzeit

Fig. 2-42 Signal targets for POS_ZSW2 (positioning mode, r0108.4 = 1) <1> siehe [1020.7]
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

Interconnection [Function diagram] [Function diagram]

Signal Meaning Inverted
parameters internal control word signal target

POS_ZSW2.0 1 = Tracking mode active p2084[0] = r2683.0 - - -

2467 – POS_ZSW2 positioning status word 2 interconnection (r0108.4 = 1)

POS_ZSW2.1 1 = Velocity limiting active p2084[1] = r2683.1 - - -

POS_ZSW2.2 1 = Setpoint available p2084[2] = r2683.2 - - -

POS_ZSW2.3 1 = Printing matk outside outer window p2084[3] = r2684.3 - - -

POS_ZSW2.4 1 = Axis moves forward p2084[4] = r2683.4 - - -

POS_ZSW2.5 1 = Axis moves backwards p2084[5] = r2683.5 - - -

POS_ZSW2.6 1 = Software limit switch minus reached p2084[6] = r2683.6 - - -

POS_ZSW2.7 1 = Software limit switch plus reached p2084[7] = r2683.7 - - -

POS_ZSW2.8 1 = Position actual value <= cam switching position 1 p2084[8] = r2683.8 - - -

POS_ZSW2.9 1 = Position actual value <= cam switching position 2 p2084[9] = r2683.9 - - -

POS_ZSW2.10 1 = Direct output 1 via traversing block p2084[10] = r2683.10 - - -

POS_ZSW2.11 1 = Direct output 2 via traversing block p2084[11] = r2683.11 - - -

POS_ZSW2.12 1 = Fixed stop reached p2084[12] = r2683.12 - - -

POS_ZSW2.13 1 = Fixed stop clamping torque reached p2084[13] = r2683.13 - - -

Function diagrams
POS_ZSW2.14 1 = Travel to fixed stop active p2084[14] = r2683.14 - - -

PROFIdrive
POS_ZSW2.15 1 = Traversing command active p2084[15] = r2684.15 - - -

<1> Verwendung in Telegramm 111.

2-799

1 2 3 4 5 6 7 8
DO: SERVO fp_2467_98_eng.vsd Function diagram
- 2467 -
PROFIdrive – POS_ZSW2-Pos status word 2 interconnection (r0108.4 = 1) 08.10.08 V04.04.00 SINAMICS S110
 <6> r2090.0
... PROFIdrive sampling time

Fig. 2-43
<6> r2090.15
<1> <4> PZD receive word 1 r2050[0]
Refer to [1020.7]
...
2-800

PROFIdrive
Function diagrams
r2091.0
r2060[0] DWORD
r2091.15
PZD receive word 2 r2050[1]
r2092.0
PROFIBUS
r2060[1] DWORD ...
r2092.15
PROFINET PZD receive word 3 r2050[2]
2468 – IF1 receive telegram, free interconnection via BICO (p0922 = 999)

r2093.0
r2060[2] DWORD ...
r2093.15
PZD receive word 4 r2050[3]
r2060[3] DWORD
PROFIdrive
receive telegram PZD receive word 5 r2050[4] p2048
2 connector-binector converter
r2060[4] DWORD
Header
PZD receive word 6 r2050[5] p2098[0].0
Drive object 1 r2060[5] DWORD <2>
Drive object 2
p2099[0] 0
(0) r2094.0
1
. 1
.
. p2098[0].15
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

Drive object n
0
r2094.15
. 1 1
.
.
PZD receive word 17 r2050[16]
p2098[1].0
r2060[16] DWORD
Drive object m PZD receive word 18 r2050[17] <2>
Trailer r2060[17] DWORD p2099[1] 0
PZD receive word 19 r2050[18] (0) r2095.0
© Siemens AG 2012 All Rights Reserved

1 1
r2060[18] DWORD
PZD receive word 20 r2050[19]
<3> <3> p2098[1].15

Reference quantities for further interconnection

p200x 0
<1> In order to maintain the PROFIdrive profile, receive word 1 must be used as control word (STW1) (due to bit 10 "control requested"). r2095.15
1 1
<2> Using the connector-binector converters, the bits can be extracted from two of the PZD receive words 5 to 20 and used as binectors.
<3> The following representation applies for words: 4000 hex = 100 % for double words 4000 0000 hex = 100 %.
The reference variables p200x apply for the ongoing interconnection (100 % -> p200x).
The following applies for temperature values: 100 °C -> 100 % = 4000 hex or 4000 0000 hex; 0 °C -> 0 %.
<4> The number of PZD receive words depends on the drive object type.
<5> The connector-binector converter only converts the lower 16 bits irrespective of the input variable.
<6> Every PZD word can be assigned a word or a double word. Only one of the 2 interconnection parameters r2050 or r2060 may have a value 0 for a PZD word.

1 2 3 4 5 6 7 8
DO: SERVO fp_2468_98_eng.vsd Function diagram
- 2468 -
PROFIdrive - IF1 receive telegram, free interconnection via BICO (p0922 = 999) 16.11.10 V04.04.00 SINAMICS S110
 r2063[0...26] IF1 diag send word 1...28
PROFIdrive sampling time

Fig. 2-44
<2> p2051[0] r2053[0...27]
<2> <1> (0)0 ...
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

<1>
p2061[0] PZD send word 1
DWORD p2051[1]
(0)0
p2061[1] PZD send word 2
DWORD p2051[2]
2470 – IF1 send telegram, free interconnection via BICO (p0922 = 999)

(0)0
p2061[2] PZD send word 3
DWORD p2051[3]
(0)0
p2061[3] PZD send word 4
DWORD p2051[4]
(0)0
p2061[4] PZD send word 5
DWORD p2051[5]
(0)0
p2061[5] PZD send word 6
DWORD p2051[6] PROFIdrive send
telegram
(0)0
p2061[6] PZD send word 7
DWORD p2051[7] Header
(0)0
PZD send word 8 Drive object 1
p2061[7]
DWORD p2051[8]
Drive object 2
(0)0
PZD send word 9 .
.
.
Drive object n
p2061[23]
DWORD p2051[24] .
(0) .
DWORD
p2061[24]
p2051[25]
PZD send word 25
.
(0) Drive object m
p2061[25] PZD send word 26
DWORD p2051[26] Trailer
(0)
p2061[26] PZD send word 27
DWORD p2051[27]
(0)
PZD send word 28 PROFIBUS
<3> PROFINET
Reference quantities for
further interconnection

Function diagrams
p200x

<1> To comply with the PROFIdrive profile, send word 1 must be used as status word 1 (ZSW1), not as DWORD.

PROFIdrive
<2> Every PZD word can be assigned a word or a double word. Only one of the 2 interconnection parameters p2051 or p2061 may have a value 0 for a PZD word.
<3> Physical word and double word values are inserted in the telegram as referenced variables. p200x apply as reference variables (telegram contents = 4000 hex or
4000 0000 hex in the case of double words, if the input variable has the value p200x).
The following applies for temperature values: 100° C -> 100 % = 4000 hex or 4000 0000 hex; 0° C -> 0 %.
2-801

1 2 3 4 5 6 7 8
DO: SERVO fp_2470_98_eng.vsd Function diagram
- 2470 -
PROFIdrive - IF1 send telegram, free interconnection via BICO (p0922 = 999) 04.04.12 V04.04.00 SINAMICS S110
 p2088[2].0
p2048

Fig. 2-45 5 binector-connector converter

2-802

PROFIdrive
Function diagrams
p2082[0...15] 0 Free status word 3
[0]
(0.0) r2089[2]
(0.0)
[1] 1 1

p2088[0].0
2472 – IF1 status words, free interconnection

p2088[2].15

p2080[0...15] 0 Status word 1

[0] 0
(0.0) r2089[0] [15]
(0.0)
[1] 1 1 (0.0)
1 1

p2088[0].15
p2088[3].0
0
[15]
(0.0) Free status word 4
1 p2083[0...15] 0
1 [0]
(0.0) r2089[3]
(0.0) [1]
1 1
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

p2088[3].15
p2088[1].0
0
[15]
Status word 2 (0.0)
p2081[0...15] 0 1
[0] 1
(0.0) r2089[1]
(0.0) [1]
1 1
© Siemens AG 2012 All Rights Reserved

p2088[1].11 p2088[4].0

0 p2084[0...15] 0 Free status word 4

[11] [0]
(0.0) (0.0) r2089[4]
[12] 1 1
(0.0) 1 (0.0) [1] 1

<1>
p2088[4].15
[15]
(0.0)

0
[15]
(0.0)
<1> For clock-cycle synchronous SERVO, these signals must not be interconnected (slave sign-of-life). 1 1

1 2 3 4 5 6 7 8
DO: CU_S110, SERVO fp_2472_98_eng.vsd Function diagram
- 2472 -
PROFIdrive - IF1 status words, free interconnection 15.08.08 V04.04.00 SINAMICS S110
 PROFIdrive sampling time

Fig. 2-46 Signal targets for STW1 (positioning mode, r0108.4 = 1) <1> Refer to [1020.7]
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

Interconnection [Function diagram] [Function diagram]

Signal Meaning Inverted
parameters internal control word signal target

= ON (pulses can be enabled)

STW1.0 p0840[0] = r2090.0 [2501.3] [2610] -
0 = OFF1 (braking with ramp-funct. generator, then pulse cancellation and ready-to-power-up)
2475 – STW1 control word 1 interconnection (r0108.4 = 1)

1 = No OFF2 (enable is possible)

STW1.1 p0844[0] = r2090.1 [2501.3] [2610] -
0 = OFF2 (immediate pulse cancellation and power-on inhibit)

1 = No OFF3 (enable possible)

STW1.2 p0848[0] = r2090.2 [2501.3] [2610] -
0 = OFF3 (braking with the OFF3 ramp p1135, then pulse cancellation and power-on inhibit)

1 = Enable operation (pulses can be enabled)

STW1.3 p0852[0] = r2090.3 [2501.3] [2610] -
0 = Inhibit operation (cancel pulses)

1 = Do not reject traversing task [3616.5]

STW1.4 p2641 = r2090.4 - -
0 = Reject traversing task (ramp-down with the maximum deceleration) [3625]

1 = No intermediate stop [3616.5]

STW1.5 p2640 = r2090.5 - -
0 = Intermediate stop [3625]
<3>p2631 = r2090.6 [3620.1]
STW1.6 = Activate traversing task - -
p2650 = r2090.6 [3625]

STW1.7 = Acknowledge faults p2103[0] = r2090.7 [2546.1] [8060] -

[3610.1]
STW1.8 1 = Jog 1 signal source p2589 = r2090.8 - -
[3625]

[3610.1]
STW1.9 1 = Jog 2 signal source p2590 = r2090.9 - -
[3625]

STW1.10 1 = Control via PLC <2> p0854[0] = r2090.10 [2501.3] [2501] -

1 = Start homing [3612.1]

STW1.11 p2595 = r2090.11 - -
0 = Stop homing [3625]

STW1.12 Reserved - - - -

STW1.13 = External block change p2633 = r2090.13 - [3615] -

Function diagrams
STW1.14 Reserved - - - -

PROFIdrive
STW1.15 Reserved - - - -

<1> Used in telegrams 7, 9, 110, 111. <3> The interconnection p2649 = 0 is made additionally only in Telegram 7,9 and 110.
2-803

<2> STW1.10 must be set to ensure that the drive object accepts the process data (PZD).
1 2 3 4 5 6 7 8
DO: SERVO fp_2475_98_eng.vsd Function diagram
- 2475 -
PROFIdrive - STW1 control word 1 interconnection (r0108.4 = 1) 25.01.10 V04.04.00 SINAMICS S110
 PROFIdrive sampling time

Fig. 2-47 Signal targets for SATZANW (positioning mode, r0108.4 = 1) <1> Refer to [1020.7]
2-804

PROFIdrive
Function diagrams
Interconnection [Function diagram] [Function diagram]
Signal Meaning Inverted
parameters internal control word signal target

SATZANW.0 1 = Traversing block selection, bit 0 p2625 = r2091.0 - [3640] -

2476 – SATZANW-Pos block selection interconnection (r0108.4 = 1)

SATZANW.1 1 = Traversing block selection, bit 1 p2626 = r2091.1 - [3640] -

SATZANW.2 1 = Traversing block selection, bit 2 p2627 = r2091.2 - [3640] -

SATZANW.3 1 = Traversing block selection, bit 3 p2628 = r2091.3 - [3640] -

SATZANW.4 1 = Traversing block selection, bit 4 p2629 = r2091.4 - [3640] -

SATZANW.5 1 = Traversing block selection, bit 5 p2630 = r2091.5 - [3640] -

SATZANW.6 Reserved - - - -
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

SATZANW.7 Reserved - - - -

SATZANW.8 Reserved - - - -

SATZANW.9 Reserved - - - -

SATZANW.10 Reserved - - - -
© Siemens AG 2012 All Rights Reserved

SATZANW.11 Reserved - - - -

SATZANW.12 Reserved - - - -

SATZANW.13 Reserved - - - -

SATZANW.14 Reserved - - - -

1 = Activate MDI [3625]

SATZANW.15 p2647 = r2091.15 - -
0 = Deactivate MDI [3640]

<1> Used in telegrams 7, 9 und 110.

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DO: SERVO fp_2476_98_eng.vsd Function diagram
- 2476 -
PROFIdrive - SATZANW Pos Block Selection interconnection (r0108.4 = 1) 25.01.10 V04.04.00 SINAMICS S110
 PROFIdrive sampling time

Fig. 2-48 Signal sources for ZSW1 (positioning mode, r0108.4 = 1) <1> Refer to [1020.7]
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

Interconnection [Function diagram] [Function diagram] Inverted

Signal Meaning
parameters Internal status word signal source

ZSW1.0 1 = Ready to power-up p2080[0] = r0899.0 [2503.7] [2610] -

2479 – ZSW1 status word 1 interconnection (r0108.4 = 1)

ZSW1.1 1 = Ready to operate (DC link loaded, pulses blocked) p2080[1] = r0899.1 [2503.7] [2610] -

ZSW1.2 1 = Operation enabled (drive follows n_set) p2080[2] = r0899.2 [2503.7] [2610] -

ZSW1.3 1 = Fault present p2080[3] = r2139.3 [2548.7] [8060] -

ZSW1.4 1 = No coast down active (OFF2 inactive) p2080[4] = r0899.4 [2503.7] [2610] -

ZSW1.5 1 = No fast stop active (OFF3 inactive) p2080[5] = r0899.5 [2503.7] [2610] -

ZSW1.6 1 = Power-on inhibit active p2080[6] = r0899.6 [2503.7] [2610] -

ZSW1.7 1 = Alarm present p2080[7] = r2139.7 [2548.7] [8065] -

ZSW1.8 1 = Following error within tolerance p2080[8] = r2684.8 [3646.7] [4025] -

ZSW1.9 1 = Control requested <2> p2080[9] = r0899.9 [2503.7] [2503] -

ZSW1.10 1 = Target position reached p2080[10] = r2684.10 [3646.7] [4020] [3625] -

ZSW1.11 1 = Home position set p2080[11] = r2684.11 [3646.7] [3612] [3614] -

ZSW1.12 = Acknowledgement traversing block activated p2080[12] = r2684.12 [3646.7] [3616] [3620] -

ZSW1.13 1 = "|n_act| < speed threshold value 3 p2080[13] = r2199.0 [2537.7] [8010] [3625] -

Function diagrams
ZSW1.14 1 = Axis accelerated <3> p2080[14] = r2684.4 [3646.7] [3635] -

PROFIdrive
ZSW1.15 1 = Axis decelerated <3> p2080[15] = r2684.5 [3646.7] [3635] -

<1> Used in telegrams 7, 9, 110, 111. <2> The drive object is ready to accept data.
2-805

<3> Only for telegram 111.

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DO: SERVO fp_2479_98_eng.vsd Function diagram
- 2479 -
PROFIdrive - ZSW1-Status Word 1 interconnection (r0108.4 = 1) 25.01.10 V04.04.00 SINAMICS S110
 PROFIdrive sampling time

Fig. 2-49 Signal targets for MDI_MOD (positioning mode, r0108.4 = 1) <1> Refer to [1020.7]
2-806

PROFIdrive
Function diagrams
Interconnection [Function diagram] [Function diagram]
Signal Meaning Inverted
parameters internal control word signal target

1 = Absolute positioning is selected

MDI_MOD.0 p2648 = r2094.0 - - -
0 = Relative positioning is selected
2480 – MDIMode interconnection (r0108.4 = 1)

0 = Absolute
MDI_MOD.1 3 = Absolute p2651 = r2094.1 - - -
positioning 1 = Absolute 2 = Absolute
positioning through
through the positioning in the positioning in the
the shortest
shortest positive direction negative direction
MDI_MOD.2 distance p2652 = r2094.2 - - -
distance

MDI_MOD.3 Reserved - - - -

MDI_MOD.4 Reserved - - - -

MDI_MOD.5 Reserved - - - -

MDI_MOD.6 Reserved - - - -
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

MDI_MOD.7 Reserved - - - -

MDI_MOD.8 Reserved - - - -

MDI_MOD.9 Reserved - - - -

MDI_MOD.10 Reserved - - - -
© Siemens AG 2012 All Rights Reserved

MDI_MOD.11 Reserved - - - -

MDI_MOD.12 Reserved - - - -

MDI_MOD.13 Reserved - - - -

MDI_MOD.14 Reserved - - - -

MDI_MOD.15 Reserved - - - -

<1> Used in telegram 9.

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DO: SERVO fp_2480_98_eng.vsd Function diagram
- 2480 -
PROFIdrive – MDI_MOD-MDI Mode interconnection (r0108.4 = 1) 30.04.09 V04.04.00 SINAMICS S110
 PROFIdrive sampling time

Fig. 2-50 Refer to [1020.7]

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

r2090.0
2481 – IF1 receive telegram, free interconnection via BICO (p0922 = 999)

r2090.15
PROFIBUS
PROFINET PZD receive word 1 r2050[0]
r2091.0

PZD receive word 2 r2050[1]

PROFIdrive r2091.15
PZD receive word 3 r2050[2]
receive telegram

Header PZD receive word 4 r2050[3]

Drive object 1
PZD receive word 5 r2050[4]
Drive object 2

. Reference quantities for further interconnection

. p200x
. <1>

Drive object n

.
.
.
Drive object m

Trailer

Function diagrams
<1> The following representation applies for words: 4000 hex = 100 %.
The reference variables p200x apply for the ongoing interconnection (100 % -> p200x).

PROFIdrive
The following applies for temperature values: 100 °C -> 100 % = 4000 hex; 0 °C -> 0 %.
2-807

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DO: CU_S110 fp_2481_98_eng.vsd Function diagram
- 2481 -
PROFIdrive - IF1 receive telegram, free interconnection via BICO (p0922 = 999) 16.11.08 V04.04.00 SINAMICS S110
 PROFIdrive Abtastzeit

Fig. 2-51
IF1 Diag send word 1...7
r2053[0...6] Refer to [1020.7]
2-808

PROFIdrive
Function diagrams
<1> ...
p2051[0]
(0) PZD send word 1
PROFIdrive send telegram
p2051[1]
2483 – IF1 send telegram, free interconnection via BICO (p0922 = 999)

(0) PZD send word 2 Header

p2051[2] Drive object 1

(0) PZD send word 3 Drive object 2
p2051[3] .
(0) PZD send word 4 .
p2051[4]
.
(0) PZD send word 5 Drive object n
.
p2051[5]
.
(0) PZD send word 6
.
p2051[6] Drive object m
(0) PZD send word 7
Trailer
p2051[7]
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

(0) PZD send word 8

PROFIBUS
PROFINET
p2051[12]
(0) PZD send word 13

p2051[13]
(0) PZD send word 14

p2051[14]
© Siemens AG 2012 All Rights Reserved

(0) PZD send word 15

<2>

Reference quantities for further interconnection

p200x

<1> Using the binector/connector converters at [2472], bits of 4 send words can be interconnected with any binectors.
<2> The following representation applies for words: 4000 hex = 100 %.
The reference variables p200x apply for the ongoing interconnection (100 % -> p200x).
The following applies for temperature values: 100 °C -> 100 % = 4000 hex; 0 °C -> 0 %.

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DO: CU_S110 fp_2483_98_eng.vsd Function diagram
- 2483 -
PROFIdrive - IF1 send telegram, free interconnection via BICO (p0922 = 999) 16.11.10 V04.04.00 SINAMICS S110
 PROFIdrive sampling time

Fig. 2-52 Signal targets for CU_STW1 <1> Refer to [1020.7]

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

Interconnection [Function diagram] [Function diagram]

Signal Meaning Inverted
parameters internal control word signal target

CU_STW.0 Central measuring probe, synchronizing signal source p0681[0] = r2090.0 - - -

2495 – CU_STW control word, Control Unit interconnection

CU_STW.1 RTC real time synchronization PING p3104 = r2090.1 - - -

CU_STW.2 Reserved - - - -

CU_STW.3 Reserved - - - -

CU_STW.4 Reserved - - - -

CU_STW.5 Reserved - - - -

CU_STW.6 Reserved - - - -

CU_STW.7 = 1. Acknowledge faults p2103[0] = r2090.7 - - -

CU_STW.8 Reserved - - - -

CU_STW.9 Reserved - - - -

CU_STW.10 Master control by PLC p3116 = r2090.10 - - -

CU_STW.11 Reserved - - - -

CU_STW.12 Master sign-of-life bit 0

CU_STW.13 Master sign-of-life bit 1

p2045 =r2050[3] - - -

Function diagrams
CU_STW.14 Master sign-of-life bit 2

PROFIdrive
CU_STW.15 Master sign-of-life bit 3

<1> Used in telegrams 390 and 391.

2-809

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DO: CU_S110 fp_2495_98_eng.vsd Function diagram
- 2495 -
PROFIdrive - CU_STW1 control word Control Unit interconnection 24.09.10 V04.04.00 SINAMICS S110
 Fig. 2-53
PROFIdrive sampling time
Signal sources for CU_ZSW1 <1>
2-810

PROFIdrive
Function diagrams
Refer to [1020.7]
Interconnection [Function diagram] [Function diagram] Inverted
Signal Meaning
parameters Internal status word signal source <2>

CU_ZSW1.0 Reserved - - - -
2496 – CU_ZSW status word, Control Unit interconnection

CU_ZSW1.1 Reserved - - - -

CU_ZSW1.2 Reserved - - - -

CU_ZSW1.3 1 = Fault present p2081[3] = r2139.3 - - -

CU_ZSW1.4 Reserved - - - -

CU_ZSW1.5 Reserved - - - -

CU_ZSW1.6 Reserved - - - -
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

CU_ZSW1.7 1 = Alarm present p2081[7] = r2139.7 - - -

CU_ZSW1.8 1 = System time synchronized p2081[8] = r0899.8 - - -

CU_ZSW1.9 1 = Alarm is not present p2081[9] = r3114.9 - -

CU_ZSW1.10 1 = Fault not present p2081[10] = r3114.10 - -

© Siemens AG 2012 All Rights Reserved

CU_ZSW1.11 1 = Safety-Message/signal not present p2081[11] = r3114.11 - -

CU_ZSW1.12 Slave sign-of-life bit 0

CU_ZSW1.13 Slave sign-of-life bit 1

Implicitly
- - -
interconnected
CU_ZSW1.14 Slave sign-of-life bit 2

CU_ZSW1.15 Slave sign-of-life bit 3

<1> Used in telegrams 390 and 391.

<2> The ZSW1 is generated using the binector-connector converter (BI: p2080[0...15], inversion: p2088[0].0...p2088[0].15)

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DO: CU_S110 fp_2496_98_eng.vsd Function diagram
- 2496 -
PROFIdrive - CU_ZSW1 status word 1 Control Unit interconnection 25.01.10 V04.04.00 SINAMICS S110
 PROFIdrive sampling time

Fig. 2-54 Signal targets for A_DIGITAL <1> Refer to [1020.7]

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

Interconnection [Function diagram] [Function diagram]

Signal Meaning Inverted
parameters <3> internal status word signal target

A_DIGITAL.0 Digital output 8 (DI/DO 8) <2> p0738[0] = r2091.0 - - -

2497 – A_DIGITAL interconnection

A_DIGITAL.1 Digital output 9 (DI/DO 9) <2> p0739[0] = r2091.1 - - -

A_DIGITAL.2 Digital output 10 (DI/DO 10) <2> p0740[0] = r2091.2 - - -

A_DIGITAL.3 Digital output 11 (DI/DO 11) <2> p0741[0] = r2091.3 - - -

A_DIGITAL.4 Reserved - - - -

A_DIGITAL.5 Reserved - - - -

A_DIGITAL.6 Reserved - - - -

A_DIGITAL.7 Reserved - - - -

A_DIGITAL.8 Digital output 16 (DO 16) <4> p0746[0] = r2091.8 - - -

A_DIGITAL.9 Reserved - - - -

A_DIGITAL.10 Reserved - - - -

A_DIGITAL.11 Reserved - - - -

A_DIGITAL.12 Reserved - - - -

A_DIGITAL.13 Reserved - - - -

Function diagrams
A_DIGITAL.14 Reserved - - - -

PROFIdrive
A_DIGITAL.15 Reserved - - - -

<1> Used in telegrams 390, 391, 392, 393 and 394. <2> Can be set via p0728 as input (DI) or output (DO). <3> Pre-assignment, can be freely changed. <4> For restrictions, refer to p0746.
2-811

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DO: CU_S110 fp_2497_98_eng.vsd Function diagram
- 2497 -
PROFIdrive - A_DIGITAL interconnection 18.10.10 V04.04.00 SINAMICS S110
 PROFIdrive sampling time

Fig. 2-55 Signal targets for E_DIGITAL <1>

Refer to [1020.7]
2-812

PROFIdrive
Function diagrams
Interconnection [Function diagram] [Function diagram]
Signal Meaning Inverted
parameters <3> Internal status word signal target

E_DIGITAL.0 Digital input 8 (DI/DO 8) <2> p2082[0] = r0722.8 - - -

2498 – E_DIGITAL interconnection

E_DIGITAL.1 Digital input 9 (DI/DO 9) <2> p2082[1] = r0722.9 - - -

E_DIGITAL.2 Digital input 10 (DI/DO 10) <2> p2082[2] = r0722.10 - - -

E_DIGITAL.3 Digital input 11 (DI/DO 11) <2> p2082[3] = r0722.11 - - -

E_DIGITAL.4 Reserved - - - -

E_DIGITAL.5 Reserved - - - -

E_DIGITAL.6 Reserved - - - -
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

E_DIGITAL.7 Reserved - - - -

E_DIGITAL.8 Digital input 0 (DI 0) p2082[8] = r0722.0 - - -

E_DIGITAL.9 Digital input 1 (DI 1) p2082[9] = r0722.1 - - -

E_DIGITAL.10 Digital input 2 (DI 2) p2082[10] = r0722.2 - - -

© Siemens AG 2012 All Rights Reserved

E_DIGITAL.11 Digital input 3 (DI 3) p2082[11] = r0722.3 - - -

E_DIGITAL.12 Reserved - - - -

E_DIGITAL.13 Reserved - - - -

E_DIGITAL.14 Reserved - - - -

E_DIGITAL.15 Reserved - - - -

<1> Used in telegrams 390, 391, 392, 393 and 394. <2> Can be set via p0728 as input (DI) or output (DO). <3> Pre-assignment, can be freely changed.

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DO: CU_S110 fp_2498_98_eng.vsd Function diagram
- 2498 -
PROFIdrive - E_DIGITAL interconnection 18.10.10 V04.04.00 SINAMICS S110
 Function diagrams
Internal control/status words

2.6 Internal control/status words

Function diagrams

2501 – Control word, sequence control 2-814

2503 – Status word, sequence control 2-815

2505 – Control word, setpoint channel 2-816

2520 – Control word, speed controller 2-817

2522 – Status word, speed controller 2-818

2526 – Status word, closed-loop control 2-819

2530 – Status word, current control 2-820

2534 – Status word, monitoring functions 1 2-821

2536 – Status word, monitoring functions 2 2-822

2537 – Status word, monitoring functions 3 2-823

2546 – Control word, faults/alarms 2-824

2548 – Status word, faults/alarms 1 and 2 2-825

© Siemens AG 2012 All Rights Reserved 2-813

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 PROFIdrive bit
2000.00 μs

Fig. 2-56
2-814

Internal control/status words

Function diagrams
1 OFF2 (electrical) STW sequence ctrl
<2> p0844[C] Bit No. Control word sequence control r0898
<3> (1)
p0840[C]
= ON
p0845[C] <3> (0) 0 r0898.0 To the control unit [2610]
2501 – Control word, sequence control

0 = OFF1 active
(1)
2 OFF2 (electrical) 1 = Operating condition, no coast down active (OFF2 inactive)
1 r0898.1 To the control unit [2610]
0 = OFF2 active
1 OFF3 (fast stop)
<2> p0848[C] 1 = Operating condition, no fast stop active (OFF3 inactive)
2 r0898.2 To the control unit [2610]
<3> (1) 0 = OFF3 active
p0852[C]
p0849[C] <3> (1) 3 1 = Enable operation r0898.3 To the control unit [2610]
(1)
p1140[C]
2 OFF3 (fast stop) To the setpoint channel
<3> (1) 4 1 = Enable ramp-function generator r0898.4
[3060.6] [3070.7] [3080.5]
Enable n_set p1141[C]
1 = Start the ramp-function generator
<3> <3> (1) 5 r0898.5 To the setpoint channel [3060.1] [3070.1]
p1142[C] 0 = freeze the ramp-function generator
(1)
To the setpoint channel
<4> 6 1 = Enable speed setpoint r0898.6 <4>
p1152 [3060.1] [3070.1] [3080.4]
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

[2711.8] (r0899.15) p0855[C]

Setpoint 2 enable To the brake control [2701.5]
<3> (0) 7 1 = Command, open brake r0898.7
To the extended brake control [2707.1]
p1055 [C]
<3> (0) 8 1 = Jog 1 r0898.8 To jog [3030.6]

p1056 [C]
<3> (0) 9 1 = Jog 2 r0898.9 To jog [3030.6]

p0854[C]
<3> (1) 10 1 = Control via PLC <1> r0898.10
© Siemens AG 2012 All Rights Reserved

11 Reserved

<1> STW1.10 must be set to ensure that the p0856[C] To the brake control [2701.4]
drive object accepts the process data (1) 12 1 = Speed controller enable r0898.12 To the extended brake control [2707.1]
(PZD). To the torque setpoint [6060.4]

<2> PROFIdrive interconnection: For 13 Reserved

PROFIdrive standard telegrams, the
upper inputs are connected with p0858[C]
To the brake control [2701.4]
PROFIdrive-STW1 [2420]. <3> (0) 14 1 = Command, close brake r0898.14
To the extended brake control [2707.1]
Only relevant for CDS0.

<3> When the master control is retrieved, 15 Reserved

predefined by STARTER.

<4> Only applies if the function module "extended brake control (r0108.14 = 1)" is active.

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DO: SERVO fp_2501_98_eng.vsd Function diagram
- 2501 -
Internal control/status words - Control word, sequence control 31.10.08 V04.04.00 SINAMICS S110
 PROFIdrive bit
2000.00 μs

Fig. 2-57 ZSW sequence ctrl

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

Bit No. Status word sequence control r0899

From the control unit [2610] 0 1 = Ready to power-up r0899.0

2503 – Status word, sequence control

From the control unit [2610] 1 1 = Ready to operate (DC link loaded, pulses blocked) r0899.1

From the control unit [2610] 2 1 = Operation enabled (drive follows n_set) r0899.2 [4015.1]
2. OFF2
p0845[C] From the control unit [2610] 3 1 = Jog active r0899.3
(1)
2. OFF3
From the control unit [2610] 4 1 = No coast down active (OFF2 inactive) r0899.4 [2701.1]
p0849[C]
(1)
From the control unit [2610] 5 1 = No fast stop active (OFF3 inactive) r0899.5

From the control unit [2610] 6 1 = Power-on inhibit active r0899.6 [2701.1]

OFF1
& 7 1 = Drive ready r0899.7
OFF2
1 From the control unit [2610] 8 1 = Controller enable r0899.8
OFF3

Bit 9 = 1 --> Ready to exchange process data 9 1 = Control requested <1> r0899.9
Enable
internal
missing 10 Reserved
or
fault with
From the control unit [2610.4] 11 1 = Pulses enabled r0899.11
this reaction

From the basic brake control (p0108.14 = 0) [2701.8] 1 = Open holding brake (only for booksize units when the brake is

Internal control/status words

12 r0899.12
From the extended brake control/standstill detection (p0108.14 = 1) [2711.8] connected to the power unit)

From the basic brake control (p0108.14 = 0) [2701.8]

13 1 = Command, close holding brake <2> r0899.13
From the extended brake control/standstill detection (p0108.14 = 1) [2711.8]

Function diagrams
From the extended brake control/standstill detection (p0108.14 = 1) [2711.8] 14 1 = Pulse enable from the brake control <3> r0899.14

From the extended brake control/standstill detection (p0108.14 = 1) [2711.8] 15 1 = Enable setpoint from the brake control <3> r0899.15 [4015.1]

<1> The drive object is ready to accept data.

<2> If „Safe Brake Control" (SBC) is activated and selected, the brake is no longer controlled via this signal.
2-815

<3> These signals are only relevant if the "extended brake control" function module is active (r0108.14 = 1).

1 2 3 4 5 6 7 8
DO: SERVO fp_2503_98_eng.vsd Function diagram
- 2503 -
Internal control/status words - Status word, sequence control 31.10.08 V04.04.00 SINAMICS S110
 PROFIdrive bit
4000.00 μs

Fig. 2-58
2-816

Internal control/status words

Function diagrams
STW setpoint channel
Bit No. Control word, setpoint channel r1198

Fixed setpoint selection, bit 0 p1020[C]

(0) 0 1 = Fixed setpoint, bit 0 r1198.0 To fixed speed setpoints [3010.2]
2505 – Control word, setpoint channel

Fixed setpoint selection, bit 1 p1021[C]

(0) 1 1 = Fixed setpoint, bit 1 r1198.1 To fixed speed setpoints [3010.2]

2 Reserved

3 Reserved

4 Reserved

Inhibit negative direction p1110[C]

To direction of rotation limiting and
(0) 5 1 = Inhibit negative direction of rotation r1198.5
direction of rotation reversal [3040.3]
Inhibit positive direction p1111[C]
To direction of rotation limiting and
(0) 6 1 = Inhibit positive direction of rotation r1198.6
direction of rotation reversal [3040.5]
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

7 Reserved

8 Reserved

9 Reserved

10 Reserved
© Siemens AG 2012 All Rights Reserved

Setpoint inversion p1113[C]

To direction limiting and direction reversal
(0) 11 1 = Direction reversal r1198.11
[3040.2]

12 Reserved

13 Reserved

14 Reserved

Bypass RFG p1122[C]

(0) 15 1 = Bypass ramp-function generator r1198.15 To the setpoint channel [3060.1] [3070.3]

1 2 3 4 5 6 7 8
DO: SERVO fp_2505_98_eng.vsd Function diagram
- 2505 -
Internal control/status words - Control word, setpoint channel 28.10.08 V04.04.00 SINAMICS S110
 Fig. 2-59
1000.00 μs
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

STW n_ctrl
Bit No. Control word, speed controller Servo r1406

0 Reserved -
2520 – Control word, speed controller

1 Reserved -

2 Reserved -

3 Reserved -

4 Reserved -

5 Reserved -

6 Reserved -

7 Reserved -

TfS activation p1545[C]

To torque signals,
(0) 8 1 = Travel to fixed stop r1406.8
Motor locked/stalled [8012.5]

9 Reserved -

10 Reserved -

11 1 = Droop enable -

Internal control/status words

Changeov n/M_ctrl p1501[C]
To the closed-loop speed control
(0) 12 1 = Closed-loop torque control active r1406.12
[5060.1]

13 Reserved -

Function diagrams
14 Reserved -

15 Set speed adaptation controller I component -

2-817

1 2 3 4 5 6 7 8
DO: SERVO fp_2520_98_eng.vsd Function diagram
- 2520 -
Internal control/status words - Control word, speed controller 30.10.08 V04.04.00 SINAMICS S110
 p0115[1] (Motor Module)

Fig. 2-60 1000.00 μs

2-818

Internal control/status words

Function diagrams
ZSW n_ctrl
Bit No. Status word, speed controller Servo r1407

0 1 = V/f control active r1407.0

2522 – Status word, speed controller

To the speed actual value and pole position

From the changeover, closed-loop control types [5060.5] 1 1 = Sensorless operation active r1407.1 sensing, motor encoder (encoder 1)
1 = Torque control [4710.4]
[2520.7] r1406.12

p1190 > 0 (interconnected) Sensorless operation

& 2 1 = Closed-loop torque control active r1407.2

p1191 > 0 (interconnected)

3 1 = Closed-loop speed control active -
PcCtrl active

Mot-ID & 4 Reserved -

Motion-based <1> From the speed controller [5210.8]

5 1 = Speed controller, I component held r1407.5
PolID From the speed controller [5040.7]

OFF1 <1> From the speed controller [5210.8]

6 1 = Speed controller, I component set r1407.6
From the speed controller [5040.7]
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

OFF3
STOP2
1 Ramp-function generator tracking [3080.1]
“Traveling blocks“ mode [3616.1]
From torque limiting [5610.4] 7 1 = Torque limit reached r1407.7
Speed controller [5040.7][5042.5]
Motor locked/stalled [8012.5]
From torque limiting [5610.4] 8 1 = Torque limiting, upper, active r1407.8

From torque limiting [5610.4] 9 1 = Torque limiting, lower, active r1407.9

10 1 = Droop enabled -
© Siemens AG 2012 All Rights Reserved

From the setpoint, n-ctrl [5030.8]

11 1 = Speed setpoint limited r1407.11
<1> From the speed controller [5210.3]

12 1 = Ramp-function generator set -

13 1 = Sensorless operation due to a fault r1407.13

14 1 = I/f control active -

<1> Only for servo control without encoder. 15 Reserved -

1 2 3 4 5 6 7 8
DO: SERVO fp_2522_98_eng.vsd Function diagram
- 2522 -
Internal control/status words - Status word, speed controller 26.07.10 V04.04.00 SINAMICS S110
 250 s

Fig. 2-61
Status word closed-loop control
ZSW closed-loop control Refer to [1020.7]
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

Bit No. Meaning r0056

0 Reserved
2526 – Status word, closed-loop control

1 1 = De-magnetization completed r0056.1

2 Reserved

3 Reserved

[6722.6][6725.6] 4 1 = Magnetization completed r0056.4 [2701.1][2707.1]

5 Reserved

6 Reserved

7 Reserved

[6722.3][6725.4] 8 1 = Field weakening active r0056.8

9 Reserved

10 Reserved

11 Reserved

Internal control/status words

12 Reserved

13 Reserved

Function diagrams
[5650.8] 14 1 = Vdc_max controller active r0056.14

[5650.8] 15 1 = Vdc_min controller active r0056.15

2-819

1 2 3 4 5 6 7 8
DO: SERVO fp_2526_98_eng.vsd Function diagram
- 2526 -
Internal control/status words - Status word, closed-loop control 30.10.08 V04.04.00 SINAMICS S110
 250 s

Fig. 2-62
Status word closed-loop current control ZSW closed-loop Refer to [1020.7]
2-820

Internal control/status words

Function diagrams
current control
Bit No. Meaning r1408

0 1 = Closed-loop current control active

2530 – Status word, current control

1 Reserved

2 Reserved

3 Reserved

4 1 = Limiting Ud active r1408.4

5 1 = Limiting Uq active r1408.5 [5040.7][5042.5]

6 1 = Pos. limit. Iq active r1408.6 [5714.5]

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

7 1 = Neg. limit. Iq active r1408.7 [5714.4]

8 1 = Iq setpoint limit. active r1408.8 [5714.4]

9 1 = Id setpoint limit. active r1408.9 [5722.7]

10 Reserved
© Siemens AG 2012 All Rights Reserved

11 Reserved

12 Reserved

13 Reserved

14 Reserved

15 Reserved

1 2 3 4 5 6 7 8
DO: SERVO fp_2530_98_eng.vsd Function diagram
- 2530 -
Internal control/status words - Status word, current control 30.10.08 V04.04.00 SINAMICS S110
 4000.00 μs

Fig. 2-63
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

ZSW monitoring functions 1

Bit No. Status word, monitoring functions 1 r2197

0 Reserved
2534 – Status word, monitoring functions 1

<1>
From speed signals 1 [8010.4] 1 |n_act| <= speed threshold value 2 (p2155) r2197.1

1 2 |n_act| > speed threshold value 2 (p2155) <1> r2197.2

From speed signals 2 [8011.8] 3 1 = n_act >= 0 r2197.3

4 Reserved

5 Reserved

From speed signals 1 [8010.6] 6 n_act > n_max r2197.6

From speed signals 2 [8011.8] 7 1 = Speed setpoint - actual value deviation within tolerance t_off r2197.7

8 Reserved

9 Reserved

10 Reserved

Internal control/status words

Function diagrams
<1> nact = smoothed speed actual value r2169 [8010.2].
2-821

1 2 3 4 5 6 7 8
DO: SERVO fp_2534_98_eng.vsd Function diagram
- 2534 -
Internal control/status words - Status word, monitoring functions 1 10.07.09 V04.04.00 SINAMICS S110
 250.00 μs

Fig. 2-64
2-822

Internal control/status words

Function diagrams
ZSW monitoring functions 2
Bit No. Status word monitoring 2 r2198

0 Reserved
2536 – Status word, monitoring functions 2

1 Reserved

2 Reserved

3 Reserved

<1> From speed signals [8011.8] 4 1 = |n_set| < p2161 r2198.4

<1> From speed signals [8011.8] 5 1 = n_set >0 r2198.5

From torque messages, motor locked/stalled [8012.8] 6 1 = Motor blocked r2198.6

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

From torque messages, motor locked/stalled [8012.8] 7 1 = Motor stalled r2198.7

8 Reserved

9 Reserved

From torque messages, motor locked/stalled [8012.3] 10 1 = Torque setpoint < torque threshold value 1 (p2174) r2198.10
© Siemens AG 2012 All Rights Reserved

From load monitoring [8013.8] 11 1 = Load monitoring signals an alarm r2198.11

From load monitoring [8013.8] 12 1 = Load monitoring signals a fault r2198.12

13 Reserved

14 Reserved

15 Reserved
<1> Only relevant if the function module "extended signals/
monitoring functions" (r0108.17 = 1) is active.

1 2 3 4 5 6 7 8
DO: SERVO fp_2536_98_eng.vsd Function diagram
- 2536 -
Internal control/status words - Status word, monitoring functions 2 03.03.09 V04.04.00 SINAMICS S110
 PROFIdrive bit
1000.00 μs

Fig. 2-65
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

ZSW monitoring functions 3

Bit No. Status word, monitoring functions 3 r2199

From speed signals 1 [8010.8] 0 1 = |n_act| < speed threshold value 3 (p2161) <1> r2199.0
2537 – Status word, monitoring functions 3

From speed signals 1 [8010.8] 1 1 = f or n comparison value reached or exceeded (p2141) r2199.1

2 Reserved

3 Reserved

From speed signals 2 [8011.8] 4 1 = Speed setpoint - actual value deviation within tolerance t_on r2199.4

1 = Ramp-up/ramp-down completed
From speed signals 2 [8011.8] 5 r2199.5 [8012.1]
0 = Ramp-function generator active

6 1 = Current below residual current threshold r2199.6

7 Reserved

8 Reserved

9 Reserved

10 Reserved

From torque signals [8012.5] 11 1 = Torque utilization < torque threshold value 2 (p2194) r2199.11

Internal control/status words

12 Reserved

13 Reserved

Function diagrams
14 Reserved

15 Reserved

<1>n_act = smoothed speed actual value r2169 [8010.2].

2-823

1 2 3 4 5 6 7 8
DO: SERVO fp_2537_98_eng.vsd Function diagram
- 2537 -
Internal control/status words - Status word, monitoring functions 3 10.07.09 V04.04.00 SINAMICS S110
 PROFIdrive bit
4000.00 μs

Fig. 2-66
2-824

Internal control/status words

Function diagrams
STW faults/alarms
Bit No. Control word, faults/alarms r2138

0 Reserved
2546 – Control word, faults/alarms

1 Reserved

2 Reserved

3 Reserved

4 Reserved

5 Reserved

6 Reserved
Ackn all faults p2102[C]
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

<1>
7 = Acknowledge faults r2138.7 To fault buffer [8060.1]
1. Acknowledge p2103[C]
<2>
8 Reserved

9 Reserved

p2112[C] (1)
<2> 1 10 = External alarm 1 (A07850) r2138.10 To alarm buffer [8065.1]
© Siemens AG 2012 All Rights Reserved

p2116[C] (1)
<2> 1 11 = External alarm 2 (A07851) r2138.11 To alarm buffer [8065.1]
p2108[C] (1) p3110 [ms]
<2> p2117[C] (1)
<2> 1 12 = External alarm 3 (A07852) r2138.12 To alarm buffer [8065.1]
p3111[C] (1) T 0
<2> p2106[C] (1)
<2> 1 13 = External fault 1 (F07860) r2138.13 To fault buffer [8060.1]
p3112[C] (0)
<2> p2107[C] (1)
<2> 1 14 = External fault 2 (F07861) r2138.14 To fault buffer [8060.1]
<1> This parameter refers to the Control Unit and is
<1>
used as source to simultaneously acknowledge 15 = External fault 3 (F07862) r2138.15 To fault buffer [8060.1]
all faults on all drive objects.
1
<2> These parameters refer to the Command Data Sets (CDS)
<2>
depending on the individual drive object (DO).

1 2 3 4 5 6 7 8
DO: All objects fp_2546_98_eng.vsd Function diagram
- 2546 -
Internal control/status words - Control word, faults/alarms 27.10.08 V04.04.00 SINAMICS S110
 ZSW faults/alarms 1

Fig. 2-67
Bit No. Status word, faults/alarms 1 r2139 Source sampling time
Refer to [1020.7]
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

0 1 = Acknowledgement running r2139.0

1 Reserved

2 Reserved
2548 – Status word, faults/alarms 1 and 2

From the fault buffer [8060.6] 3 1 = Fault present r2139.3

4 Reserved

5 1 = Safety signal present r2139.5

6 1 = Internal signal 1 present r2139.6

From the alarm buffer [8065.4] 7 1 = Alarm present r2139.7

8 1 = Internal signal 2 present r2139.8

9 Reserved

10 Reserved

11 1 = Alarm class bit 0 r2139.11

12 1 = Alarm class bit 1 r2139.12

13 Reserved

14 Reserved

15 Reserved
ZSW faults/alarms 2
Bit No. Status word, faults/alarms 2 r2135

0 1 = Fault, encoder 1 r2135.0

1 1 = Fault, encoder 2 r2135.1

2 1 = Fault, encoder 3 r2135.2

3
... Reserved

Internal control/status words

9

From the thermal monitoring, transformer [8016.8] 10 1 = Fault transformer overtemperature r2135.10

From the thermal monitoring, transformer [8016.8] 11 1 = Alarm transformer overtemperature r2135.11

Function diagrams
From the thermal monitoring, motor [8016.8] 12 1 = Fault motor overtemperature r2135.12

From the thermal monitoring, power module [8014.8] 13 1 = Fault, thermal overload, power module r2135.13

From the thermal monitoring, motor [8016.8] 14 1 = Alarm motor overtemperature r2135.14

From the thermal monitoring, power module [8014.8] 15 1 = Alarm, thermal overload, power module r2135.15
2-825

1 2 3 4 5 6 7 8
DO: All objects fp_2548_98_eng.vsd Function diagram
- 2548 -
Internal control/status words - Status word, faults/alarms 1 and 2 28.10.08 V04.04.00 SINAMICS S110
 Function diagrams
Sequence control

2.7 Sequence control

Function diagrams

2610 – Sequencer 2-827

2634 – Missing enable signals, line contactor control 2-828

2-826 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 p0857... p0862 POWER ON <1>
<2> Fault
2000.00 μs

Fig. 2-68
Pulse enable with OFF1 – or
<4> HW[2701.8] & OFF3 ...
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

S1: Power-on inhibit Drive at standstill response

ZSWA.06 = 1, ZSWA.11 = 0 From all states
ZSWA.00/01/02 = 0
Drive at standstill
"0 = OFF" (STWA.00) Pulses inhibited "0 = Cost down" (STWA.01)
<3> <4>
2610 – Sequencer

<3> "0 = Coast down" (STWA.01) Pulse enable

<4>
"0 = Fast stop" (STWA.02)
"0 = Coast down" (STWA.01) 1 HW [2701.8] &
& <3> <4> <5> [2634] r0046.8
r0046.8 STO selected "0 = Fast stop" (STWA.02) STO selected
<5> [2634] 1
"Commissioning completed" (p0010 = 0 & p0009 = 0)
r0046.8
<5> [2634] <4>
STO selected
<4> S5b: Fast stop
S2: Ready to power up "0 = Fast stop" ZSWA.00/01 = 1, ZSWA.11 = 1
ZSWA.00 = 1, ZSWA.11 = 0 (STWA.02) & ZSWA.02/06 = 0
<6>
<3> <4>
Main contactor is OPEN Bring the drive to n <= 0 along the
Wait for power-up or jog fast stopping ramp or torque limit,
Pulse enable HW[ then inhibit the pulses
“0 = Coast down“ (STWA.01) "0 = OFF" [2701.8] &
<3> <4> Jog 1 1
“0 = Fast stop“ (STWA.02) Jog 2 "0 = OFF" Drive at
<3> <4> 1 Jog 1 & standstill
Jog 2 Drive at
r0046.8 <4> standstill
<5> [2634] S5c: Jogging -
STO selected
S3: Ready down ramp <6>
ZSWA.00/01 = 1, ZSWA.11 = 0 ZSWA.00/01 = 1
p0862 ZSWA.02/06 = 0
UDC uploaded ZSWA.11 = 1
ZSWA.02/06 = 0
Energize contactor Closed-loop control operation Line contactor is CLOSED
<4> Ramp-down to n <= 0, then
T 0 Wait for pre-charging
r0863.1 & r0863.0
S5a: Ramp stop
inhibit the pulses
<4>
No LT_fault "Enable operation" (STWA.03) ZSWA.00/01 = 1
ZSWA.11 = 1 <6>
ZSWA.02/06 = 0
Closed-loop control operation "Enable operation"
& (STWA.03) &
Ramp-down to n <= 0, then
"0 = Cost down" De-magnetization completed inhibit the pulses
<3> <4>
(STWA.01) (r0046.27 = 0) Controller enable
1 <4>
1 r0899.8
r0046.8 Jog 1
<5> [2634] S4: Operation "0 = OFF" Jog 1
STO selected & 1 Jog 2 & [2503.3]
OFF2 (has priority over jogging) ZSWA.00/01/02 = 1 No jog operation Jog mode
ZSWA.11 = 1 Jog 2
ZSWA.06 = 0

Function diagrams
Sequence control
Pulses enabled
<1> POWER ON = 24 V electronics supply OFF --> ON or RESET button. Controller enabled
<2> The sequence control is implemented according to the PROFIdrive profile. No jog operation: Setpoints enabled
OFF3 (has priority over jogging)
<3> These control commands can also be triggered by a fault response.
Faults Missing enable
<4> STWA.xx = control word, sequence control, bit xx (r0898) [2501]; ZSWA.xx = status word, sequence control bit xx (r0899) [2503]. F07300...F07802 [2634]
<5> Only if „Safety Integrated“ is active. signals
F6000
<6> The parameters p1226, p1227 and p1228 influence this status.
2-827

1 2 3 4 5 6 7 8
DO: SERVO fp_2610_98_eng.vsd Function diagram
- 2610 -
Sequence control - Sequencer 09.01.09 V04.04.00 SINAMICS S110
 Missing enable signals 4000.00 μs

Fig. 2-69
Line contactor control
Missing enable signals that prevent the drive going into operation Control Unit
2-828

Sequence control
Function diagrams
(this situation can be detected at the ZSW sequence control, infeed r0899.2 = 1 [8926]).
Missing enable sig
Bit Nr. Bedeutung r0046
0 1 = OFF1, enable missing r0046.0 [3020.5] From the line
1 1 = OFF2, enable missing r0046.1 supply
2634 – Missing enable signals, line contactor control

2 1 = OFF3, enable missing r0046.2 [3060.2]

Fault with 0 = Internal fast stop [3060.4]
3 1 = Enable operation missing r0046.3
OFF3 response 1 [3070.2]
4 1 = Armature short-circuit/DC braking, enable missing r0046.4 [3070.4]
5 1 = STOP2, enable missing r0046.5
6 1 = STOP1, enable missing r0046.6
8 1 = EP terminals, enable missing r0046.8 1 = Internal RFG missing [3060.2]
1 [3070.2]
9 1 = Infeed, enable missing r0046.9
10 1 = Ramp-function generator enable missing r0046.10
11 1 = Ramp-function generator start missing r0046.11 Line contactor control from sequence control
12 1 = Setpoint, enable missing r0046.12 [2610.4] Energize line contactor
DO
16 1 = OFF1, enable, internal missing r0046.16 r0863.1 +24 V
[2130]...[2133]
17 1 = OFF2, enable, internal missing r0046.17
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

18 1 = OFF3, enable, internal missing r0046.18 Line contactor feedback signal

19 1 = Pulse enable, internal missing r0046.19 p0860 DI
r0863.1 1
20 1 = Internal armature short circuit/DC braking, enable missing r0046.20
[2120]...[2133]
[2701.8] 21 1 = STOP2, enable internal missing r0046.21
ON/OFF monitoring
22 1 = STOP1, enable internal missing r0046.22
p0861
25 1 = Function bypass active r0046.25
26 1 = Drive inactive or not operational r0046.26 F07300
27 Reserved T 0 "Line contactor
1 feedback signal To the infeed
© Siemens AG 2012 All Rights Reserved

28 1 = Open brake missing r0046.28 missing"

29 1 = Cooling system ready missing r0046.29 Time monitoring

30 1 = Speed controller inhibited r0046.30

31 1 = Jog setpoint active r0046.31 Operating monitoring

Logic operation
p2810[0] p2816[0]
(0) (0)
&
AND operation OR operation
p2810[1] r2811.0 p2816[1] r2817.0
(0) (0)
&

1 2 3 4 5 6 7 8
DO: SERVO fp_2634_98_eng.vsd Function diagram
- 2634 -
Sequence control - Missing enable signals, line contactor control, logic operation 11.04.11 V04.04.00 SINAMICS S110
 Function diagrams
Brake control

2.8 Brake control

Function diagrams

2701 – Basic brake control (r0108.14 = 0) 2-830

2704 – Extended brake control, zero-speed detection (r0108.14 = 1) 2-831

2707 – Extended brake control, open/close brake (r0108.14 = 1) 2-832

2711 – Extended brake control, signal outputs (r0108.14 = 1) 2-833

© Siemens AG 2012 All Rights Reserved 2-829

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 p0858 1 = Unconditionally close the holding brake
Background

Fig. 2-70
[2501.3] r0898.14
0.000...10.000 [s]
RESET p0856 1 = Enable speed controller Refer to [1020.7]
2-830

Brake control
Function diagrams
p1228 (0.000)
<9>
(Q=0) Q [2501.3] r0898.12 1 = Command, close holding brake
Close brake RESET
p1215 = 0 r0899.13 [2503.3]
n_act smooth 1 (Q=0) Q
SET <1> <2> Close "normal" brake
[4710.6] r0063 Q
T 0 (Q=1) [2814.2]
0 1
2701 – Basic brake control (r0108.14 = 0)

Open brake SET 1 = Open the holding brake

Q [2503.3]
& (Q=1)
1 = Open holding brake
r0899.12 [2503.3]
n_stop n_thresh <5>
<6>
0.0...210 000.0 [rpm] 0.000...300.000 [s]
p1226 (20.0) <3>
p1227 (4.000)
0...10 000 [ms]
p1217 (100)
n_set before filter 1
r0060
0 T 0 T 0
[5020.4]

& RESET
OFF 1 present 1 (Q=0) Q
<8>
OFF 3 present 1
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

Pulse enable HW [2610.5]

& SET
Q [2610.8]
(Q=1)
1 = No coast down active [5042.8]
[2503.7] r0899.4 [5730.4]

Pulse enable X21 <3>

<4> 0...10 000 [ms]
RESET p1216 (100)
p0852 1 = Operation enabled 1 (Q=0)
Q 1 = Unconditionally open the Stop 2 enable internal missing
p0855 RESET
[2501.3] r0898.3 holding brake Q r0046.21 [2634.1]
(Q=0)
1 = Power-on inhibit active [2501.3] r0898.7 T 0 <7>
SET
[2503.7] r0899.6 & (Q=1)
Q 1
© Siemens AG 2012 All Rights Reserved

<1> p1215 = 2 SET

<2>
& (Q=1)
Q
Magnetizing completed
[2526.6] r0056.4

<5> For p1227 = 300 s, the monitoring function is deactivated.

<1> Motor holding brake configuration (p1215)
<6> If an external motor holding brake is used, p1215 should be set to 3 and r0899.12 should be interconnected as
0 = No motor holding brake being used.
control signal.
1 = Motor holding brake acc. to sequence control.
<7> r0046.21 = 0, as long as r0046.0 = 1 (OFF1 enable missing or power-on inhibit).
2 = Motor holding brake always released.
r0046.21 = 1, if p0858 = 1 or p0856 = 0.
3 = Motor holding brake like sequence control, connection via BICO.
The signal generation is shown simplified.
<2> Priority assignment (high -> low): p1215, p0858, p0855, p0856, sequence control.
<8> The internal signal includes signals that lead to OFF1 or OFF3 (e. g. BICO or fault response).
<3> If p1215 = 0, 2 -> t = 0 ms.
<9> If the brake is permanently applied or released (p0855, p0858 or p1215), the drive does not wait while the brake is released or applied.
<4> Only if Safety Integrated is active.

Note: Braking signal diagnostic evaluation (p1278) only applies for SBC (Safe Brake Control) (controls the Safe Brake Relay).

1 2 3 4 5 6 7 8
DO: SERVO fp_2701_98_eng.vsd Function diagram
- 2701 -
Braking control - Basic braking control (r0108.14 = 0) 30.09.11 V04.04.00 SINAMICS S110
 Background

Fig. 2-71 0.000...10.000 [s] Brake, threshold value Refer to [1020.7]

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

p1228 (0.000) fallen below

<1>
r1229.7
Standstill threshold
n_act smooth p1225 1 T 0
r0063 (r0063)0
2704 – Extended brake control, zero-speed detection (r0108.14 = 1)

[4710.6] 0

<2> Brake,
0.000...300.000 [s] monitoring
n_stop n_thresh time expired
p1227 (4.000)
0.0...210 000.0 [rpm]
p1226 (20.0) r1229.8
n_set before filt. 1
r0060 SET Close brake from standstill detection [2707.1]
[5020.4] 0 T 0 & (Q=1)
Q
[2711.1]

p1275.02 (0) p1275.03 (0) RESET

<2> (Q=0) Q
Brk close standstill 0.000...300.000 [s]
0 p1276 (300.000)
p1224[0]
(0)
1 1
p1224[1] 0
(0) T 0
<3> -1 1
p1224[2]
(0)
p1224[3] 1
(0)
OFF1 present
<4>
OFF3 present

<1> Shutdown threshold of the standstill detection. In this case (e.g. when using a brake), another criterion than the
speed actual value can be selected to clear the pulses. Otherwise, we recommend to keep the factory setting.

Function diagrams
<2> For p1276 = 300.000 s, the timer is deactivated, i.e. the timer output is always 0. Note: When operating a
motor with a brake which must not be applied while the motor is rotating, the monitoring time of both timers
must be set to 300 s.

Brake control
<3> For operation without brake, p1224[0...3] must be 0 (factory setting) in order to avoid undesirable interaction
with the sequence control.
<4> The internal signal comprises signals that lead to OFF1 or OFF3, e.g. BICO or fault response.
2-831

1 2 3 4 5 6 7 8
DO: SERVO fp_2704_98_eng.vsd Function diagram
- 2704 -
Braking control - Extended braking control, zero-speed detection (r0108.14 = 1) 30.09.11 V04.04.00 SINAMICS S110
 Close brake from standstill detection
[2704.8] Background

Fig. 2-72 p0858 1 = Unconditionally close the holding brake <2> Refer to [1020.7]
2-832

Brake control
Function diagrams
[2501.3] r0898.14 <4>
p1275.00 (0) p1275.01 (0)
Immediately close brake
0
2707 – Extended brake control, open/close brake (r0108.14 = 1)

p1219[0] Close brake (internal)

(0) <1> [2711.1]
1 1
p1219[1] 0 p1215 = 0
(0)
1 1
p1219[2]
(0)
Request pulse enable Request, pulse enable missing/n_ctrl inhibited p1219[3]
[2711.8]
p0856 1 = Enable speed controller
& 1 r1229.9 (r1229.9)

[2501.3] r0898.12

Brake open threshold

0.00...200.00% 0.000...300.000 s
p1221(0.00) Brake threshold
p1277(0.000) exceeded <2>
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

Brake open threshold r1229.6 <1>

p1220 p1215 = 2
1
(1)
T 0 Open brake (internal)
0 Magnetizing completed [2711.1]
Open brake
r0056.4
p1218[0]
(1) [2526.6]

p1218[1]
(1)
© Siemens AG 2012 All Rights Reserved

p0855 1 = Unconditionally open the holding brake

OR logic operation
[2501.3] r0898.7 Brake OR
p1279[0] logic operation
(0) result

p1279[1] 1229.10
<1> Motor holding brake configuration
0 = No brake or brake always applied (brake connected to the power unit) (0)
1 = Brake control active (brake connected to the power unit)
<3>
2 = Brake always released (brake connected to the power unit) AND logic operation
Brake AND
3 = Brake control active (brake connection can be interconnected using BICO) p1279[2] logic operation
Note: (0) result
A motor brake cannot be connected to all power units. p1215 is set to 3 and the brake is controlled via a digital output.
<2> Priority assignment (high -> low): p1215, p0858, p0855, p0856/p1219, apply brake from standstill detection, p1218. p1279[3] 1229.11
<3> These blocks/modules are evaluated with the same sampling rate as the brake control and therefore may only be used to individually adapt the brake control. (0)
<4> If the brake is permanently applied or released (p0855, p0858 or p1215), the drive does not wait until the brake is released or applied.

1 2 3 4 5 6 7 8
DO: SERVO fp_2707_98_eng.vsd Function diagram
- 2707 -
Braking control - Extended braking control, open/close brake (r0108.14 = 1) 09.09.08 V04.04.00 SINAMICS S110
 Coast down not active (r0899.4) Background

Fig. 2-73
[2503.7]
Enable operation (r0898.3)
[2501.7] & Refer to [1020.7]
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

Power-on inhibit (r0899.6)

[2503.7] Request pulse enable
[2707.1]
Close brake from standstill detection
[2704.8] 1
2711 – Extended brake control, signal outputs (r0108.14 = 1)

Brake feedb closed

<2> r1229.5
p1222 1
(0) & Brake does not close
& A07932
No OFF1
Brake with Brake is being used
feedback signal
<4> No OFF3 & p1215 > 0
0...10 000 ms
p1217 (100) p1275.5 Brake is being used
& p1215 > 0
0 Pulse enable, HW [2610.5]
& [2610.8]
Close brake T 0 <1>
0
[2704.8]
From the standstill detection 0
1 1 1 Pulse enable from the brake control
1
r0899.14 [2503.3]
1
1 Pulse enable from the expanded brake control
Brake feedb open r1229.3
<2>
p1223 1 & A07931
(1)
Brake does not open
0...10 000 ms r1229.4
p1216 (100)
0 Setpoint enable from the brake control
1 [2501.1]
0
T 0 r0899.15
[2503.3]
& 1
1

1 = Command, close holding brake

r0899.13 [2503.3]
Close brake (internal) RESET Close "normal" brake
[2707.8] (Q=0) Q [2814.2]

1 = Command, open brake

Open brake (internal) SET
[2707.8] Q r1229.1 <3>
(Q=1)
1 = Open holding brake
r0899.12 [2503.3]

Function diagrams
<1> This pulse enable path only works for operation with brake (p1215 > 0). <5>
<2> For brakes with one single checkback signal, the inverted signal has to be interconnected to the BICO input for the second checkback. The switching times of the brake are set in p1216 and p1217.
<3> If an external motor holding brake is used, p1215 should be set to 3 and r1229.1 should be used as control signal.

Brake control
<4> The internal signal comprises signals that lead to OFF1 or OFF3, e.g. BICO or fault response.
<5> If the function module "extended brake control" is active (r0108.14 = 1), r1229.1 should be interconnected as control signal.

Note: Braking signal diagnostic evaluation (p1278) is only relevant for SBC (Safe Brake Control) (controls the Safe Brake Relay).
2-833

1 2 3 4 5 6 7 8
DO: SERVO fp_2711_98_eng.vsd Function diagram
- 2711 -
Braking control - Extended braking control, signal outputs (r0108.14 = 1) 30.10.08 V04.04.00 SINAMICS S110
 Function diagrams
Safety Integrated

2.9 Safety Integrated

Function diagrams

2800 – Basic Functions, parameter manager 2-835

2802 – Basic Functions, monitoring functions and faults/alarms 2-836

2804 – Basic Functions, status words 2-837

2810 – Basic Functions, STO (Safe Torque Off)/SS1 (Safe Stop 1) 2-838

2811 – Basic Functions, STO (Safe Torque Off), safe pulse cancellation 2-839

2814 – Basic Functions, SBC (Safe Brake Control) 2-840

2820 – Extended Functions, SLS (Safely-Limited Speed) 2-841

2825 – Extended Functions, SS1, SS2, SOS, internal STOP B, C, D, F 2-842

2840 – Extended Functions, control word and status word 2-843

2846 – Extended Functions, parameter manager 2-844

2850 – Extended Functions (F-DI 0 ... F-DI 2) 2-845

2853 – Extended Functions (F-DO 0) 2-846

2855 – Extended Functions, control interface 2-847

2856 – Extended Functions, Safe State selection 2-848

2857 – Extended Functions, assignment (F-DO 0) 2-849

2858 – Extended Functions, control via PROFIsafe (p9601.2 = p9601.3 = 1) 2-850

2860 – Extended Functions, SSM (Safe Speed Monitor) 2-851

2861 – Extended Functions, SDI (Safe Direction) 2-852

2-834 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 2 ms

Fig. 2-74
Change safety parameters
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

<3>

Safety commissioning mode

[2802.1][2804.1]2804.3][2810.3] SI act_checksum P1 SI set_checksum P1
2800 – Basic Functions, parameter manager

--> select STO r9798 p9799

<1>
Safety parameterizing enable =
Safety Integrated commissioning
p0010 = 95
Enter password
Safety parameters Safety parameters
SI password input
p9761
& p9601 ... p9899 & p9601 ... p9899
can be changed Checksum check are valid
SI password new x = for safety
p9762 y parameters

<1>

SET
= y=x Effective password
SI ackn password
p9763 <2>

<1>
= <1>

r9898 p9899
SI act_checksum P2 SI set_checksum P2

Reset safety parameters <3>

p0010 95
Inhibit safety functions Exit safety
p9601 = 0
Safety parameters
commissioning mode
[2810.3] p9601 ... p9899

Function diagrams
& can be reset to the

Safety Integrated
p9801 = 0 factory settings via
[2810.3]
p0970, p3900
<1> Comparator, refer to [1021]
<2> Analog signal memory, refer to [1021]
<3> The target checksum must be equal to the actual checksum.
2-835

1 2 3 4 5 6 7 8
DO: SERVO fp_2800_98_eng.vsd Function diagram
- 2800 -
Safety Integrated - Basic Functions, Parameter manager 26.04.11 V04.04.00 SINAMICS S110
 2 ms

Fig. 2-75
2-836

Safety Integrated
Function diagrams
Safety Integrated version Monitoring clock cycle

P1 P1 P2 STOP F->A P1
r9770 r9780 r9880 p9658
2802 – Basic Functions, monitoring functions and faults/alarms

STOP F->A P2
p9858
[2810.7] STO selected on P1 F01611
Safety monitoring functions F30611
1 = Faults with response "NONE" T 0
[2810.8] STO selected on P2
STOP F
[2800.3] Safety commissioning mode Timer for emergency retraction

[2811.3] DIAG_U r9772.15 (P1)

Faults/alarms
[2804.2]
P1: F/A01600 ... 01699
[2811.3] DIAG_L P2: F/A30600 ... 30699
r9872.15 (P2)
r9772.10 (P1)
[2814.7] BR_DIAG [2804.5] 1 [2804.2]

[2810.4] Status SS1 P1 1 = Faults with response "immediate pulse cancelation" r9872.10 (P2)
[2804.5]
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

[2810.4] Status SS1 P2

1 = Faults with response "immediate pulse cancelation"
that cannot be acknowledged
Additional diagnostics
Information

1 = STOP A
P1 P2 P1 P2 To Safe Torque Off
r9794 r9894 r9795 r9895 [2810.5]

Cross checking list Diagnostics for STOP F To Safe Brake Control

© Siemens AG 2012 All Rights Reserved

[2814.1]

F01600/F30600
1 "STOP A initiated"

r9772.9 (P1)
[2804.2]

r9872.9 (P2)
[2804.5]

1 2 3 4 5 6 7 8
DO: SERVO fp_2802_98_eng.vsd Function diagram
- 2802 -
Safety Integrated - Basic Functions, Monitoring functions and faults/alarms 26.04.11 V04.04.00 SINAMICS S110
 Status word Safety Integrated Status word Safety Integrated Status word Safety Integrated
2 ms

Fig. 2-76
Processor 1 Processor 2 Processor 1 and Processor 2
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

Bit Bit Bit

Status (Processor 1) r9772 Status (Processor 2) r9872 Status (Processor 1 + Processor 2) r9773
No. No. No.

[2810.7] 0 1 = STO selected on Control Unit [2810.7] 0 1 = STO on Motor Module selected & 0 1 = STO selected in drive

[2811.6] 1 1 = STO active on Control Unit [2811.3] 1 1 = STO on Motor Module active & 1 1 = STO active in drive
2804 – Basic Functions, status words

[2810.5] 2 1 = SS1 delay time active on the Control Unit [2810.5] 2 1 = SS1 delay time on Motor Module active & 2 1 = SS1 delay time active in the drive

Reserved 3 1 = Safe Brake Adapter feedback signal Reserved

[2814.3] 4 1 = SBC requested [2814.3] 4 1 = SBC requested & 4 1 = SBC requested

1 = SS1 selected in the drive

[2814.4] 5 1 = SS1 selected on the Control Unit (Basic Functions) [2814.4] 5 1 = SS1 selected on the Motor Module (Basic Functions) & 5
(Basic Functions)
1 = SS1 active in the drive
[2814.5] 6 1 = SS1 active on the Control Unit (Basic Functions) [2814.5] 6 1 = SS1 active on the Motor Module (Basic Functions) & 6
(Basic Functions)
Reserved Reserved Reserved

[2802.7] 9 1 = STOP A cannot be acknowledged, active [2802.7] 9 1 = STOP A cannot be acknowledged, active [2810.5] 31 1 = Shutdown paths must be tested

[2802.8] 10 1 = STOP A active [2802.8] 10 1 = STOP A active

Reserviert Reserved

[2802.5] 15 1 = STOP F active [2802.5] 15 1 = STOP F active

[2810.6] 16 1 = STO cause: Safety comm. mode [2810.6] 16 1 = STO cause: Safety comm. mode

[2810.3] 17 1 = STO cause selection via terminal (Basic Functions) [2810.3] 17 1 = STO cause selection via terminal (Basic Functions)

[2825.8] 18 1 = STO cause: selection via SMM [2825.8] 18 1 = STO cause: selection via SMM

[2810.3] 19 1 = STO cause actual value missing 19 Reserved

[2810.6] 20 1 = STO cause selection PROFIsafe (Basic Functions) [2810.6] 20 1 = STO cause selection PROFIsafe (Basic Functions)

21 Reserved 21 Reserved

[2810.3] 22 1 = SS1 cause selection terminal (Basic Functions) [2810.3] 22 1 = SS1 cause selection terminal (Basic Functions)

[2810.4] 23 1 = SS1 cause selection PROFIsafe (Basic Functions) [2810.4] 23 1 = SS1 cause selection PROFIsafe (Basic Functions)

Reserved

Function diagrams
[2802.3] 24 1 = Slave Motor Module ready for communication

Safety Integrated
Reserved
2-837

1 2 3 4 5 6 7 8
DO: SERVO fp_2804_98_eng.vsd Function diagram
- 2804 -
Safety Integrated - Basic functions, status words 26.04.11 V04.04.00 SINAMICS S110
 Control Unit SS1 cause p9601.2 = 0 1 = STO on P1 selected
M r9772.0 2 ms

Fig. 2-77
+24 V selection terminal p9601.3 = 1 &
r9772.22 = 1 & [2802.2]
0 = STO selection via PROFIsafe
2-838

Safety Integrated
Function diagrams
1 [2804.1] [2804.1]
[2804.1]

PM-IF
r9772.23 & 1
r9772.20 0 = Request pulse suppression P1 [2811.1]
& STO cause selection PROFIsafe
p9601.0 = 1 & [2804.1]
Timer forced checking procedure
STOP A = 1
2810 – Basic Functions, STO (Safe Torque Off)/SS1 (Safe Stop 1)

[2802.8] p9659(8)
1 1 = STO release &
r0722.7 [2825.8] &
[2804.1] p9501.0 = 1 1 T
p9601 0 <1>
1 T 0
r9772.18 & A01699
p9652 0 STO cause: selection via SP2 "Shutdown
1 = STO cse: Safety comm. mode paths must
T 0 [2800.3] Timer for forced
be tested"
0 = SS1 selection via & checking procedure
PROFIsafe & 1 [2804.1] [2804.1] [2804.7]
p9601.2 = 0
r9772.16 r9773.31
p9601.3 = 1 & r9772.2
[2802.2] r9772.17
1 = Shutdown paths must be tested
[2804.1] STO cause selection via terminal

F-DI chg tol P1 p9650

Redundant functions F-DI chg tol P2 p9850
<2>
r9772.2 SS1 delay time on P1 active
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

T 0 F01611 (P1)
=1 F30611 (P2)
r9872.2 SS1 delay time on P2 active

Monitoring for
simultaneous occurrence

SS1 cause p9801.2 = 0 0 = Request pulse suppression P2

Power Module selection terminal p9801.3 = 1 &
[2811.1]
1 = STO on P2 selected
r9872.22 = 1 & r9872.0
0 = STO selection via PROFIsafe
1 [2804.1] [2802.2]
[2804.1]
&
1 [2804.1]
r9872.23
© Siemens AG 2012 All Rights Reserved

r9872.20
& 1 = STO cause selection PROFIsafe
p9801.0 = 1 & [2804.1]
STOP-A = 1
[2802.8]
X130.2 1 1 = STO release &
[2825.8] &
[2804.1] p9801.0 = 1 1
p9801 0 1
r9872.18 &
p9852 0 STO cause: selection via SP2 1 = STO cse: Safety comm. mode
+24 V [2800.3] <1> Switch-on delay according to [1022] starts when the
T 0 "request pulse suppression P1" is withdrawn.
0 = SS1 selection via & <2> Redundant functions in the Control Unit (P1)
[2802.2] PROFIsafe & 1 [2804.1]
[2804.1]
and Power Module (P2).
X130.3 p9801.2 = 0
[2802.2] r9872.16 PM-IF: Power Module interface
p9801.3 = 1 & r9872.2
[2802.2] r9872.17
SS1: Safe Stop 1
[2804.1] 1 = STO cause selection via terminal
STO: Safe Torque Off

1 2 3 4 5 6 7 8
DO: SERVO fp_2810_98_eng.vsd Function diagram
- 2810 -
Safety Integrated - Basic Functions, STO (Safe Torque Off), SS1 (Safe Stop 1) 26.04.11 V04.04.00 SINAMICS S110
 Power Module 2 ms

Fig. 2-78
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

1 = STO active on Control Unit

r9772.1

[2804.2]
2811 – Basic Functions, STO (Safe Torque Off), safe pulse cancellation

1
+5 V
PM-IF Shutdown path from P1
Request 0 = STO_P1 Upper IGBT + Vdc
pulse bridge halve
<1>
suppression
P1
[2810.8]

to SBC
[2814.2]

Save Pulse Gating unit U

suppression

to SBC V
~
M
[2814.2]

W
+5 V
Shutdown path from P2
Lower IGBT
0 = Request Pulse suppression P2 0 = STO_P2
[2810.8] bridge halve
<1>

r9872.1
1 = STO on P2 active
[2804.5] 1 - Vdc

1 = STO active" for sequence control

& Gating unit

[2802.1] DIAG_L

Function diagrams
[2814.2]

Safety Integrated
[2802.1] DIAG_U
[2814.2]

<1> Transistors inhibited for a "0" signal. STO: Safe Torque Off
2-839

1 2 3 4 5 6 7 8
DO: SERVO fp_2811_98_eng.vsd Function diagram
- 2811 -
Safety Integrated - Basic Functions, STO (Safe Torque Off), Save Pulse suppression 26.04.11 V04.04.00 SINAMICS S110
 Control Unit (Processor 1)
1 = "SBC enabled" 2 ms

Fig. 2-79
Enable signals for SBC P1
>0 0
F07930 "Incorrect brake control"
2-840

Safety Integrated
Function diagrams
Safety enable p9601
& 1
F01630 "Incorrect safety brake control, P1"
=1
Enable SBC p9602 <2>
1 = "Fault, brake control"
Causes for "close brake"
2814 – Basic Functions, SBC (Safe Brake Control)

<2> Not if:

p9602 = p9802 = 0
0 = STO_P1 and p1278 = 1
From the STO 1 0 = "SBC requested"
shutdown paths
[2810.6] 1
0 = STO_P2
Safety Logic CU (P1)
(Implementation and
0 = Pulses
DIAG_U & 1 = SBC monitoring of brake control)
requested <2>
cancelled
r9772.4
[2810.7]
DIAG_L 2804.2]

Safety fault BR1* BR1 BR2* BR_DIAG

1 = STOP A 0 = "SBC selected"
[2802.8]
Close "normal" brake from the basic brake control [2701.8]
Close "normal" brake from the extennded brake control [2711.8]
PM-IF
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

BR2*
Power Module (Processor 2) 2 ms
Causes for "safely close brake"
Diagnostic signal
0 = STO_P1 BR1* BR1 BR2 BR_DIAG
From the STO 0 = "SBC selected"
Shutdown paths Upper gating control channel
[2810.6]
0 = STO_P2 +24 V <1>
BR+

0 = Pulses
DIAG_U &
Safety Logic PM (P2) BR1
© Siemens AG 2012 All Rights Reserved

canceled
[2810.7]
DIAG_L (Implementation and ~
M

monitoring of brake control)

<2> BR_DIAG [2802.1]
Safety fault 1 = Transistor conductive
1 = STOP A
[2802.8] 1 0 = "SBC requested" BR-
<1>
1
Enable signals for SBC P2 M
<1> Both transistors
>0 conductive
Safety enable p9801 1 = Fault, brake control BR2 --> 24 V on the brake
1 = SBC
--> Brake opened
& requested
<2> The BR+ and BR-
=1 r9872.4 Lower gating control channel
Enable SBC p9802 outputs are only
[2804.5] PM-IF: Power Module Interface
F30630 available for compact
1 = "SBC enabled" & SBC: Safe Brake Control drive units.
"Incorrect safety brake control, P2"
(Sichere Bremsenansteuerung)

1 2 3 4 5 6 7 8
DO: SERVO fp_2814_98_eng.vsd Function diagram
- 2814 -
Safety Integrated - Basic Functions, SBC (Safe Brake Control) 14.09.10 V04.04.00 SINAMICS S110
 <2>
p9500 (12.00 ms)

Fig. 2-80
SI Mtn SLS t P1
0.00...600000.00 [ms] <!>
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

p9551 (100.00)
<3> <3> <3>
SI Mtn integ STW SI Mtn rp t_del P1 SI Mtn ramp ref P1 SI Mtn rp t_mon P1
10.00...99000.00 [ms] 600.0000...24000.0000 [1/min] 0.50...1000.00 [s]
r9720
2820 – Extended Functions, SLS (Safely-Limited Speed)

p9582 (250.00) p9581 (1500.0000) p9583 (10.00)

Deselect SLS Status of the SBR function

T 0
r9720.4 1 Safe Brake Ramp r9723.16
[2858.3]<4>

SI Mtn rp t_del P2 SI Mtn ramp ref P2 SI Mtn rp t_mon P2

10000.00...99000000.00 [μs] 600.0000...24000.0000 [1/min] 500.00...1000000.00 [ms]
p9382 (250000.00) p9381 (1500.0000) p9383 (10000.00)
<3> <3> <3>
SI Mtn SLS set_lim
0.000...100.000 [%] Pos_act sign_chng
p9533 (80.000) p9516.1
SI Mtn SLS lim P1
0.00...1000000.00 [1/min]
Select SLS bit 0 n_Max p9531[0...3] (2000.00)
Motor encoder rotating/linear 0.000...210000.000 [1/min]
r9720.9 p9516.0 p1082[D] (1500.000)
[2858.3]<4> SLS active
Safe speed monitor
Safe acceleration monitor r9722.4
SI Mtn ax type P1 SI Mtn gear den P1
p9502 (0) p9521[0...7] (1) [2858.6]<4>

SI Mtn sp_pitch P1
SI Mtn SLS Gr P1 SI Mtn SLS t P2 SI Mtn SLS lim P2
0.1000...8388.0000 [mm] SI Mtn gear num P1
0.00...1000000.00 [1/min] 0.00...600000000.00 [μs] 0.00...1000000.00 [1/min]
p9520 (10.0000) p9522[0...7] (1)
p9531[0..3] (2000.00) p9351 (100000.00) p9331[0...3] (2000.00)
0 <2> SI Mtn setp_lim
Select SLS bit 1 r9733[0...1]
r9720.10 Conversion load side --> motor side
1
[2858.3]<4>

SI Mtn SLS lim P2

SI Mtn sp_pitch P2 SI Mtn gear num P2
0.00...1000000.00 [mm/min]
0.1000...8388.0000 [mm] p9322[0...7] (1)
p9331[0..3] (2000.00)
p9320 (10.0000)

SI Mtn ax type P2

Function diagrams
p9302 (0)

Safety Integrated
SI Mtn gear den P2
p9321[0...7] (1)
<1> Only for p9601.2/p9801.2 = 1. Encoder rotating/linear
<2> Only for p9306/p9506 = 0 or 3. p9316.0
<3> Only for p9306/p9506 = 1.
<4> Only at drive via PROFIsafe Pos_act sign_chng
p9316.1
2-841

1 2 3 4 5 6 7 8
DO: SERVO fp_2820_98_eng.vsd Function diagram
- 2820 -
Safety Integrated - Extended Functions, SLS (Safely-Limited Speed) 26.04.11 V04.04.00 SINAMICS S110
 SS2 active
[2855.6]<2> p9500 (12000 μs)

Fig. 2-81
r9722.2
[2858.6]<3> Safe Acceleration Monitor / Safe Brake
SS1 active 1 Ramp exceeded <1>
2-842

Safety Integrated
Function diagrams
[2855.6]<2>
r9722.1
[2858.6]<3>
&
Actual value speed < p9360/p9560
2825 – Extended Functions, SS1, SS2, SOS, internal STOP B, C, D, F

Deselect STO STO active

[2855.3]<2> [2855.6]<2>
r9720.0 r9722.0
[2858.3]<3> SI Mtn IL t_Ver P1 [2858.6]<3>
0.00...600000.00 [ms]
STOP B active p9556 (100.00) STO initiate [2804.1]
r9721.12 p9526 = 1 [2804.4]
[2810.4]
Deselect SS1 r0487[0].14 &
[2855.3]<2> T 0
r9720.1
[2858.3]<3> SI Mtn t F->B P1 p9526 = 2
0.00...600000.00 [ms] r0487[1].14 &
p9555 (0.00)
SI Mtn IL t_Ver P2 p9526 = 3 STO cause actual value is missing
0.00...600000000.00 [μs] [2804.1]
STOP F T 0 p9356 (100000.00) r0487[2].14
&
SI Mtn t D->SOS P1 r0487[0].14
0.00...600000.00 [ms]
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

p9553 (100.00) SS1 active

[2855.6]<2>
SI Mtn t F->B P2 r9722.1
[2858.6]<3>
0.00...600000000.00 [μs]
STOP D active
p9355 (0.00) T 0
r9721.14
SI Mtn SLS t P1
0.00...600000.00 [ms]
p9551 (100.00)
SI Mtn t D->SOS P2
0.00...600000000.00 [μs]
Deselect SOS p9353 (100000.00) SOS active
[2855.3]<2> T 0 [2855.6]<2>
r9720.3 r9722.3
[2858.3]<3> [2858.6]<3>
© Siemens AG 2012 All Rights Reserved

SI Mtn t C->SOS P1
0.00...600000.00 [ms]
p9552 (100.00)
SI Mtn SLS t P2
STOP C active
0.00...600000000.00 [μs]
r9721.13 p9351 (100000.00)
T 0 SAM: Safe Acceleration Monitor
Deselect SS2 SBR: Safe Brake Ramp
[2855.3]<2>
r9720.2 SLS: Safely-Limited Speed
[2858.3]<3>
SOS: Safe Operating Stop
SS1: Safe Stop 1
SI Mtn t C->SOS P2 SS2: Safe Stop 2
0.00...600000000.00 [μs]
p9352 (100000.00) SS2 active
[2855.6]<2>
<1> Only for p9601.2 = 1 and p9801.2 = 1. r9722.2
[2858.6]<3>
<2> Only at drive via terminals
<3> Only at drive via PROFIsafe

1 2 3 4 5 6 7 8
DO: SERVO fp_2825_98_eng.vsd Function diagram
- 2825 -
Safety Integrated - Extended Functions, SS1, SS2, SOS, Internal STOP B, C, D, F 26.04.11 V04.04.00 SINAMICS S110
 p9500 (12.00 ms)

Fig. 2-82
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

Motion PROFIsafe control word Motion PROFIsafe status word

Mtn integ STW Mtn integ Stat
Bit No. Motion PROFIsafe control word r9720 Bit No. Motion PROFIsafe status word r9722

<1> [2855.3] <1> [2855.6]

0 1 = STO deselection 0 1 = STO active
<2> [2858.3] <2> [2858.6]
2840 – Extended Functions, control word and status word

<1> [2855.3] <1> [2855.6]

1 1 = SS1 deselection 1 1 = SS1 active
<2> [2858.3] <2> [2858.6]
<1> [2855.3] <1> [2855.6]
2 1 = SS2 deselection 2 1 = SS2 active
<2> [2858.3] <2> [2858.6]
<1> [2855.3] <1> [2855.6]
3 1 = SOS deselection 3 1 = SOS active
<2> [2858.3] <2> [2858.6]
<1> [2855.3] <1> [2855.6]
4 1 = SLS deselection 4 1 = SLS active
<2> [2858.3] <2> [2858.6]
5 Reserved 5 Reserved

6 Reserved 6 Reserved

<1> [2855.3] <1> [2855.6]

7 1/0 = Acknowledgement 7 1 = Not an internal event
<2> [2858.3] <2> [2858.6]
8 Reserved 8 Reserved

<1> [2855.3] <1> [2855.6]

9 1 = SLS selection bit 0 active 9 1 = Active SLS stage, bit 0
<2> [2858.3] <2> [2858.6]
<1> [2855.3] <1> [2855.6]
10 1 = SLS selection bit 1 active 10 1 = Active SLS stage, bit 1
<2> [2858.3] <2> [2858.6]
<1> [2855.6]
11 Reserved 11 1 = SOS selected
<2> [2858.6]
<1> [2855.3] <1> [2855.6]
12 1 = Deselect SDI positive 12 1 = SDI positive active
<2> [2858.3] <2> [2858.6]
<1> [2855.3] <1> [2855.6]
13 1 = Deselect SDI negative 13 1 = SDI negative active
<2> [2858.3] <2> [2858.6]

14 Reserved

<1> [2855.6]
15 SSM (Speed below limit)
<2> [2858.6]

Function diagrams
Safety Integrated
<1> Only at drive of the Extended Functions via terminals.
<2> Only at drive of the Extended Functions via PROFIsafe
2-843

1 2 3 4 5 6 7 8
DO: SERVO fp_2840_98_eng.vsd Function diagram
- 2840 -
Safety Integrated - Extended Functions, control word and status word 26.04.11 V04.04.00 SINAMICS S110
 p9500 (12.00 ms)

Fig. 2-83
Changing Safety parameters
2-844

Safety Integrated
Function diagrams
SI act CRC
r9728
SI ref CRC
2846 – Extended Functions, parameter manager

p9729

<3>

<1>
Safety parameterization enable =
Safety parameters
Safety Integrated commissioning p9300 … p9399
Safety parameter
p0010 = 95 p9500 … p9599
Password entry
p9300 … p9399 p10000 ... p10199
SI password input
p9761
& p9500 … p9599 & are valid after save;
STARTER issues a
p10000 ... p10199
Checksum check message if a
SI password new x = can be changed for POWER ON is
p9762 y required
Safety parameters

<1>

SET
=
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

y=x Effective password

SI ackn password
p9763 <2>

<1>
= <1>

<3>

r9398 p9399
SI act CRC P2 SI ref CRC P2
© Siemens AG 2012 All Rights Reserved

Disabling Safety functions Resetting safety parameters

SI Mtn enable P2
p9301 = 0
p0010 95
Safety parameter Quit Safety commissioning mode
SI Mtn enable P1
p9300 … p9399
p9501 = 0
p9500 … p9599
can be reset to
SI enable fct P1
factory settings via
p9601 = 0
p0970, p3900
<1> Comparator, see [1021]. SI enable fct P2
<2> Analog signal memory, see [1021]. p9801 = 0
<3> The target checksum must be equal to the actual check sum.

1 2 3 4 5 6 7 8
DO: SERVO fp_2846_98_eng.vsd Function diagram
- 2846 -
Safety Integrated - Extended Functions, Parametermanager 14.09.10 V04.04.00 SINAMICS S110
 1000 μs

Fig. 2-84
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

2850 – Extended Functions (F-DI 0 ... F-DI 2)

SI discrep t_monit
1.00...2000.00 [ms]
p10002 (500.00)

X130.7
L1+ T 0 C01770
r10051.0 =1
X130.1 DI 16 p10140.0 “Discrepancy error“

M1 F-DI 0
X130.2 DI 17+ 0 & [2855.1]

X130.3 DI 17- 1 1 T 0 C01770

r10051.1 =1
X130.4 DI 18 p10140.1 “Discrepancy error“

M1 F-DI 1
X130.5 DI 19+ 0 & [2855.1]

X130.6 DI 19- 1 1
X130.8
M1 T 0 C01770
r10051.2 =1
X131.1 DI 20 p10140.2 “Discrepancy error“

M1 F-DI 2
X131.2 DI 21+ 0 & [2855.1]

X131.3 DI 21- 1 1
X131.8
M1

Function diagrams
Safety Integrated
2-845

F-DI: Failsafe Digital Input

1 2 3 4 5 6 7 8
DO: CU_S110 fp_2850_98_eng.vsd Function diagram
- 2850 -
Safety Integrated - Extended Functions (F-DI 0 ... F-DI 2) 26.04.11 V04.04.00 SINAMICS S110
 p9500 (12.00 ms)

Fig. 2-85
2-846

Safety Integrated
Function diagrams
2853 – Extended Functions (F-DO 0)

M1
24 V1
<1>
r10052.0
X131.5 DO16+ F-DO 0
[2857.8]
X131.6 DO16-
+24 V1 M
r0747.16
X131.7
24 V1
(external)
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

X131.8 M1 M1
M r10152
<1>
© Siemens AG 2012 All Rights Reserved

F-DO: Failsafe Digital Output <1> Signaling parameters are only written to when Safety Integrated is activated.

1 2 3 4 5 6 7 8
DO: CU_S110 fp_2853_98_eng.vsd Function diagram
- 2853 -
Safety Integrated - Extended Functions (F-DO 0) 29.10.08 V04.04.00 SINAMICS S110
 PM/CU
Fig. 2-86
p9500/p9300 (12.00 ms)
F-DI assignment
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

Extended
Statically active
Functions
[Source plan]
Deselection STO STO active
F-DI 0
[2850.8] r9720.0 r9722.0
2855 – Extended Functions, control interface

F-DI 1 [2825.1] [2825.8]

[2850.8]
F-DI 2 SS1 active
[2850.8] Deselection SS1
r9722.1
Statically inactive r9720.1
[Source plan] [2825.8]
[2825.1]
SS2 active
SI STO F-DI P1 Deselection SS2 r9722.2
p10022
r9720.2 [2825.8]
SI SS1 F-DI P1 [2825.1] SOS active
p10023
Deselection SOS r9722.3
SI SS2 F-DI P1
p10024 r9720.3 [2825.8]
[2825.1] SLS active
SI SOS F-DI P1
r9722.4
p10025
Deselection SLS [2820.8]
SI SLS F-DI P1 r9720.4
p10026 Internal event
[2820.1]
r9722.7
SI SLS lim 0 DI P1 Safe motion
p10027 Acknowledgement monitoring in [2840.8] [2856.1]
the drive [2857.1]
SI SLS lim 1 DI P1 r9720.7 Active SLS stage bit 0
p10028 [2840.4] r9722.9
SI SDI pos F-DI P1 [2840.8]
Selection SLS Bit 0
p10030 Active SLS stage bit 1
r9720.9
SI SDI neg F-DI P1 r9722.10
[2820.1]
p10031
[2840.8]
SI ackn int event Selection SLS Bit 1 SOS selected
p10006(0)
r9720.10 r9722.11
[2820.1] [2840.8]
Selection SDI positive SDI positive active
r9720.9 r9722.12
[2861.1] [2861.8]
SDI negative active

Function diagrams
Selection SDI negative r9722.13

Safety Integrated
r9720.10 [2861.8]
[2861.1] SSM (speed below limit)
r9722.15
[2860.8]
2-847

1 2 3 4 5 6 7 8
DO: CU_S110 fp_2855_98_eng.vsd Function diagram
- 2855 -
Safety Integrated - Extended Functions, control interface 26.04.11 V04.04.00 SINAMICS S110
 Fig. 2-87
p9500/p9300 (12.00 ms)
2-848

Safety Integrated
Function diagrams
Pulses cancelled 1
[2855.7]
SS1 active
[2855.7] 0 0
SS2 active
[2855.7] Safe State
2856 – Extended Functions, Safe State selection

SOS active SI Safe State selection [2857.1]

[2855.7] p10039.0
SLS active SI Safe State selection
[2855.7] p10039.6
SDI positive active
[2855.7]
SDI negative active 1
[2855.7]

0 0
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

1 2 3 4 5 6 7 8
DO: CU_S110 fp_2856_98_eng.vsd Function diagram
- 2856 -
Safety Integrated - Extended Functions, Safe State selection 14.09.10 V04.04.00 SINAMICS S110
 p10000.00 (12.00 ms)

Fig. 2-88
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

2857 – Extended Functions, assignment (F-DO 0)

0: No function
1: Pulses cancelled
[2855.7]
2: SS1 active SI F-DO 0 S_q
[2855.7]
3: SS2 active p10042[0]
SI F-DO 0 S_q
[2855.7] <1>
4: SOS active p10042[1]
[2855.7] SI F-DO 0 S_q 1
5: SLS active p10042[2]
[2855.7] SI F-DO 0 S_q 2
6: SSM feedback signal active
[2855.7] p10042[3]
7: Safe State SI F-DO 0 S_q 3
[2856.8] p10042[4] F-DO 0
8: SOS selected SI F-DO 0 S_q 4 & [2853.8]
[2855.7]
9: Internal event p10042[5]
[2855.7] 5
10: Active SLS threshold bit 0
[2855.7] 6
11: Active SLS threshold bit 1
[2855.7]
12: SDI positive active
[2855.7]
13: SDI negative active
[2855.7]

Function diagrams
Safety Integrated
2-849

1 2 3 4 5 6 7 8
DO: CU_S110 fp_2857_98_eng.vsd Function diagram
- 2857 -
Safety Integrated - Extended Functions, Assignment of F-DO 0 26.04.11 V04.04.00 SINAMICS S110
 p9500 (12.00 ms)

Fig. 2-89
Extended Functions
2-850

Safety Integrated
Function diagrams
STO active
r9722.0

De-select STO [2825.8]

2858 – Extended Functions, control via PROFIsafe (p9601.2 = p9601.3 = 1)

r9720.0 SS1 active

[2825.1] r9722.1
[2825.8]
De-select SS1 SS2 active
r9720.1 r9722.2
[2825.1]
[2825.8]
De-select SS2 SOS active
r9720.2 r9722.3
[2825.1] [2825.8]
SLS active
De-select SOS
r9722.4
r9720.3
[2820.8]
[2825.1]
Internal event
De-select SLS r9722.7
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

PROFIsafe Safe motion PROFIsafe

communication r9720.4 [2840.8] communication
monitoring
via PROFIBUS/ [2820.1] functions Active SLS stage bit 0 via PROFIBUS/
PROFINET r9722.9 PROFINET
Quittierung
r9720.7
[2840.4] Active SLS stage bit 1
r9722.10
Select SLS bit 0
r9720.9 SOS selected
[2820.1] r9722.11
© Siemens AG 2012 All Rights Reserved

Select SLS bit 1 [2840.8]

r9720.10 SDI pos active
[2820.1] r9722.12
[2861.8]
Deselect SDI positive
SDI neg active
r9720.12
r9722.13
[2861.1]
[2861.8]
Deselect SDI negative SSM (speed below limit value)
r9720.13 r9722.15
[2861.1] [2860.8]

1 2 3 4 5 6 7 8
DO: SERVO fp_2858_98_eng.vsd Function diagram
- 2858 -
Safety Integrated - Extended Functions, control via PROFIsafe (p9601.2 = p9601.3 = 1) 26.04.11 V04.04.00 SINAMICS S110
 p9500 (12.00 ms)

Fig. 2-90
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

2860 – Extended Functions, SSM (Safe Speed Monitor)

Si Mtn SSM v_lim P1 SI Mtn SSM v_lim P2

Enable SSM hysteresis filter Enable SSM hysteresis filter 0.00...1000 000.00 [1/min] 0.00...1000 000.00 [1/min]
p9501.16 (0000 bin) p9301.16 (0000 bin) p9546 (20.00) p9346 (20.00)

0.00...100.00 [ms]
p9545 (0.00) SI Mtn integ stat
r9722
Load-side v_act
r9714[0] 1 SSM (speed below limit value)
1
r9722.15
Safe speed
recording 0 [2840.5]
0

0.00...100 000.00 [μs]

p9345 (0.00)

SI Mtn SSM hyst P1 SI Mtn SSM hyst P2

0.0010...500.0000 [1/min] 0.0010...500.0000 [1/min]
p9547 (10.0000) p9347 (10.0000)

Function diagrams
Safety Integrated
2-851

1 2 3 4 5 6 7 8
DO: SERVO fp_2860_98_eng.vsd Function diagram
- 2860 -
Safety Integrated - Extended Functions, SSM (Safe Speed Monitor) 27.04.11 V04.04.00 SINAMICS S110
 p9500 (12.00 ms)

Fig. 2-91
2-852

Safety Integrated
Function diagrams
2861 – Extended Functions, SDI (Safe Direction)

SI Mtn setp_lim
Enable SDI Enable SDI r9733[0...2]
p9501.17 (0000 bin) p9301.17 (0000 bin) <1>
SI Mtn SDI tol P1 SI Mtn SDI Stop P1
SI Mtn integ STW 0.001...360.000 [°] 0...14
r9720 p9564 (12.000) p9566 (1) SI Mtn integ stat
SI Mtn SDI t P1
SDI positive select 0.00...600000.00 [ms] r9722
1
r9720.12 1 p9565 (100.00) SDI positive active
[2840.1] r9722.12
0
0
[2840.5]
T 0
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

Monitoring
SDI negative select SDI negative active
1
r9720.13 1 r9722.13
[2840.1] [2840.5]
0 SI Mtn SDI t P2
0
0.00...600000000.00 [μs]
p9365 (100000.00)
SI Mtn SDI tol P2 SI Mtn SDI Stop P2
0.001...360.000 [°] 0...14
p9364 (12.000) p9366 (1)
© Siemens AG 2012 All Rights Reserved

<1>
r9733[0] r9733[1] r9733[2]
Selected SI-Function Setpoint limiting positive Setpoint limiting negative Setpoint limit absolute
SDI positive p1082 0 |p1082|
SDI negative 0 p1082 |p1082|
SDI positive + SLSx p9531[x] x p9533 0 |p9531[x] x p9533|
SDI negativ + SLSx 0 p9531[x] x p9533 |p9531[x] x p9533|

1 2 3 4 5 6 7 8
DO: SERVO fp_2861_98_eng.vsd Function diagram
- 2861 -
Safety Integrated - Extended Functions, SDI (Safe Direction) 27.04.11 V04.04.00 SINAMICS S110
 Function diagrams
Setpoint channel

2.10 Setpoint channel

Function diagrams

3010 – Fixed speed setpoints 2-854

3020 – Motorized potentiometer 2-855

3030 – Main/supplementary setpoint, setpoint scaling, jogging 2-856

3040 – Direction limitation and direction reversal 2-857

3050 – Skip frequency bands and speed limitations 2-858

3060 – Basic ramp-function generator 2-859

3070 – Extended ramp-function generator 2-860

3080 – Ramp-function generator selection, status word, tracking 2-861

© Siemens AG 2012 All Rights Reserved 2-853

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 4000.00 μs

Fig. 2-92
p1020 Fixed speed setpoint selection bit 0 Refer to [1020.7]
2-854

Setpoint channel
Function diagrams
[2505.3] r1198.0 <100>

0.000 0 0 0 0
p1021 Fixed speed setpoint selection bit 1
From [2505.3] r1198.1 Fixed speed setpoint 1
3010 – Fixed speed setpoints

control word -210 000.000...210 000.000 [rpm] 0 0 0 1

setpoint p1001[D] (0.000) p1001[D]
channel p1022 Fixed speed setpoint selection bit 2 Fixed speed setpoint 2
[2505.3] r1198.2 -210 000.000...210 000.000 [rpm] 0 0 1 0
p1002[D] (0.000) p1002[D]
Fixed speed setpoint 3
p1023 Fixed speed setpoint selection bit 3 -210 000.000...210 000.000 [rpm] 0 0 1 1
[2505.3] r1198.3 p1003[D] (0.000) p1003[D]
Fixed speed setpoint 4
-210 000.000...210 000.000 [rpm] 0 1 0 0
p1004[D] (0.000) p1004[D]
Fixed speed setpoint 5
-210 000.000...210 000.000 [rpm] 0 1 0 1
p1005[D] (0.000) p1005[D]
Fixed speed setpoint 6
-210 000.000...210 000.000 [rpm] 0 1 1 0
p1006[D] (0.000) p1006[D]
Fixed speed setpoint 7
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

-210 000.000...210 000.000 [rpm] 0 1 1 1

Fixed speed setpoint, actual
p1007[D] (0.000) p1007[D]
Fixed speed setpoint 8 r1024
-210 000.000...210 000.000 [rpm] 1 0 0 0
p1008[D] (0.000) Fixed speed setpoint number actual
p1008[D]
Fixed speed setpoint 9 0...15
-210 000.000...210 000.000 [rpm] 1 0 0 1 r1197
p1009[D] (0.000) p1009[D]
Fixed speed setpoint 10
-210 000.000...210 000.000 [rpm] 1 0 1 0
p1010[D] (0.000) p1010[D]
Fixed speed setpoint 11
© Siemens AG 2012 All Rights Reserved

-210 000.000...210 000.000 [rpm] 1 0 1 1

p1011[D] (0.000) p1011[D]
Fixed speed setpoint 12
-210 000.000...210 000.000 [rpm] 1 1 0 0
p1012[D] (0.000) p1012[D]
Fixed speed setpoint 13
-210 000.000...210 000.000 [rpm] 1 1 0 1
p1013[D] (0.000) p1013[D]
Fixed speed setpoint 14
-210 000.000...210 000.000 [rpm] 1 1 1 0
<100> For SERVO, the following applies: p1014[D] (0.000) p1014[D]
Only if the function module "extended setpoint Fixed speed setpoint 15
channel" is activated (r0108.8 = 1). -210 000.000...210 000.000 [rpm] 1 1 1 1
p1015[D] (0.000)

1 2 3 4 5 6 7 8
DO: SERVO fp_3010_98_eng.vsd Function diagram
- 3010 -
Setpoint channel - Fixed speed setpoints 30.09.11 V04.04.00 SINAMICS S110
 4000.00 μs

Fig. 2-93
Data save active 0 The setpoint for the motorized potentiometer is not saved and after ON is entered using p1040.
0
Automatic mode 1 The setpoint for the motorized potentiometer is saved in a ashion after OFF and after ON set to the saved value. Refer to [1020.7]
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

Ramp-function generator active 0 Without ramp generator in automatic mode (ramp-up/ramp-down time = 0). <100>
1
1 With ramp generator in automatic mode.
Mop Konfiguration Initial rounding-off active 0 Without initial rounding.
0000...0111 2
1 With initial rounding. The ramp-up/down time set is exceeded accordingly.
p1030[D] (00110) Save in NVRAM active 0 Not saved in the NVRAM.
3020 – Motorized potentiometer

3
1 Save in NVRAM active.
Ramp-function generator
4 0 = Hochlaufgeber ist bei Impulssperre inaktiv.
always active
1 = Hochlaufgeber wird unabhängig von der Impulsfreigabe gerechnet.

0
r1198.13 Old value is kept
Mop raise
[2505.7] 1
-1
p1035
(0)

Mop lower r1198.14

Mop manual/auto p1030.1
p1036 [2505.7]
p1041[C] (0)
(0) & <2> <2>
Mop ramp-up time Mop ramp-down time
0.0...1 000.0 [s] 0.0...1 000.0 [s]
00 p1047[D] (10.0) p1048[D] (10.0)
Mop n_set bef RFG
Mop n_max r1045
-210 000.000...210 000.000 [rpm] 01 y
p1037[D] (n_max_Mot) p1082
0
<1> 0 1
Mop n_min -1 1 x y
Mop setp after RFG
-210 000.000...210 000.000 [rpm] 10 r1050
1 0 x
p1038[D] (-n_max_Mot) e.g. to [3030.1]
<1>
-p1082
11 y=0

Mop inversion n_max (reference value for

ramp-function generator p1082)
p1039[C] (0) [3050.5] Mop start value
Mop setting value -210 000.000...210 000.000 [rpm]
Mop auto setpoint p1040[D] (0.000)
p1044[C]
p1042[C] (0) <3>

Mop accept set val

Function diagrams
<1> For automatic commissioning, p1037 and p1038 are set to the p1043[C]

Setpoint channel
maximum motor speed or to the rated motor speed, provided that p1030.4
n_max_mot has not been specified.
<2> If initial rounding-off is active (p1030.2 = 1), the selected ramp-up/down times are exceeded accordingly.
[2634.3] 1: OFF1 enable missing (r0046.0) 0
<3> Only effective if p1030.0 = 0.
<100> Only if the function module "extended setpoint channel" is activated (r0108.8 = 1). 0:
1
2-855

1 2 3 4 5 6 7 8
DO: SERVO fp_3020_98_eng.vsd Function diagram
- 3020 -
Setpoint channel - Motorized potentiometer 30.11.11 V04.04.00 SINAMICS S110
 4000.00 μs

Fig. 2-94 Refer to [1020.7]

2-856

Setpoint channel
Function diagrams
<100>
3030 – Main/supplementary setpoint, setpoint scaling, jogging

p1055 Jog 1
[2501.3] r0898.8

p1056 Jog 2
[2501.3] r0898.9

Main setpoint
p1070[C]
(1024[0]) 0 0
+
+ r1078
Jog setpoint 1
Main setp scal r1073 -210 000.000...210 000.000 rpm 0 1
p1071[C] p1058[D] (100.000)
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

(1) n_set_1
[3040.1]
Fixed value 1 [%] Jog setpoint 2
-210 000.000...210 000.000 rpm 1 0
p2900
p1059[D] (100.000)
Fixed value 2 [%]
p2901
Suppl setp scal 1 1
p1076[C]
(1)
Keep old setpoint
© Siemens AG 2012 All Rights Reserved

Supplement setpoint
p1075[C]
(0) r1077

<100> Only if the function module “extended setpoint channel“ is activated (r0108.8 = 1).

1 2 3 4 5 6 7 8
DO: SERVO fp_3030_98_eng.vsd Function diagram
- 3030 -
Setpoint channel - Main/supplementary setpoint, setpoint scaling, jogging 30.09.11 V04.04.00 SINAMICS S110
 4000.00 μs

Fig. 2-95 Refer to [1020.7]

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

<100>
3040 – Direction limitation and direction reversal

p1111 1 = Inhibit positive direction

[2505.3] r1198.6

p1110 1 = Inhibit negative direction

[2505.3] r1198.5

p1113 1 = Setpoint inversion

[2505.3] r1198.11

n_limit setp
p1063[D]

0 0 0 Setp after lim

n_set_1
[3030.8] 0 r1114 [3050.1]
-1 1
0 1 1

Function diagrams
Setpoint channel
<100> Only if the function module “extended setpoint channel“ is activated (r0108.8 = 1).
2-857

1 2 3 4 5 6 7 8
DO: SERVO fp_3040_98_eng.vsd Function diagram
- 3040 -
Setpoint channel - Direction limitation and direction reversal 14.07.09 V04.04.00 SINAMICS S110
 n_skip 1 n_skip 2 n_skip 3 n_skip 4 n_limit pos
0.000...210 000.000 rpm 0.000...210 000.000 rpm 0.000...210 000.000 rpm 0.000...210 000.000 rpm 0.000...210 000.000 rpm 1000.00 μs 4000.00 μs

Fig. 2-96
p1091[D] (0.000) p1092[D] (0.000) p1093[D] (0.000) p1094[D] (0.000) p1083[D] (210 000.000)
Refer to [1020.7]
2-858

Setpoint channel
Function diagrams
<1> <1> <1> <1> p1085[C] <100>
p1083 (1083) n_limit pos eff
Min r1084
[5030.5]
3050 – Skip frequency bands and speed limitations

0
[5210.1]
-1 -1 -1 -1 [8010.2]

y
Reference value
for the ramp-
Maximum speed function generator [3020.6]
0...210 000.000 rpm [3060.4]
w p1082[D] (n_max_Mot) [3070.4]
<2> -1
Minimum speed
0.00...19 500.00 rpm
p1080[D] (0.00) w p1051[C]
p1083 (1083)
0
w
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

Setpt after limit RFG setpt at input

y
r1114 r1119
w x
[3040.8] [3060.1]
-1 r1112 [3070.1]

w
p1052[C] 0
p1086 (1086) Maximum
w limiting
1 active
[3080.4]
© Siemens AG 2012 All Rights Reserved

w
<3>
n_limit neg p1088[C] 0 n_limit neg eff
n_skip bandwidth -210 000.000...0.000 rpm p1086 (1086) Max r1087
0.000...210 000.000 rpm p1086[D] (-210 000.000)
p1101[D] (0.000) [5030.5]
[5210.1]
[8010.2]
<1> A suppression speed of "0" de-activates the suppression speed bandwidth.
<2> The setting range of p1082 is limited to n_max_mot.
<3> If the drive is not stopped via the input setpoint, but via controlled intervention, the lower hysteresis branch is relevant after a subsequent run-up.
<100> For SERVO, the following applies: Only if the function module "Extended setpoint channel" is activated (r0108.8 = 1). For r0108.8 = 0, [3095] applies for the generation of the speed limits.

1 2 3 4 5 6 7 8
DO: SERVO fp_3050_98_eng.vsd Function diagram
- 3050 -
Setpoint channel - Skip frequency bands and speed limitations 30.09.11 V04.04.00 SINAMICS
 Ramp-up time Ramp-down time OFF3 ramp-down time
4000.00 μs

Fig. 2-97
0.000...999 999.000 s 0.000...999 999.000 s 0.000...600.000 s
p1120[D] (10.000) p1121[D] (10.000) p1135[D] (0.000) Refer to [1020.7]
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

<100>

0 1
0 = Internal fast stop
3060 – Basic ramp-function generator

[2634.4]

0 0
p1122 1 = Bypass ramp-function generator 0 1 0 1
[2505.3] r1198.15

Ramp flattening-off
[3080.8]
Tup Tdn
p1142 1 = Enable speed setpoint
Freeze ramp-function generator
[2501.3] r0898.6

x Tup Tdn
RFG setpt at input 0 0
p1082 0 n_set_4
1 1
r1119 x y [3080.1]
From the setpoint limiting
[3050.8] 1 1
t
0 0 -p1082
0 0
p1140 1 = Enable ramp-function generator <2>
y [2501.3] r0898.4
<1> p1141 0 = Freeze ramp-function generator 1
[2501.3] r0898.5 p1082

t
1 = Internal RFG enable -p1082 HLG acceleration
[2634.4]
Tup Tdn r1149
0 = Internal fast stop
[2634.4] Other status bits
Accept RFG set val <3>
p1143[C] 1
Ramp-up active
(0) x
RFG setting value + – 0
y Ramp-down active
p1144[C]

Function diagrams
(0)
p1082

Setpoint channel
<1> Inhibited during jogging.
<2> After a 0/1 signal a ramp-up is started again. [3050.5] n_max Ramp-function generator, status bits
<3> With simultaneous jog 1 and 2 (p1055 = p1056 = 1) the last [3095.7] Threshold for [3080.5]
setpoint remains effective (Freeze ramp-function generator). "Ramp-up/ramp-down active"
<100> Only if the function module 0.00...1000.00 rpm
Extended setpoint channel" is activated (r0108.8 = 1). p1148[D] (19.80)
2-859

1 2 3 4 5 6 7 8
DO: SERVO fp_3060_98_eng.vsd Function diagram
- 3060 -
Setpoint channel - Basic ramp-function generator 30.09.11 V04.04.00 SINAMICS S110
 OFF3 OFF3 OFF3
Ramp-up time Ramp-down time Ramp-down time Initial rounding-off Initial rounding-off Final rounding-off Final rounding-off 4000.00 μs

Fig. 2-98
0.000...999 999.000 s 0.000...999 999.000 s 0.000...600.000 s 0.000...30.000 s 0.000...30.000 s 0.000...30.000 s 0.000...30.000 s
p1120[D] (10.000) p1121[D] (10.000) p1131[D] (0.000) p1137[D] (0.000) Refer to [1020.7]
p1135[D] (0.000) p1130[D] (0.000) p1136[D] (0.000)
2-860

Setpoint channel
Function diagrams
<100>

0 1 0 1 0 1
0 = Internal fast stop
[2634.4]
3070 – Extended ramp-function generator

0 0
p1122 1 = Bypass ramp-function generator 0 1 0 1
[2505.3] r1198.15

Ramp flattening-off
p1142 1 = Enable speed setpoint [3080.8]
[2501.3] r0898.6
Freeze ramp-function generator
RFG setpoint at the input 0 y IR FR
1 1
r1119 x
p1082
Tup Tdn Expanded ramp-function
[3050.8] 1 x
0 0
generator y 1
0 0 n_set_5
[3080.1]
y
<4> p1141 0 = Freeze ramp generator 1 0
0
[2501.3] r0898.5 <2>
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

1 = Internal RFG enable

[2634.4]
1 = Ramp-function
0 = Internal fast stop <3> p1140 generator enabled
[2634.4]
<6> -p1082 [2501.3] r0898.4
<5>
RFG rounding-off type dy/dt IR FR IR FR IR FR IR FR
Set ramp-function generator 0...1
p1143[C] p1134[D] (0)
(0) HLG acceleration
t
Ramp-function generator setting value r1149
© Siemens AG 2012 All Rights Reserved

p1144[C]
(0) Other status bits
Tup_eff <1> Tdn_eff <1>
<1> Effective ramp-up time: Tup_eff = Tup + (IR/2 + FR/2) 1 Ramp-up active
Effective ramp-down time: Tdn_eff = Tdn + (IR/2 + FR/2) x Ramp-down active
<2> p1151.00 = 0: Rounding-off at zero crossover enabled. + – 0
p1151.00 = 1: Rounding-off at zero crossover disabled. y
p1082
<3> p1134 = 0: Rounding-off is always active.
Overshoots can occur.
t [3050.5] n_max [3080.5]
p1134 = 1: Final rounding-off is not effective
when the setpoint is suddenly [3095.7] Threshold for Ramp-function generator, status bits
reduced during ramp-up. t "Ramp-up/ramp-down active"
nset 0.00...1000.00 rpm
<4> Inhibited during jogging. t
<5> After a 0/1 signal a ramp-up is started again. p1148[D] (19.80)
<6> With simultaneous jog 1 and 2 (p1055 = p1056 = 1) the last setpoint remains effective (Freeze ramp-function generator).
<100> Only if the function module "extended setpoint channel" is activated (r0108.8 = 1).

1 2 3 4 5 6 7 8
DO: SERVO fp_3070_98_eng.vsd Function diagram
- 3070 -
Setpoint channel - Extended ramp-function generator 30.09.11 V04.04.00 SINAMICS S110
 Enable ramp-function generator
4000.00 μs from the r0898.4 250.00 μs

Fig. 2-99
STW
Refer to [1020.7] Enable speed setpoint Refer to [1020.7]
sequence
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

control r0898.6
[2501.7]
Jog 1 1
r0898.8 n_ctrl n_set 1/2
Jog 2 <6>
p1189.1 <3> r1169
r0898.9
x,y x
Ramp-function generator selection T1
3080 – Ramp-function generator selection, status word, tracking

n_ctrl n_set 1 y
1 1 x y No OFF2
p1155[C]
<2> (0) No OFF3 &
0 0
+ 0 t
n_ctrl n_set 2
Interpolator
p1160[C]
<2> (0)
Expanded
setpoint channel +
RFG selection r0108.8 p1189.0 0 n_ctrl setp sum
p1115 <5> x,y x
n_set_4 T1 r1170 [5020.1]
y +
[3060.8] RFG n_set at the output x y 1 [8011.2]
From the basic ramp-function generator 0 1
0
0 r1150
n_set_5 1 0 t
[3070.8] RFG tracking intensity
From the expanded ramp-function generator 1 Interpolator
0.0...50.0
p1145[D] (1.3)

<4>
Ramp-function generator tracking Ramp flattening-off [3060.1]
Torque limit reached [3070.3]
[2522.7] r1407.7 Ramp-function generator tracking active
r1199.5
<1> For p1145 > 0, ramp-function generator tracking is activated when the torque limiting Ramp-function generator status word
responds. This means that the speed controller output only exceeds the torque limit by a RFG ZSW
deviation that can be set via p1145. [3060.8] Bit Ramp-function generator status word r1199
[3070.8]
<2> For OFF1/OFF3, the ramp-function generator ramp is active. The ramp-function generator is 0 Ramp-up active
set to the actual value and stops the drive with the ramp-downtime (p1121 or p1135). STW1.4 [3060.8] 1 Ramp-down active
(enable ramp-function generator) is effective while the drive is stopped via the ramp-function [3070.8] 2 Ramp-function generator active r1199.2 [8010.5]
generator. Depending on the p1115, the basic ramp-function generator [3060] or the extended
1 3 Ramp-function generator set
ramp-function generator [3070] is effective. When the function module "extended setpoint 4 Ramp-function generator held
channel" (r0108.8 = 0) is not active for OFF1/OFF3, the down ramp of the basic ramp-function [3080.8] 5 Ramp-function generator tracking active <1>
generator is effective (refer to n_set_4 on [3060.8]). [3050.8] 6 Maximum limiting active
<3> The interpolator is only effective for clock-cycle synchronous PROFIBUS operation and sign- 7 Reserved
of-life received from the master (STW2.12 ... STW2.15). 8 Reserved

Function diagrams
<4> Behavior of the response ramp of the torque limiting: 9 Reserved

Setpoint channel
p1145 = 0.0: No ramp-function generator tracking. The ramp-function generator ramp is no longer in the range of the speed 10 Reserved
actual value. 11 Reserved
p1145 = 1.0: The ramp-function generator ramp remains as close as possible to the speed actual value. 12 Reserved
p1145 > 1.0: The ramp-function generator ramp is steeper than for p1145 = 1.0 (higher "speed following error"). 13 Reserved
<5> For SERVO, the following applies: Only when the function module "extended setpoint channel" is activated (r0108.8 = 1). 14 Reserved
<6> The value is displayed correctly only with r0899.2 = 1 (Operation enabled). 15 Reserved
2-861

1 2 3 4 5 6 7 8
DO: SERVO fp_3080_98_eng.vsd Function diagram
- 3080 -
Setpoint channel - Ramp-function generator selection, status word, tracking 15.07.09 V04.04.00 SINAMICS S110
 Function diagrams
Setpoint channel not activated

2.11 Setpoint channel not activated

Function diagrams

3095 – Generating the speed limits (r0108.8 = 0) 2-863

2-862 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 4000.00 μs

Fig. 2-100 <1>

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

<100>
3095 – Generating the speed limits (r0108.8 = 0)

n_limit pos n_limit pos

0.000...210 000.000 rpm p1083[D] n_limit pos eff [5030.5]
p1083[D] (210 000.000)
Min r1084 [5210.1]
0 [8010.2]

[3020.6]
Maximum speed Reference value for the ramp-function generator Speed limits if a setpoint channel
[3060.4]
0.000...210 000.000 rpm has not been activated
[3070.4]
p1082[D] (1500.000) (r0108.8 = 0).
[5300.1]

-1

Setpoint channel not activated

0 n_limit neg eff [5030.5]
n_limit neg n_limit neg Max r1087 [5210.1]
-210 000.000...0.000 rpm p1086[D] [8010.2]
p1086[D] (-210 000.000)

Function diagrams
<1> With OFF1/OFF3, the deceleration ramp of the basic ramp-function generator is active (p1135 or p1121).
<100> Applies only if the function module "expanded setpoint channel" (r0108.8 = 0) is not active. For r0108.8 = 1, [3050] applies instead of [3095].
2-863

1 2 3 4 5 6 7 8
DO: SERVO fp_3095_98_eng.vsd Function diagram
- 3095 -
Setpoint channel not activated - Generating the speed limits (r0108.8 = 0) 30.09.11 V04.04.00 SINAMICS S110
 Function diagrams
Basic positioner (EPOS)

2.12 Basic positioner (EPOS)

Function diagrams

3610 – Jog mode (r0108.4 = 1) 2-865

3612 – Referencing/reference point approach mode (r0108.4 = 1) (p2597 = 0 signal) 2-866

3614 – Flying referencing mode (r0108.4 = 1) (p2597 = 1 signal) 2-867

3615 – Traversing block mode, external block change (r0108.4 = 1) 2-868

3616 – Traversing block mode (r0108.4 = 1) 2-869

3617 – Travel to fixed stop (r0108.4 = 1) 2-870

3618 – Direct setpoint input/MDI mode, dynamic values (r0108.4 = 1) 2-871

3620 – Direct setpoint input/MDI mode (r0108.4 = 1) 2-872

3625 – Mode control (r0108.4 = 1) 2-873

3630 – Traversing range limits (r0108.4 = 1) 2-874

3635 – Interpolator (r0108.4 = 1) 2-875

3640 – Control word block selection/MDI selection (r0108.4 = 1) 2-876

3645 – Status word 1 (r0108.3 = 1, r0108.4 = 1) 2-877

3646 – Status word 2 (r0108.3 = 1, r0108.4 = 1) 2-878

3650 – Status word, active traversing block/MDI active (r0108.4 = 1) 2-879

2-864 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Jog 1 src
4000.00 μs

Fig. 2-101
p2589
<3>
(0)
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

Jog 2 src
p2590 <3>
(0) Jog incr
3610 – Jog mode (r0108.4 = 1)

<2>
p2591
(0) D Q
0 [LU] 0 0

Q
Jog 1 distance s_set act
1 = Travel parameterized distance (incremental)
0...4294967295 [LU] 0 1 r2671
<2> 0 = Travel endlessly
p2587 (1000) <1>
1
-1 1
x y
Jog 2 distance 0 +
0...4294967295 [LU] 1 0 Store +
0
p2588 (1000)
<2>
Pos act/set value
Keep old setpoint 1 1 p2657 x y
[3635.4] Store

0 1
Start of traversing range
Position
End of traversing range
0
1
0 [1000 LU/min] 0 0
0
Jog 1 v_set
-40000000...40000000 [1000 LU/min] 0 1
p2585 (-300)

Jog 2 v_set v_set act

-40000000...40000000 [1000 LU/min] 1 0 r2672 <1>
p2586 (300)
100 %

Basic positioner (EPOS)

a_over act
r2673 <1>
Keep old setpoint 1 1

Function diagrams
100 %
-a_over act
Motion variables
r2674 <1> in “jog“ mode
<1> The connector outputs are only supplied with values from here if the “jog“ mode is active.
[3630.1]
<2> Jog incremental: The edge is only effective for setpoint = 0 (exception: Override = 0 %, CI: p2646).
Renewed jogging can only be activated after the jog motion has been completed (0/1 edge).
<3> The second "jog" is not evaluated while "incremental jogging" is running.
2-865

1 2 3 4 5 6 7 8
DO: SERVO fp_3610_98_eng.vsd Function diagram
- 3610 -
EPOS - Jog mode (r0108.4 = 1) 04.04.08 V04.04.00 SINAMICS S110
 Srch for ref dir Ref_pt offset
1 = Negative 4000.00 μs

Fig. 2-102
p2604 -2147483648...2147483647 [LU]
0 = Positive Approach direction p2600 (0)
(0)
2-866

Basic positioner (EPOS)

Function diagrams
Reference point set
<1> A B r2684.11 [3646.3]
Ref_cam pres
p2607 (1) Search for reference active
Ref_pt coord S_src r2684.0 [3646.1]
Ref_pt coord val
3612 – Referencing/reference point approach mode (r0108.4 = 1) (p2597 = 0 signal)

p2598[0] [3614.2]
-2147483648...2147483647 [LU] p2599 (p2599)
Rev cam minus
p2599 (0)
p2613
<4>
(1)
Rev cam plus Reversing cam Reversing cam Clearance cam/ZM
p2614 r2680
<4> Position
(1)
Ref start
p2595 <2> [3614.1] Velocity
(0) |v|
v_set act
v_appr ref_cam
1...40000000 [1000 LU/min] r2672 <3>
Set ref_pt I
p2605 (5000)
p2596 100 %
<5> a_over act
(0)
v_appr ref_pt r2673 <3>
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

1...40000000 [1000 LU/min]

Ref_typ select 100 %
p2611 (300) III -a_over act Motion variables in “referencing/
p2597 reference point approach“ mode
<2> [3614.1] r2674 <3> [3630.1]
(0)
v_appr ref_ZM II
1...40000000 [1000 LU/min]
p2608 (300)
Ref_cam
p2612
(0) s
Ref act fdbk
p2659 Zero marks (ZM) F07458
© Siemens AG 2012 All Rights Reserved

(r2526.1) "Reference cam not found"

Tol_band to ZM
[4010.8] 0...2147483647 [LU] <1>
MeasVal valid fdbk Zero mark evaluation <1> p2610 (2147483647) F07459
p2661 activated
(r2526.2)
[3614.2] Feedback Max s ref_cam ZM <1> "No zero mark"
0...2147483647 [LU]
[4010.8]
signals p2609 (10000) F07460
Meas val ref "End of reference cam not found"
Ref_cam max s
p2660 [3614.2] 0...2147483647 [LU]
(r2523[0]) p2606 (2147483647)
[4010.8] <1> If no reference cam exists, the axis directly moves to the zero mark (in the defined start direction). Without a reference cam, the tolerance bandwidth is not evaluated.
<2> When "flying referencing" is selected (passive referencing, p2597 = 1 signal), this function diagram is of no significance => refer to [3614].
<3> The connector outputs are only supplied with values from here if the “referencing“ mode is active.
<4> The reversing cams are low active. When a cam is actuated, motion (reference cam search) is continued in the opposite direction.
<5> Reference point setting is only effective in the initial state [3625].

1 2 3 4 5 6 7 8
DO: SERVO fp_3612_98_eng.vsd Function diagram
- 3612 -
EPOS - Referencing/reference point approach mode (r0108.4 = 1) (p2597 = 0 signal) 04.04.08 V04.04.00 SINAMICS S110
 4000.00 μs

Fig. 2-103
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

3614 – Flying referencing mode (r0108.4 = 1) (p2597 = 1 signal)

Reference point set

F(  s_corr)
[3646.7] r2684.11 [3635.6]

With referencing
F1 = Inner window Without referencing Reference point set
Ref start F1 = Inner window s_set
F2 = Outer window F2 = Outer window r2684.11 [3646.3]
<1> p2595[0] 1 s_act
0...2147483647
[3612.1] p2601 (0) F1 F(  s_corr)
p2602 (0) F2 0 F2 Flying referencing active
0 F(  s_corr) r2684.1 [3646.1]
Ref_typ select F1
<1> p2597
+ t
[3612.1] Ref_pt coord S_src p2598
 s_ corr V
[3612.4] -
F1
t
Meas val ref p2660 F2
[3612.1]

MeasVal valid fdbk p2661

[3612.1] A07489
Print mark outside the outer window (F2) [3646.3] “Reference point correction outside the window“
r2684.3

Basic positioner (EPOS)

Function diagrams
<1> When "reference point approach" is selected (active referencing p2597 = 0 signal), this function diagram is of no significance => refer to [3612].
Active traversing is not directly associated with the "flying referencing" mode (passive referencing, p2597 = 1 signal).
The mode can be superimposed on the “jog“ [3610], “traversing blocks“ [3614] and “direct setpoint input/MDI“ [3618] modes!
2-867

1 2 3 4 5 6 7 8
DO: SERVO fp_3614_98_eng.vsd Function diagram
- 3614 -
EPOS - Flying referencing mode (r0108.4 = 1) (p2597 = 1 signal) 28.10.08 V04.04.00 SINAMICS S110
 4000.00 μs

Fig. 2-104 MT_eval edge

2-868

Basic positioner (EPOS)

Function diagrams
p2511[0...3]
(0)

MT_eval select
3615 – Traversing block mode, external block change (r0108.4 = 1)

p2510[0...3]
(0)

MeasVal valid fdbk

p0488 Meas probe 1 input 0 Meas val valid p2661
Measured value
p0489 Meas probe 2 input r2526.2 (r2526.2) Ext BlckChg eval
memory
1 p2632

Ext BlckChg (0->1) 0

p2633 [3616.3]
(0)
1
[3640.2]
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

ZSW act trav_block

0 1 2 r2670
V 3

Signal for external

400 block change has
not been received
a
© Siemens AG 2012 All Rights Reserved

a b c
200
b
c
100

Ext BlckChg s_act

p2623 Trav_blk mode t
r2678
a CONTINUE EXTERNAL -100
c
b CONTINUE EXTERNAL WAIT A07463 “External block change not requested in the traversing block“
c CONTINUE EXTERNAL External block change (via the measuring probe or BICO)
ALARM

1 2 3 4 5 6 7 8
DO: SERVO fp_3615_98_eng.vsd Function diagram
- 3615 -
EPOS - Traversing block mode, external block change (r0108.4 = 1) 04.04.08 V04.04.00 SINAMICS S110
 A07461-A07472
Pos act/set val 0
0 A07483, A07485-A07487 4000.00 μs

Fig. 2-105
p2657 x y F07484
<5>
r2686[0] Upper torque limiting effective [3617.7]
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

[3635.6] <3> 1 Torque limits

Store
r2678 r2686[1] Lower torque limiting effective [3617.7]
r2687 Torque setpoint
<1> External block change Actual traversing block r2683.10 Direct output 1 via traversing block [3645.3]
p2632 [3650.2] r2683.11 Direct output 2 via traversing block [3645.3]
3616 – Traversing block mode (r0108.4 = 1)

Status signals r2684.12 Acknowledgement, traversing block activated [3646.3]

[3615.7]
Trav_blk blk no r2683.12 Fixed stop reached [3645.3][3617.7]
-1...63 Block number r2683.13 Fixed stop clamping torque reached [3645.3][3617.4]
p2616 [p2615-1] (-1)
r2683.14 Travel to fixed stop active [3645.3][3617.7]
Trav_blk task
Task ENDLESS_POS or ENDLESS_NEG
1...8 Task
p2621 [p2615-1] (1) <3>

mode, relative
r2675

Positioning
Trav_blk task_par <3> Task ENDLESS_NEG
-2147483648...2147483647 Task parameter r2676
p2622 [p2615-1] (0)

Trav_blk mode 1
Start of traversing range
0...65535 Task mode
p2623 [p2615-1] (0) <3>
End of traversing range 1
r2677 0
+ Position
Trav_blk pos
-2147483648...2147483647 [LU] Position
<3> 0
p2617 [p2615-1] (0) +
r2671
Trav_blk v
1
1...40000000 [1000 LU/min] Velocity Velocity
<3> 1 = No intermediate stop
p2618 [p2615-1] (600)
r2672 0 = Intermediate stop 0
0 0
Trav_blk a_over p2640
Acceleration [3620.4]
1.0...100.0 [%] (0)
override <3>
p2619 [p2615-1] (100.0)
r2673 1 = Do not reject traversing task
&
Trav_blk -a_over 0 = Reject traversing task
1.0...100.0 [%] Deceleration
override <3> p2641 [3620.1][3620.4]
p2620 [p2615-1] (100.0)
r2674 (0)
Trav_blk sort p2615
<2> Parameter index 0 1 ... -1 1
p2624 (0) Acceleration override
Activate traversing task <4>
p2631 100 %
0
Signal source feedback signals 1
Deceleration override

Basic positioner (EPOS)

p2637 100 %
[3617.7] Block selection 0
(2526.4)
[4025.8] p2625 <1> Evaluated only in the following cases:

Function diagrams
p2638 p2626 Current job/traversing block and step enabling CONTINUE_EXTERNAL, CONTINUE_EXTERNAL_WAIT,
[3617.6] p2627
(2526.5) CONTINUE_EXTERNAL_ALARM. [3630.1]
[4025.8] p2628
[3640.7] <2> The tasks are sorted according to their traversing block number in the parameter index (the task with the
p2639 p2629 Motion variables
lowest number in index 1).
[2522.7] (1407.7) p2630 in
<3> The connector outputs are only supplied from here when the “traversing blocks“ mode is active.
"traversing block"
p2663 <4> p2615 specifies the maximum number of traversing blocks.
[3640.7] mode
[4025.8] (2526.8) <5> Torque limits are only influenced by the "FIXED STOP" job. A value of 100 % is specified in all other cases.
2-869

1 2 3 4 5 6 7 8
DO: SERVO fp_3616_98_eng.vsd Function diagram
- 3616 -
EPOS - Traversing block mode (r0108.4 = 1) 04.04.08 V04.04.00 SINAMICS S110
 Following err max
Overview 4000.00 μs

Fig. 2-106
0...2147483647 [LU]
p2634 (1000)
2-870

Basic positioner (EPOS)

Function diagrams
Target position

1 Fixed stop reached

Fixed stop reached
r2526.4
0 p2637
3617 – Travel to fixed stop (r0108.4 = 1)

(r2526.4)
[4025]
Sensor

Fixed stop monit

0...2147483647 [LU]
p2635 (100)

Fixed stop outside

1 Fixed stop outside window p2638
Programmed setpoint position r2526.5 (r2526.5) F07484 “Fixed stop outside the monitoring window“
0

Actual position to fixed stop [4025] [3616]

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

Position Tracking
value
Programmed setpoint position Fixed stop reached
Fixed stop reached p2637 Fixed stop reached
r2526.4 (r2526.4) r2683.12
M_max upper scal
M_limit eff up p1528 [5620.3]
p2634 r2686[0] [5630.3]
p2635 Torque limits
M_max lower scal
p2635 M_limit eff down p1529 [5620.3]
© Siemens AG 2012 All Rights Reserved

r2686[1] [5630.3]
Position Traversing block 2
setpoint TfS activation
Travel to fixed stop active p1545 [2520.3]
r2683.14 [8012.5]

[3616]
Position actual Traversing block 1
value
t
M_set
r2687
Fixed stop clamping torque reached
r2683.13

1 2 3 4 5 6 7 8
DO: SERVO fp_3617_98_eng.vsd Function diagram
- 3617 -
EPOS - Travel to fixed stop (r0108.4 = 1) 19.06.08 V04.04.00 SINAMICS S110
 4000.00 μs

Fig. 2-107 MDI s_set

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

Pos fixed value p2642

-2147483648...2147483647 [LU] p2690 (p2690) [3620.1]
p2690 (0)
3618 – Direct setpoint input/MDI mode, dynamic values (r0108.4 = 1)

MDI v_set
v fixed value p2643
1...2147483647 [1000 LU/min] p2691 (p2691) [3620.1]
p2691 (600)

100 %
MDI a_over
a_over fixed value p2644
0.100...100.000 [%] p2692 (p2692) [3620.1]
p2692 (100.000)

0.1 %

100 %
MDI -a_over
-a_over fixed value p2645
0.100...100.000 [%] p2693 (p2693) [3620.1]
p2693 (100.000)

0.1 %

Basic positioner (EPOS)

Function diagrams
2-871

1 2 3 4 5 6 7 8
DO: SERVO fp_3618_98_eng.vsd Function diagram
- 3618 -
EPOS - Direct setpoint input/MDI mode, dynamic values (r0108.4 = 1) 04.04.08 V04.04.00 SINAMICS S110
 Pos act/set value
1
[3635.6] p2657 x 0 4000.00 μs

Fig. 2-108
y
Controller enable Store
2-872

Basic positioner (EPOS)

Function diagrams
0
[2503.8]
MDI trans_type sel 1 = Continuous
r2678 <3>
p2649 0 = Edge
F07488
<4> (0) & "Relative positioning not possible"
3620 – Direct setpoint input/MDI mode (r0108.4 = 1)

MDI setp_accept 1
<2> p2650 <2>
0
[2475.5] (0) Acknowledgement, traversing block activated
SET r2684.12 [3646.3]
1 1
1 = Do not reject traversing block
A07486
[3616.5] p2641 "Intermediate stop missing"
& 1
RESET MDI setting-up sel
A07487
[3640.6] p2647 1 (y = 0) p2653
"Reject traversing task missing"
1 = MDI selection POWER ON
(0)
&
Accept setpoint
MDI pos_typ 1 = Setting-up
1 = Absolute
<4> p2648 0 = Relative + 0 = Positioning
(0) 0
Position
+
r2671 <3> 0
MDI s_set Start of traversing range
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

[3618.7] 1

MDI direct_sel neg End of traversing range 1

Available setting values

Valid setting values

p2652
&
(0) 1 r2672 <3>
MDI direct_sel pos 1
Velocity
p2651
(0) 1 = No intermediate stop 0
0
MDI v_set [3616.5] p2640
[3618.7] &
1 = Do not reject traversing block
© Siemens AG 2012 All Rights Reserved

MDI a_over
[3618.7] [3616.5] p2641
&
[3640.6] p2647
MDI -a over r2673 <3>
[3618.7] 1 = MDI selection
x y 1
MDI mode adapt Acceleration override
p2654 <1> r2674 <3> 100 % 0
[2440.6] (0) 1
Deceleration override
<1> If connector input p2654 is assigned a connector input <> 0, the control signals "select positioning type", "direction selection positive"
and "direction input negative" are internally supplied with values from this output. 100 %
0
Based on the value of the connector input, the following IDs are evaluated xxXx:
xx0x = absolute => p2648; xx1x = relative => p2648; xx2x = ABS_POS => p2648, p2651; xx3x = ABS_NEG => p2648, p2652. Motion variables [3630.1]
<2> Only evaluated with transfer type "edge evaluation" (BI: p2649 = 0 signal). in
<3> The connector outputs are only supplied with values from here if the "direct setpoint input MDI" mode is active. "direct setpoint input/MDI" mode
<4> For the transfer type "continuous transfer" (BI: p2649 = 1 signal), relative positioning is not permissible.

1 2 3 4 5 6 7 8
DO: SERVO fp_3620_98_eng.vsd Function diagram
- 3620 -
EPOS - Direct setpoint input/MDI mode (r0108.4 = 1) 04.04.08 V04.04.00 SINAMICS S110
 S4: Operation (run) ZSWA.00/01/02/11 = 1, ZSWA.06 = 0 [2610]
4000.00 μs

Fig. 2-109 <1> POWER ON

r2669 = 0 hex
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

Initial state
"Jog 1 src" p2589 = 1 "Start referencing" p2595 = 0/1
“Target position reached“ r2684.10 = 1 &
1 “Axis stationary“ r2199.0 = 1 "Select reference type" p2597 = 0
3625 – Mode control (r0108.4 = 1)

"Jog 2 src" p2590 = 1

"Stop referencing"
"Jog 1 src" p2589 = 0 p2595 = 0 r2669 = 2 hex
"Jog 2 src" p2590 = 0
&
r2669 = 1 hex
Ref. point approach mode
Drive at standstill [3612]
Jog mode "Do not reject traversing task" p2641 = 1
Reference point approach active:
[3610] "No intermediate stop" p2640 = 1 &
& r2684.10/11 = 0, r2199.0 = 0
r2684.10 = 0 "MDI selection" p2647 = 1
r2199.0 = 0 Ramp stop Referenced
r2684.10 = 0 / r2199.0 = 0
r2669: no change r2684.10/11 = 1, r2199.0 = 1

"Do not reject traversing task" p2641 = 1 "Traversing task The drive is ramped down with the
Reference point approach completed:
completed“ maximum deceleration rate (p2573)
"No intermediate stop" p2640 = 1 &
Direct setpoint input/MDI active
"Activate traversing task" p2631 = 0/1
"Direct setpoint input" p2647 = 0
1
"Reject traversing task" r2670.15
p2641 = 0
1
Direct setpoint input mode [3620] Positioning/setting-up, r2669 = 8 hex/10 hex

r2684.15 = 1 Traversing blocks active

r2669 = 4 hex r2684.10 = 0 / r2199.0 = 0
Traversing block "Reject traversing task"
r2684.15 = 1
mode Traversing blocks
"Intermediate Flying changeover between p2641 = 0
stop" p2640 = 0 positioning p2653 = 0 and setting-up Traversing task
[3616] "Activate traversing task"
active p2653 = 1 possible completed
r2684.10 = 0 / r2199.0 = 0 p2631 = 0/1 Ramp stop
"Intermediate stop" and 0/1 at r2684.12 Ramp stop r2684.10 = 0 / r2199.0 = 0
r2684.10 = 0 / r2199.0 = 0 "Activate traversing task"
p2640 = 0 The drive is ramped down
The drive is ramped down (p2649 = 0 and p2650 = 0/1) or
continuous transfer (p2649 = 1 and depend. on the maximum
depending on the deceleration deceleration (p2573)
Ramp stop rate of the traversing block signal off CI: p2642 (old <> new ))
r2684.10 = 0 / r2199.0 = 0 "No intermediate stop" "No intermediate stop" p2640 = 1
p2640 = 1 Drive at standstill
Ramp down the drive Drive at standstill "Do not reject traversing task" p2641 = 1

Basic positioner (EPOS)

depending on the
deceleration rate of the
"No intermediate stop" p2640 = 1 &
traversing block Intermediate stop Continuous transfer p2649 = 1 and MDI/initial state
r2199.0 = 1 r2665 <> Signal off CI: p2642 no task for MDI active

Function diagrams
1
Drive at standstill Intermediate "Activate traversing task" p2649 = 0 and p2650 = 0/1
r2684.10 = 1 / r2199.0 =1
stop r2199.0 = 1

<1> The more points exist at a transition, the higher the priority.
2-873

1 2 3 4 5 6 7 8
DO: SERVO fp_3625_98_eng.vsd Function diagram
- 3625 -
EPOS - Mode control (r0108.4 = 1) 04.04.08 V04.04.00 SINAMICS S110
 SW limSwPlus src 4000.00 μs

Fig. 2-110
SW limit switch PLUS p2579
1
2-874

Basic positioner (EPOS)

Function diagrams
-2147483648...2147483647 [LU] p2581 (p2581)
p2581 (2147483647) End of traversing range
0
SW lim sw act
p2582 A07478
3630 – Traversing range limits (r0108.4 = 1)

(0) & "Target position > software limit switch plus"

F07476
1 = Reference point set "Target position > end of traversing range"
Position
[3646.7] r2684.11 s [3635.1]
Modulo corr act
[3635.4] p2577 1 A07477
[3646.3] (0) & "Target position < software limit switch minus"
F07475
"Target position < start of traversing range"
SW limSw min src
SW limSwitch minus p2578
0
-2147483648...2147483647 [LU] p2580 (p2580)
p2580 (-2147483647) Start of traversing range v_Max
A07457 v_over 1...40000000 [1000 LU/min]
1
STOP cam act A07486 p2646 0-200 % p2571 (30000)
Velocity limiting active
A07487 (1)
<2> p2568 F07490 <1> r2683.1 [3645.3]
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

(0) F07491
Op mode act A07456 “Setpoint velocity limited“
STOP cam minus Mode F07492 Velocity
<2> p2569 r2669 v [3635.1]
(1)
manager
STOP cam minus active
STOP cam plus r2684.13 [3646.3] r2681
<2> p2570 [3625] STOP cam plus active 0
(1) r2684.14 [3646.3]

a_Max
1...2000000 [1000 LU/s2]
Motion variables of the p2572 (100)
"Jog" mode
© Siemens AG 2012 All Rights Reserved

[3610.8]
"Reference point approach" Acceleration override
[3612.8]
"Traversing blocks" Motion variables a [3635.1]
[3616.8]
"Direct setpoint input/MDI"
[3620.8] -a_Max
Initial state 1...2000000 [1000 LU/s2]
v = 0, a = 100 %, -a = 100 % [3625] p2573 (100)

Deceleration override
-a [3635.1]
<1> When the “reference point approach“ mode is active, the velocity override influences the approach velocity reference cams (p2605).
However, the approach velocity reference zero mark (p2608) and the approach velocity reference point (p2611) are not influenced.
<2> The STOP cams are low active.
When a cam responds, the drive brakes with maximum deceleration along the ramp. After the fault has been acknowledged, only
movements away from the STOP cam are permitted.

1 2 3 4 5 6 7 8
DO: SERVO fp_3630_98_eng.vsd Function diagram
- 3630 -
EPOS - Traversing range limits (r0108.4 = 1) 04.04.08 V04.04.00 SINAMICS S110
 4000.00 μs

Fig. 2-111
Jerk limit
1...100000000 [1000 LU/s3]
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

p2574 (1)
Jerk limit act A07455 “Maximum velocity limited“
p2575 1 = Jerk limiting active 0 A07473 “Beginning of the traversing range reached“
Backlash comp A07474 “End of the traversing range reached“
(0) r2684.6 [3646.3] 0 1
-200000...200000 [LU] A07479 “Software limit switch minus reached“
p2583 (0) A07480 “Software limit switch plus reached“
3635 – Interpolator (r0108.4 = 1)

Jerk activation via order in & F07481 “Axis position < software limit switch minus“
the traversing block mode F07482 “Axis position > software limit switch plus“
Backlash value
Interpolator Calculation,
r2667 [4010.5]/p2516
backlash compensation
Residual distance
a A r2682
[3630.8]
v_set
Up v
-a r2666 [4015.1]/p2531
[3630.8] Down
s
v
[3630.8] V v_set s_set
s S r2665 [4015.1]/p2530
[3630.8] Modulo corr act
RU RD
p2577 [3630.1] r2683.0 Tracking active [3645.3]
S (0) SET CORR. r2683.2 Setpoint available [3645.3]
V [3646.3] 0 1 SET VALUE VALUE r2683.3 Target position reached [3645.3]
Sel tracking mode
r2683.4 Axis moves forwards [3645.3]
p2655 0
r2683.5 Axis moves backwards [3645.3]
(1) r2683.6 Software limit switch minus reached [3645.3]
Modulo corr range [3645.3]
r2683.7 Software limit switch plus reached
1...2147483647 [LU]
r2684.4 Axis accelerating [3646.3]
EPOS enable p2576 (360000)
r2684.5 Axis decelerating [3646.3]
p2656
r2684.7 Activate correction [3646.3]
(2526.3)
r2684.15 Traversing command active [3646.3]
[4015.8]
&
Pos valid feedback
1
p2658 Corrective value
(2526.0) r2685 [4010.2]/p2513

Basic positioner (EPOS)

[4010.8]

Pos act/set value [3610.4]

Function diagrams
Pos_mode relative [3616.1]
0...1 p2657
[3620.1]
p2603 (1) [4010.8] (2521)
F( s_corr)
[3614.8]
2-875

1 2 3 4 5 6 7 8
DO: SERVO fp_3635_98_eng.vsd Function diagram
- 3635 -
EPOS - Interpolator (r0108.4 = 1) 27.11.08 V04.04.00 SINAMICS S110
 4000.00 μs

Fig. 2-112
2-876

Basic positioner (EPOS)

Function diagrams
Bit No. Control word, block selection

p2625
(0) 0 1 = Traversing block selection, bit 0
3640 – Control word block selection/MDI selection (r0108.4 = 1)

p2626
(0) 1 1 = Traversing block selection, bit 1
00 0
p2627
(0) 2 1 = Traversing block selection, bit 2 00 1
p2628 To “traversing block“ mode [3616.3]
(0) 3 1 = Traversing block selection, bit 3
11 0
p2629
(0) 4 1 = Traversing block selection, bit 4 11 1
p2630
(0) 5 1 = Traversing block selection, bit 5

6 Reserved
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

7 Reserved

8 Reserved

9 Reserved

10 Reserved
© Siemens AG 2012 All Rights Reserved

11 Reserved

12 Reserved

13 Reserved

14 Reserved

p2647
To “direct setpoint input/MDI“ mode [3620.1][3620.4]
(0) 15 1 = MDI selection
To mode control [3625.6]

1 2 3 4 5 6 7 8
DO: SERVO fp_3640_98_eng.vsd Function diagram
- 3640 -
EPOS - Control word block selection/MDI selection (r0108.4 = 1) 04.04.08 V04.04.00 SINAMICS S110
 1000.00 μs

Fig. 2-113
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

POS_ZSW1
Bit No. Status word, positioning mode 1 r2683

From interpolator [3635.7] 0 1 = Tracking mode active r2683.0 [4020.1]

3645 – Status word 1 (r0108.3 = 1, r0108.4 = 1)

From traversing range limits [3630.7] 1 1 = Velocity limiting active r2683.1

From interpolator [3635.7] 2 1 = Setpoint static r2683.2 [4020.1]/p2551

3 1 = Target position reached r2683.3

1 = Axis moves forwards

From interpolator [3635.7] 4 r2683.4
0 = Axis stand still or moves backwards

1 = Axis moves backwards

From interpolator [3635.7] 5 r2683.5
0 = Axis stand still or moves forwards

From interpolator [3635.7] 6 1 = Software limit switch minus reached r2683.6

From interpolator [3635.7] 7 1 = Software limit switch plus reached r2683.7

1 = Position actual value <= cam switching position 1

From dynamic following error monitoring, cam controllers [4025.8] 8 r2683.8
0 = Overrun cam switching position 1

1 = Position actual value <= cam switching position 2

From dynamic following error monitoring, cam controllers [4025.8] 9 r2683.9
0 = Overrun cam switching position 2

From “traversing block“ mode [3616.7] 10 1 = Direct output 1 via the traversing block r2683.10

From “traversing block“ mode [3616.7] 11 1 = Direct output 2 via the traversing block r2683.11

From “traversing block“ mode [3616.7] 12 1 = Fixed stop reached r2683.12 [4025.1]/p2553

Basic positioner (EPOS)

From “traversing block“ mode [3616.7] 13 1 = Fixed stop, clamping torque reached r2683.13

Function diagrams
From “traversing block“ mode [3616.7] 14 1 = Travel to fixed stop active r2683.14 [4025.6]/p2552

15 Reserved
2-877

1 2 3 4 5 6 7 8
DO: SERVO fp_3645_98_eng.vsd Function diagram
- 3645 -
EPOS - Status word 1 (r0108.3 = 1, r0108.4 = 1) 27.11.08 V04.04.00 SINAMICS S110
 POS_ZSW2
1000.00 μs

Fig. 2-114
Bit No. Status word, positioning mode 2 r2684
2-878

Basic positioner (EPOS)

Function diagrams
Reference point approach active
[3612.7] r2684.0 0 1 = Reference point approach active r2684.0 [4010.1]/p2508
Flying referencing
[3614.7] r2684.1 1 1 = Flying referencing active r2684.1 [4010.1]/p2509
3646 – Status word 2 (r0108.3 = 1, r0108.4 = 1)

1 2 1 = Referencing active r2684.2

From "referencing/flying referencing" mode [3614.4] 3 1 = Print mark outside the outer window r2684.3

From interpolator [3635.7] 4 1 = Axis is accelerating r2684.4

From interpolator [3635.7] 5 1 = Axis is decelerating r2684.5

From interpolator [3635.3] 6 1 = Jerk limiting active r2684.6

From interpolator [3635.7] 7 = Activate correction r2684.7 [4010.3]/p2512

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

From dynamic following error monitoring, cam controllers

8 1 = Following error within tolerance r2684.8
[4025.8]

<2> From traversing range limits [3630.3]

9 1 = Modulo correction active r2684.9
From interpolator [3635.4]

From standstill/positioning monitoring [4020.8] 10 1 = Target position reached r2684.10

From "referencing" mode [3612.7]

11 1 = Reference point set r2684.11 [3614.3] [3630.1]
From "referencing/flying referencing" mode [3614.8]
© Siemens AG 2012 All Rights Reserved

From "traversing block" mode [3616.7]

<1> From "direct setpoint input/MDI" mode [3620.8] 12 = Acknowledgement traversing block activated r2684.12

From traversing range limits [3630.3] 13 1 = STOP cam minus active r2684.13

From traversing range limits [3630.3] 14 1 = STOP cam plus active r2684.14

From interpolator [3635.7] 15 1 = Traversing command active r2684.15 [4020.1]/p2554

<1> By default, the status bit is supplied with values from the “traversing block“ mode.
However, if the “direct setpoint input/MDI“ mode is active, it is supplied with values from this mode.
<2> The signal is only effective when the drive has reached the "Ready" state.

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DO: SERVO fp_3646_98_eng.vsd Function diagram
- 3646 -
EPOS - Status word 2 (r0108.3 = 1, r0108.4 = 1) 07.10.08 V04.04.00 SINAMICS S110
 4000.00 μs

Fig. 2-115
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

ZSW act trav_block

Bit No. Status word, active traversing block r2670

0 Active traversing block, bit 0 r2670.0

3650 – Status word, active traversing block/MDI active (r0108.4 = 1)

1 Active traversing block, bit 1 r2670.1

00 0
00 1 2 Active traversing block, bit 2 r2670.2
Actual block from “traversing block“ mode
[3616.4]
3 Active traversing block, bit 3 r2670.3
11 0
11 1 4 Active traversing block, bit 4 r2670.4

5 Active traversing block, bit 5 r2670.5

6 Reserved

7 Reserved

8 Reserved

9 Reserved

10 Reserved

11 Reserved

12 Reserved

Basic positioner (EPOS)

13 Reserved

Function diagrams
14 Reserved

Mode control [3625.7] 15 1 = MDI active r2670.15

2-879

1 2 3 4 5 6 7 8
DO: SERVO fp_3650_98_eng.vsd Function diagram
- 3650 -
EPOS - Status word, active traversing block/MDI active (r0108.4 = 1) 27.10.08 V04.04.00 SINAMICS S110
 Function diagrams
Position control

2.13 Position control

Function diagrams

4010 – Position actual value preprocessing (r0108.3 = 1) 2-881

4015 – Position controller (r0108.3 = 1) 2-882

4020 – Standstill/positioning monitoring (r0108.3 = 1) 2-883

4025 – Dynamic following error monitoring, cam controllers (r0108.3 = 1) 2-884

2-880 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 1000.00 μs

Fig. 2-116
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

Enc Gn_ZSW
<5> ActVal_prep STW encoder 1
[4730.5] r0481[0]
Ref_mark act
Encoder 1 LU per 10 mm LU per load rev Mot/load motor rev r2520[0] [4720]
1...2147483647 1...2147483647 -1048576...1048576
<4> p2506[D] (10000) p2505[D] (1)
p2508[0...1] <2> p2503[D] (10000)
[3646.7]
4010 – Position actual value preprocessing (r0108.3 = 1)

(0/2684.0)
MT_eval act
Position tracking
<4>
p2509[0...1] <2>
load gearbox for
[3646.7] (0/2684.1) absolute encoder
s_act
MT_eval select Enc grid div Rot enc pulse No. [4704.4]
Mot/load motor rev r2521[1] <4>
p2510[0...1] <4> 0...250000000 [nm] 0...16777215 1...1048576
0 = Measuring probe 1 p0407[E] (16000) p0408[E] (2048) v_act
(0) p2504[D] (1)
1 = Measuring probe 2
r2522[1] <4>
MT_eval edge
p2511[0...1] <4> Measured value
0 = Rising edge
(0) r2523[1] <4>
1 = Falling edge 1 0 1 0
0 = Rotary encoder
[4704.3] p0404.0 1 = Linear encoder
Enc fine Gx_XIST1 s_act
Position offset [3635.4]
2...18 r2521[0] <4>
0 p2516[0...1] [4015.1]
p0418[0...n] (11)
(0/2667) v_act
Enc fine Gx_XIST2 ActVal_prepCorrAct 0 1
[3635.7] <4> r2522[0] <4>
2...18 p2730[0...1] <4> +
p0419[0...n] (9) <2> <2> <3> Measured value
(0)
Enc Gn_XIST1 – Encoder assignment r2523[0] [3612.1] <4>
<5> Inkr Xn +
[4704.8] r0482[0] p2502[D] (1) LU/revolution
Yn s_act
<5> LU Position difference betw. + Yn = Yn - 1 ± Xn r2524 [4015.1]
[4704.8] r0483[0] + +
2 sampling times Enc_adj offset
Enc Gn_XIST2
Load grbx abs_val + p2525[E]
[4704.8] r2723[D] 0 1 Pos act val valid
Direct MT 1 <1> 0 r2526.0 [3635.1][4015.1]
p2517[0] Abs_enc_adj stat Referencing active
Direct MT 2 0...1
r2526.1 [3612.1]
p2517[0] p2507[E] (1)
Meas val valid
ActVal_prepCorrAct Act val_prep corr s_act set setVal
<4> <4> r2526.2 [3612.1]
<1> The parameter is only relevant for absolute p2512[0...1] p2513[0...1] <2> p2515[0...1] <4>
<2>
encoders. p2598/p2599 is used to perform (0/r2684.7) (0/2685) (0)
<6>
the adjustment. The position is entered via [3646.7] [3635.7] s_act setting act

Function diagrams
p2598/p2599 [3612]. p2514[0...1] <4>

Position control
<2> When the "basic positioner" function module (r0108.4 = 1) is active, these binector/connector inputs (0)
are supplied by default with values from this module. The second value specifies this assignment. Position controller: A07454, A07495, F07453, F07493, F07494
<3> p2502 = 0: Position actual value preprocessing is not assigned to any encoder.
Encoder 1: A07587, A07596, A07581, A07593, A07590
<4> [0] for position control; [1] for encoder 1.
<5> Index [0] encoder 1.
<6> Encoder 1 = r2527.0 - 2
2-881

NOTE: SINAMICS S110 supports only one encoder. This encoder must be parameterized as encoder 1.

1 2 3 4 5 6 7 8
DO: SERVO fp_4010_98_eng.vsd Function diagram
- 4010 -
Position control - Position actual value preprocessing (r0108.3 = 1) 09.11.09 V04.04.00 SINAMICS S110
 Setpt 2 enable 1000.00 μs

Fig. 2-117
<4> p1152
[2503.7]
2-882

Position control
Function diagrams
(r0899.15)
1 = Position control active
Enable 1
p2549
& r2526.3
n_pre-ctrl factor [3635.1]
[2503.7] (r0899.2) 0.00...200.00 [%]
p2534[D] (0.00) M_prectr M_inertia
4015 – Position controller (r0108.3 = 1)

Enable 2
p2567[D]
<1> p2550 r2566
(0/1) d d M_pre-ctrl value
Pos act val valid dt dt r2564
Kp
[4010.8] r2526.0 0.000...300.000 [1000/min]
p2538[D] (1.000) 2
LU/rev LU/mm Adaptation n_pre-ctrl value
p2555 p2537 r2561
[4010.8] (r2524) (1)
s_set_filt T
0.00...1000.00 [ms] s_set after interp
p2533[D] (0.00) r2556 P
s_set
LR_output P-comp
<1> p2530 [4020.1]
[3635.7] (0/r2665) y r2558
x,y x <3>
y +
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

x Pre-control [4025.1] n_set total

v_set balancing Tn r2562
<1> p2531 + + [3080.3]
Simulation of the build-up of the
[3635.7] (0/r2666) t t pre-control speed – LR_output I-comp
r2559 -1 n_setp

p2512, r2560
p2513 <2> n_pre-ctrl filter PT1 t_sample int ctrl
p2730
Following err act 0.00...100.00 [ms]
+ p2536[D] (0.00)
r2565 Tn 1 = Position controller output limited
<2> 0.00...100000.00 [ms] r2526.6
– n_ffCtrl flt t_dead p2539[D] (0.00)
0.00...2.00
© Siemens AG 2012 All Rights Reserved

s_act
p2535[D] (0.00) LR_input sys dev
[4010.8] p2532
[4020.1] (r2521[0]) r2557
[4025.1]

LR_output lim src

LR_output limit p2541
0.000...210000.000 [rpm] p2540 (p2540)
p2540[D] (210000.000)

<1> When the "basic positioner" function module (r0108.4 = 1) is active, these binector/connector inputs are supplied by default with values from this module.
The second value specifies this assignment.
<2> For p2534 > 0 % the following applies: A deadtime of two position controller clock cycles is additionally effective.
<3> For p2534 = 0 % the following applies: Pre-control balancing is not effective.
<4> Only if the “extended brake control“ function module is active (r0108.14 = 1).

1 2 3 4 5 6 7 8
DO: SERVO fp_4015_98_eng.vsd Function diagram
- 4015 -
Position control - Position controller (r0108.3 = 1) 30.09.11 V04.04.00 SINAMICS S110
 1000.00 μs

Fig. 2-118
Standstill window
0...2147483647 [LU]
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

p2542 (200)

Sig s_set pres Standstill monitoring

p2551
<1> 1
(0/2683.2)
4020 – Standstill/positioning monitoring (r0108.3 = 1)

[3645.7] 0 F07450
"Standstill monitoring has responded"
1 = Tracking mode active
T 0
r2683.0
[3645.7]
Single evaluation
t_standstill monit during the positioning monitoring function
0.00...100000.00 [ms] Position p2544
p2543 (200.00) value

Target p2542
position

From here, the standstill

Position Position monitoring is cyclically evaluated
setpoint actual value

p2543 t
p2545

t_pos_monit
0.00...100000.00 [ms]
p2545 (1000.00)
Positioning monitoring
Sign trav_cmnd act
p2554
<1> T 0 F07451
(0/2684.15) 1 Pos_window
0...2147483647 [LU] RESET "Positioning monitoring has responded"
[3646.7] 1 Q
p2544 (40) (Q=0)
1 = Target position reached
SET
S r2684.10
s_act 1 Q
(Q=1)R Q
[4015.2] p2532 [3646.3]

Function diagrams
-
s_set + 0

Position control
[4015.1] p2530

<1> When the "basic positioner" function module (r0108.4 =1) is active, these binector inputs are supplied by default with values from this module.
The second value specifies the assignment.
2-883

1 2 3 4 5 6 7 8
DO: SERVO fp_4020_98_eng.vsd Function diagram
- 4020 -
Position control - Standstill/positioning monitoring (r0108.3 = 1) 22.04.08 V04.04.00 SINAMICS S110
 Dynamic following error monitoring 1000.00 μs

Fig. 2-119
Position setpoint after the pre-control ballancing filter
[4015.5]
n_prectrl fact s_delta_monit tol
2-884

Position control
Function diagrams
0.00...200.00 [%] Following error dyn 0...2147483647 [LU] F07452 "Following error too high"
p2534[D] (0.00) p2546 (1000)
r2563
1 1 = Following error within tolerance

p2534 >= 100 % 1

1 r2684.8
4025 – Dynamic following error monitoring, cam controllers (r0108.3 = 1)

PT1 [3646.3]
p2534 < 100 % + 0
model -
<1> Following err max
0...2147483647 [LU] Signal TfS act
s_act p2634 (1000)
p2552
[4015.1] p2532 (0/2683.14) 1 = Fixed stop reached
[3645.7][3617.6][3617.7] r2526.4
1
[3616.1][3617.6]
0
Fixed stop monit
0...2147483647 [LU]
p2635 (100)
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

Signal, fixed stop -

1
x y
p2553 1 = Fixed stop outside window
[3645.7] (0/2683.12) Store + 0 r2526.5
[3616.1][3617.6]

1 = Clamping active when traveling to fixed stop

Cam controllers
r2526.8
Cam position 1
-2147483648...2147483647 [LU] [3616.1]
p2547 (0)
© Siemens AG 2012 All Rights Reserved

s_act 1 = Position actual value <= cam switching position 1

1
[4015.1] p2532 r2683.8
0 [3645.3]
Cam position 2
-2147483648...2147483647 [LU]
p2548 (0)

1 1 = Position actual value <= cam switching position 2

r2683.9
0 [3645.3]
<1> With a pre-control factor of less than 100 % (p2534 < 100 %), the PT1 model emulates an additional time constant of the control loop subordinate to the position controller.

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DO: SERVO fp_4025_98_eng.vsd Function diagram
- 4025 -
Position control - Dynamic following error monitoring, cam controllers (r0108.3 = 1) 22.04.08 V04.04.00 SINAMICS S110
 Function diagrams
Encoder evaluation

2.14 Encoder evaluation

Function diagrams

4704 – Position and temperature sensing, encoders 1 ... 2 2-886

4710 – Speed actual value and pole position sensing, motor encoder (encoder 1) 2-887

4720 – Encoder interface, receive signals, encoders 1 ... 2 2-888

4730 – Encoder interface, send signals, encoders 1 ... 2 2-889

4735 – Reference mark search with external zero mark, encoder 1 2-890

© Siemens AG 2012 All Rights Reserved 2-885

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 Enco- Sensor <1> Configuration, absolute value encoder
Control unit Encoder pulse number
ders modules PROFIdrive sampling time

Fig. 2-120
Encoder type selection Enc Enc (number of signals periods per Abs enc. Abs enc.
0 = No encoder configuration squarewave A/B track and encoder revolution) Multiturn Singleturn Enc rot clearance NM Refer to [1020.7]
2-886

Encoder evaluation
Function diagrams
p0400[E] p0404[E] p0405[E] p0408[E] p0421[E] p0423[E] p0425[E]

Enc_interface <3> <3> <3> <3>

Comp_No. To speed
Raw position signals
p0141[E] sensing
(only from encoder 1)
4704 – Position and temperature sensing, encoders 1 ... 2

Encoder <4> Enc fine [4710.1]

Gx_XIST1 1 2
Comp_No. Invert position actual value Dir of rot
1 2
p0142[E] Incr A p0418[E] 2n p0410.1[E] p1821[D]
No. of signal
DRIVE CLiQ <2>
B A periods
u <6>
n 0 0 Enc Gn_XIST1
SMx x2 p
Raw position signals dn III 31 n n-1 0 r0483[n-1]
2n -1 -1 1
<8> A Multiplication 1 [4010.1]
B 32 bits
by hardware <5> [4710.1]
SM characteristics sin/cos Fine resolution
Free-running position [4735.6]
r0458 232 -1 (multiplication by
B 1 signal period counter hardware) [4740.6]
<10> Diag Gn_XIST1
Load gearbox, activate position tracking
p2720.0[D] 0 Dir of rot r0483[n-1]
1 signal period p1821[D] [3090.1]
<9> For SSI encoders: Absolute position information
[4711.1]
0 Sequence control <9> <2> <7> <9>
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

0 Load grbx abs_val

1 r2723[n-1]
Enc fine -1 1
Gx_XIST2 [4010.1]
p0419[E] & To thermal motor monitoring
p2721[D] Reference mark position
and [4735.7] ˽ from sensor n [8016.1]
Cyclic absolute
position value p2504[D]/p2505[D] Absolute value Dir of rot
n
x2 p1821[D]
(only for absolute value encoders,
e.g. EQN) Encoder error Error code
<2> <7>
processing Enc Gn_XIST2
0
Measuring probe position r0483[n-1]
© Siemens AG 2012 All Rights Reserved

-1 1
[4710.1]
Function selection Encoder status bits
[4730.1]
Encoder n Bit 14-15 Bit 0-13 to Gn_ZSW

Enc Gn_STW F31100 … A32999

Encoder control word
[4720.4] r0487[n-1] encoder faults/alarms
Enc Gn_ZSW r0979[0...25]
<2> Encoder status word
Measuring probe positions [4730.5] r0481[n-1] Encoder format acc. to PROFIdrive
<1> For rotary encoders = pulse number setting. [4740.7]
<7> The contents of r0483/r2723 are determined by the encoder
For resolvers = pole pair number setting. <3> For "EnDat encoders", these parameters are read out automatically. status word/control word. Refer to [4720] and [4730].
<2> Assignment of the indices: Index [n-1] --> Encoder n <4> For SIMODRIVE-compatible functions: Set p0418 = 11. <8> Interface EnDat or SSI.
Index [0] --> Encoder 1 <5> Generating the two's complement. <9> Only of significance when the "Position control“ function
Index [1] --> Encoder 2 <6> Gn_XIST1 is a free-running position value. The external control must process the overflows. module is activated (r0108.3 = 1) and with encoder 1.
NOTE: SINAMICS S110 supports only one encoder. This encoder may be parameterized as encoder 1 or encoder 2. <10> Updated in each DRIVE-CLiQ basic cycle.

1 2 3 4 5 6 7 8
DO: SERVO fp_4704_98_eng.vsd Function diagram
- 4704 -
Encoder evaluation - Position and speed sensing, encoders 1 … 2 03.07.08 V04.04.00 SINAMICS S110
 250.00 μs

Fig. 2-121
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

Inv encoder actual value

4710 – Speed actual value and pole position sensing, motor encoder (encoder 1)

<1> p0410.0[E]
Enc commut_factor
1 encoder revolution r0451
0 Pole pos el norm
C
r0093
Pole position sensing -1 1
p0432[E], p0433[E] Inv encoder actual value
D p0410.0[E]

Zero mark
0 Transformat_angle
r0094
-1 1

C,D n_act smooth

n_act T_smooth
Gearbox enc Inv enc. act. val. Dir rev rot field 0.00...20.00 ms r0021
100 ms
p0432[E] p0410.0[E] p1821[D] p1441[D] (0.00)

Diag G1_XIST1[4704.8] Fine resolution up dx 0 0

A,B x y 0 n_act smooth
r0479[0] for the speed dt
actual value
-1 1 -1 1 r0063
dn III
Raw position 1
signals from Smoothing
encoder 1
Gearbox mot
p0433[E] n_act unsmoothed To brake control [2701.1]
n_act measurement r0061 To extended brake control [2704.1]
To speed controller [5040.2]
To Kp_n and Tn_n_adaptation [5050.1]
To change over the control type [5060.2]
n_act calculation To speed controller [5210.5]
To torque limits [5620.6] To power limiting [5640.1]
To speed messages/signals [8010.1]

1 = Sensorless operation active

[2522.6] r1407.1

Encoder evaluation
Function diagrams
(refer to p1300 [5060])

<1> Ratio between the electrical and mechanical pole position (= motor pole pair number).
2-887

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DO: SERVO fp_4710_98_eng.vsd Function diagram
- 4710 -
Encoder evaluation - Speed actual value and pole pos. sensing, motor encoder (encoder 1) 16.07.09 V04.04.00 SINAMICS S110
 PROFIdrive bit
<1> <5> <1> PROFIdrive sampling time

Fig. 2-122 p0480[n-1] Enc Gn_STW Refer to [1020.7]

2-888

Encoder evaluation
Function diagrams
To the position sensing, encoder n
(0)0 Bit No. Control word for encoder n (n = 1 or 2) r0487[n-1]
[4704.3]

Selects the function to be activated (with bit value = 1) <1> Index [n-1] --> encoder n
Index [0] --> encoder 1
Function for bit 7 = 0 Function for bit 7 = 1 Index [1] --> encoder 2
Function No.
4720 – Encoder interface, receive signals, encoders 1 ... 2

(search for reference mark) (flying measurement)

<2> Actual position values are read out from Gn.XIST2 using a handshake procedure.
0 1 Reference mark 1 Measuring probe 1
e.g.: Read position value(s) at reference mark(s)
1. Set r0487.[0-2] according to the function to be activated.
1 2 Reference mark 2 Measuring probe 1 2. Set r0487.4 (activate function)
3. Reset all bits from r0487.[0-2] to 0.
4. r0481[0-2] must be active depending on the activated function.
2 3 Reference mark 3 Measuring probe 2 5. Overtravel zero mark(s) until all bits in r0481.[0-2] are reset to 0.
6. Select r0487.[0-2] individually and activate with r0487.5 until r0481.[4-7] is equal
to 1 and read out the position values in r0483.
3 4 Reference mark 4 Measuring probe 2
7. Reset all bits, starting with r0487.5 followed by r0487.[0-2].
Bits 0...13 control what is transferred
Start/stop/read selected function in Gn_XIST 2. Select function 1 [Bit 3...0]
0001
4 ("search for reference mark 1")
0 1 0 1 There are 3 alternatives:
Start function [Bit 6...4] 000 001 000
- Bit 7 = 0: Position actual value at
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

5 0 0 1 1 the reference mark <2> Function active [Gn_ZSW Bit 0]

- Bit 7 = 1: Position actual value when
the measuring probe Actual value save at the
6 0 0 0 0 edge is received <2> reference mark
- Bit 13 = 1:Cyclic absolute position
Interrupt function value from absolute Read generated value [Bit 6...4] 000 010
Read generated value encoder
Activate selected function Value from function 1 available
No function [Gn_ZSW Bit 4]
Mode of the function to be activated
7 1 = flying measurement Position actual value at reference
0 = Search for reference mark (zero mark or BERO) mark 1 in Gn_XIST2
© Siemens AG 2012 All Rights Reserved

8...12 Reserved part <3> The bits are processed with the following priority sequence (highest priority -->
lowest priority bit): Bit 14 --> Bit 15 --> Bit 4-7 --> Bit 12 --> Bit 13.
1 = Request cyclic transfer of the absolute position value in
<4> The checkback signal is provided in Gn_ZSW bit 14, but the encoder is not
13 Gn_XIST2
actually parked.
(e.g. EQN absolute track; acknowledgment in Gn_ZSW bit 13)
<5> If the "position module" function module (r0108.3 = 1) is activated, the
14 1 = Request parking encoder (handshake with Gn_ZSW bit 14) <4> interconnection is established via r2520[0]...[2] from [4010.8].
If a standard telegram (PROFIdrive) is selected, the interconnection is performed
= acknowledge encoder fault (located in Gn_ZSW, bit 15; according to the specifications of the standard telegrams [2420].
15
Handshake with Gn_ZSW bit 11)

<3>

NOTE: SINAMICS S110 supports only one encoder. This encoder may be parameterized as encoder 1 or encoder 2.

1 2 3 4 5 6 7 8
DO: SERVO fp_4720_98_eng.vsd Function diagram
- 4720 -
Encoder evaluation - Encoder interface, receive signals, encoders 1 ... 2 16.07.09 V04.04.00 SINAMICS S110
 PROFIdrive bit
PROFIdrive sampling time

Fig. 2-123 Enc Gn_ZSW Refer to [1020.7]

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

Encoder status bits

to the sequence control for Gn_XIST2
from the position sensing, encoder n Bit No. Status word from encoder n (n = 1, 2 or 3) r0481[n-1]
[4704.5]
[4704.8]
<1>
Feedback signal of the active function (1 = function active)
Bit 0
4730 – Encoder interface, send signals, encoders 1 ... 2

Function For reference number and flying

No. measurement
Bit 1
1 reference mark 1 or measuring probe 1

2 reference mark 2 or measuring probe 1

Bit 2
3 reference mark 3 or measuring probe 2

Bit 3 4 reference mark 4 or measuring probe 2

Bit 4 1 = Position actual value from function 1

Bit 5 1 = Position actual value from function 2 Generated value Position value 2 from encoder n
in Gn_XIST2
(and can be The contents of position actual value 2 (Gn_XIST2) at [4704] depends on Gn_STW and Gn_ZSW.
Bit 6 1 = Position actual value from function 3 read) This can be done as follows:

- Undefined for a parking encoder (Gn_ZSW.14 = 1).

Bit 7 1 = Position actual value from function 4 - For Gn_ZSW.15 = 1 the fault code for encoder faults is located here.
- Position actual value at the reference mark (for Gn_STW.7 = 0 and Gn_ZSW.4-7 > 0; with handshake).
- Position actual value due to flying measurement (for Gn_STW.7 = 1 and Gn_ZSW.4.7 > 0; with handshake).
Bit 8 1 = Measuring probe 1 deflected (high signal) - Cyclic absolute position value (free-running value, e.g. from the EQN absolute track (for Gn_ZSW.13 = 1).
From the measuring probe
evaluation
[4740.4]
Bit 9 1 = Measuring probe 2 deflected (high signal)

Bit 10 Reserved

Bit 11 1 = Acknowledge encoder fault active

Bit 12 Reserved (for reference point offset)

Encoder evaluation
Bit 13 Absolute value is cyclically transferred

Function diagrams
Bit 14 Parking encoder active (i.e. the encoder is not operational)
<1> Index [n-1] --> encoder n
Index [0] --> encoder 1
Bit 15 Encoder fault, the fault is in Gn_XIST2 (r0483) NOTE:
Index [1] --> encoder 2
SINAMICS S110 supports only one encoder. This encoder may be parameterized as encoder 1 or encoder 2.
2-889

1 2 3 4 5 6 7 8
DO: SERVO fp_4730_98_eng.vsd Function diagram
- 4730 -
Encoder evaluation - Encoder interface, send signals, encoders 1 ... 2 03.03.08 V04.04.00 SINAMICS S110
 Reference mark search STW Activate selected function PROFIdrive sampling time

Fig. 2-124
Gn_STW [4720]
Select the function to be activated Position actual value 1 Refer to [1020.7]
2-890

Encoder evaluation
Function diagrams
r0487[n-1].0 [4704.8]
Store
r0487[n-1].4 r0483[n-1]
&
r0487[n-1].7 1
<3>
4735 – Reference mark search with external zero mark, encoder 1

No equivalent zero mark

(evaluate the encoder zero mark for encoder n) D
D memory
element Q

Zero mark input

0...7 <1>
p0495[n-1] (0) Measured-value memory
p0490.9 Reference mark
<4> position to the
Gn_XIST2
"Fast inputs" x y encoder interface
for function No. = 1
DI9_probe 0
0 & Store [4704.4]

(X132.2) 1
[2030.4] 1 1 2

p0490.10 3
4
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3

5
DI10_probe 0
(X132.3) 6
[2031.4] 1 1 7

From the p0490.11

digital
inputs/
outputs DI11_probe 0
(X132.4)
[2031.4] 1 1
© Siemens AG 2012 All Rights Reserved

p0490.8

DI8_probe 0
<1> The measured value memory is read out using a handshaking technique according to [4720], [4730].
(X132.1)
[2030.4] 1 1
<2> Index [n-1] --> encoder n (n = 1, 2, 3)
Index [0] --> encoder 1
Index [1] --> encoder 2
NOTE: SINAMICS S110 supports only one encoder. This encoder may be parameterized
as encoder 1 or encoder 2.
<3> All other bits in the encoder control word must be 0.
<4> Increasing position actual values (r0482) --> The 0/1 edge is evaluated.
Decreasing position actual values (r0482) --> The 1/0 edge is evaluated.
This means that the same reference point is always used when traversing to an equivalent zero mark.

1 2 3 4 5 6 7 8
DO: SERVO fp_4735_98_eng.vsd Function diagram
- 4735 -
Encoder evaluation - Reference mark search with equivalent zero mark, encoder 1 17.07.09 V04.04.00 SINAMICS S110
 STW for encoder n Activate selected function Selecting the function to be activated
Gn_STW [4720] PROFIdrive sampling time

Fig. 2-125
Measuring probe evaluation
r0487[n-1].0 Position actual value 1 Refer to [1020.7]
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

r0487[n-1].1 from encoder n

r0487[n-1].2 [4704.8]
r0487[n-1].3 Store r0483[n-1]
r0487[n-1].4
&
r0487[n-1].7
4740 – Probe evaluation, measured value memory, encoders 1 ... 2

<3> D memory D D D D
(no measuring probe for encoder n) element Q Q Q Q
0
p0490.8
"Fast inputs"
0 Measuring probe 1 input
0...7
DI8_probe 0 <1>
p0488[n-1] (0)
(X132.1) 7 4 measured value memory
[2030.4] 1 1
Gn_XIST2
p0490.9 x y
0 for function No. = 1
1
& Store

DI9_probe 0 2
(X132.2) 1 3
[2030.4] 1 1
From the 4
digital p0490.10 5 Gn_XIST2
inputs/ x y
for function No. = 2
outputs 6 & Store Measuring
7 probes
DI10_probe 0
positions to
(X132.3) 2 Measuring probe 1 deflected the encoder
[2031.4] 1 1 to Gn_ZSW8 [4730.2] interface
[4704.3]
p0490.11 Measuring probe 2 input
0...7 Gn_XIST2
x y
p0489[n-1] (0) for function No. = 3
0
& Store
DI11_probe
(X132.4) 3
[2031.4] 1 1
x=
0
1
2
Gn_XIST2
3 x y
for function No. = 4
4
& Store

Encoder evaluation
Function diagrams
Up to 4 measuring functions can be simultneously active; the measured value
6 memory is read out using a handshaking technique according to [4720], [4730].
7 Index [n-1] --> encoder n (n = 1, 2)
Index [0] --> encoder 1
Index [1] --> encoder 2
Measuring probe 1 deflected
<3> All other bits of the encoder control word must be 0.
to Gn_ZSW9 [4730.2]
NOTE: SINAMICS S110 supports only one encoder. This encoder may be parameterized as encoder 1 or encoder 2.
2-891

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DO: SERVO fp_4740_98_eng.vsd Function diagram
- 4740 -
Encoder evaluation - Measuring probe evaluation, measured value memory, encoders 1 ... 2 17.07.09 V04.04.00 SINAMICS S110
 Function diagrams
Servo control

2.15 Servo control

Function diagrams

5020 – Speed setpoint filter and speed pre-control 2-893

5030 – Reference model/pre-control balancing/speed limitation 2-894

5040 – Speed controller with encoder 2-895

5042 – Speed controller, torque/speed pre-control with encoder (p1402.4 = 1) 2-896

5050 – Kp_n-/Tn_n adaptation 2-897

5060 – Torque setpoint, control type changeover 2-898

5210 – Speed controller without encoder 2-899

5300 – U/f control for diagnostics 2-900

5301 – Signaling function variable 2-901

5490 – Speed control configuration 2-902

5610 – Torque limiting/reduction/interpolator 2-903

5620 – Motoring/generating torque limit 2-904

5630 – Upper/lower torque limit 2-905

5640 – Mode changeover, power/current limiting 2-906

5650 – Vdc_max controller and Vdc_min controller 2-907

5710 – Current setpoint filter 2-908

5714 – Iq and Id controller 2-909

5722 – Field current/flux input, flux reduction, flux controller 2-910

5730 – Interface to the Motor Module (gating signals, current actual values) 2-911

2-892 © Siemens AG 2012 All Rights Reserved

SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
 n before setpoint filter
n_set smth
Speed setpoint from function generator 250.00 μs

Fig. 2-126
100 ms r0020
SINAMICS S110 List Manual (LH7), 06/2012, 6SL3097-4AP10-0BP3
© Siemens AG 2012 All Rights Reserved

n_set before filt p1414.0[D]

r0060 [2701.1]
n_ctrl setp sum
+ Setpoint filter <5>
0 n_set after filt
<6> r1170
+ p1416[D] r0062
5020 – Speed setpoint filter and speed pre-control

[3080.8] + +
1 + +
To
y speed controller
[5210.1]
x y and to
reference model
t
[5030.1]

PT1 low pass

<1> Low-pass, 2nd order: fn_n
Detailed representation at [1024]. p1417[D]
D_n n after setpoint filter
<2> General 2nd-order filter:
p1418[D] from function generator
Detailed representation at [1024].
<3> Only for encoder: p1415[D]
p1400.10 = 1 is recommended if a torque pre-control signal is also
connected at [5060] in addition to the speed pre-control signal.
<4> The interpolator is only effective for clock-cycle synchronous |y| 0
PROFIdrive operation and sign-of-life received from the master x D y 1
(STW2.12 ... STW2.15).
<5> For a 1/0 edge from control command STW2.8 "travel to fixed 2
fn
stop" [2444] the output of all filters is set to the input value for an f
instantaneous response to a change of the speed setpoint sign. PT2 low pass <1>
<6> The value is displayed correctly only with r0899.2 = 1 (Operation
enabled).
fn_z D_z
p1419[D] p1420[D]

y
Speed pre-control signal
x y [5490.7]
1 = Speed pre-control
[5490.7] f for balancing
1 = Interpolation 2nd Order Filter <2> From the speed control
Speed controller pre-control active configuration
From speed control configuration p1400.10
p1400.7 fn_n D_n
p1417[D] p1418[D]
x,y x
n_prectrl y 0

Function diagrams
1 x y
<3> p1430[C] n_prectrl_2
[3090.8] (0) [5030.1]
1 <3>

Servo control
0 t
Interpolator
<4> Monitoring F07421 "Speed setpoint filter natural frequency > Shannon frequency"
2-893

1 2 3 4 5 6 7 8
DO: SERVO fp_5020_98_eng.vsd Function diagram
- 5020 -
Servo control - Speed setpoint filter and speed pre-control 26.07.10 V04.04.00 SINAMICS S110
 From setpoint limiting [3050.8] n_limit pos eff
250.00 μs

Fig. 2-127
[3095.7] r1084
2-894

Servo control
Function diagrams
n_set after filter n_ctrl n_set
r0062 r1438
+ +