SINAMICS S110 Drive functions

SINAMICS S110

Function Manual · 10/2008

SINAMICS
s
 Preface

General information for

1
______________
commissioning

Commissioning preparations
2
______________
for PROFIBUS
SINAMICS Commissioning with
3
______________
PROFIBUS

S110 Commissioning with

4
SINAMICS S110 Drive functions ______________
CANopen

5
______________
Diagnostics
Function Manual
Parameterizing using the
______________
6
BOP20 (Basic Operator
Panel 20)

7
______________
Drive functions

8
______________
Safety Integrated Functions

Communication
9
______________
PROFIBUS DP

Basic information about the

10
______________
drive system

11
______________
Appendix

Valid for: Firmware version FW4.1

10/2008
6SL3097-4AB10-0BP0
Legal information
Warning notice system
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.

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

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

CAUTION
with a safety alert symbol, indicates that minor personal injury can result if proper precautions are not taken.

CAUTION
without a safety alert symbol, indicates that property damage can result if proper precautions are not taken.

NOTICE
indicates that an unintended result or situation can occur if the corresponding information is not taken into
account.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will
be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to
property damage.
Qualified Personnel
The device/system may only be set up and used in conjunction with this documentation. Commissioning and
operation of a device/system may only be performed by qualified personnel. Within the context of the safety notes
in this documentation qualified persons are defined as persons who are authorized to commission, ground and
label devices, systems and circuits in accordance with established safety practices and standards.
Proper use of Siemens products
Note the following:

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

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

Siemens AG Ordernumber: 6SL3097-4AB10-0BP0 Copyright © Siemens AG 2008.

Industry Sector Ⓟ 12/2008 Technical data subject to change
Postfach 48 48
90026 NÜRNBERG
GERMANY
Preface

Foreword

SINAMICS Documentation
The SINAMICS documentation is organized in 2 parts:
● General documentation / catalogs
● Manufacturer/service documentation
At http://www.siemens.com/motioncontrol/docu information is available on the following
topics:
● Ordering documentation
Here you will find the current overview of publications
● Downloading documentation
Links to more information for downloading files from Service & Support
● Researching documentation online
Information on DOConCD and direct access to the publications in DOConWeb.
● Individually compiling documentation on the basis of Siemens contents with the My
Documentation Manager (MDM), refer to
http://www.siemens.com/mdm
The My Documentation Manager offers you a number of features for compiling your own
machine documenation
● Training and FAQs
Information on the range of training courses and FAQs (frequently asked questions) are
available via the page navigation.

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Function Manual, 10/2008, 6SL3097-4AB10-0BP0 5
Preface

Usage phases and the available tools/documents

Table 1 Usage phase and the available tools / documents

Usage phase Tools/documents

Orientation SINAMICS S Sales Documentation
Planning/configuration SIZER engineering tool
Configuration Manuals, Motors
Decision making / SINAMICS S Catalogs
ordering
Installation / assembly • SINAMICS S110 Equipment Manual
Commissioning • STARTER parameterization and commissioning tool
• SINAMICS S110 Getting Started
• SINAMICS S110 Function Manual Drive Functions
• SINAMICS S110 List Manual
Usage / operation • SINAMICS S110 Function Manual Drive Functions
• SINAMICS S110 List Manual
Maintenance/servicing • SINAMICS S110 Function Manual Drive Functions
• SINAMICS S110 List Manual

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

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 executed in the
drive system. This does not, however, represent an obligation to supply such functions
with a new control or when servicing.
● Functions can be described in the documentation that are not available in a particular
product version of the drive system. The functionality of the supplied drive system should
only be taken from the ordering documentation.
● Extensions or changes made by the machine manufacturer must be documented by the
machine manufacturer.
For reasons of clarity, this documentation does not contain all of the detailed information on
all of the product types. This documentation cannot take into consideration every
conceivable type of installation, operation and service/maintenance.

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6 Function Manual, 10/2008, 6SL3097-4AB10-0BP0
 Preface

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

Technical Support
If you have any questions, please contact our hotline:

Europe/Africa
Telephone +49 180 5050 - 222
Fax +49 180 5050 - 223
0.14 €/min. from German landlines, mobile phone prices may differ)
Internet http://www.siemens.de/automation/support-request

America
Telephone +1 423 262 2522
Fax +1 423 262 2200
E-mail mailto:[email protected]

Asia/Pacific
Telephone +86 1064 757575
Fax +86 1064 747474
E-mail mailto:[email protected]

Note
You will find telephone numbers for other countries for technical support in the Internet:
http://www.automation.siemens.com/partner

Spare parts
You can find spare parts on the Internet at:
http://support.automation.siemens.com/WW/view/de/16612315

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Function Manual, 10/2008, 6SL3097-4AB10-0BP0 7
Preface

Questions about the documentation

If you have any questions (suggestions, corrections) regarding this technical documentation,
please fax or e-mail us at:

Fax +49 9131 98 2176

E-mail mailto:[email protected]
A fax form is at the end of this document.

Internet address for SINAMICS

http://www.siemens.com/sinamics.

EC Declarations of Conformity
The EC Declaration of Conformity for the EMC Directive can be found/obtained:
● in the Internet:
http://support.automation.siemens.com
under the Product/Order No. 15257461
● at the responsible regional office of the I DT MC Business Unit of Siemens AG
The EC Declaration of Conformity for the Low-Voltage Directive can be found/obtained
● in the Internet:
http://support.automation.siemens.com
under the Product/Order No. 22383669

Note
When operated in dry areas, SINAMICS S devices conform to the Low Voltage Directive
73/23/EEC or 2006/95/EEC.

Note
SINAMICS S devices fulfill EMC Directive 89/336/EEC or 2004/108/EEC in the configuration
specified in the associated EC Declaration of Conformity and when the EMC installation
guideline is implemented, Order No. 6FC5297-0AD30-0⃞P⃞.

Note
The Equipment Manual describes a desired state which, if maintained, ensures reliable
operation as desired and compliance with EMC limit values.
Should there be a deviation from the Manual requirements, appropriate actions (e.g.
measurements) must be taken to check/prove that the desired reliable operation is ensured
and EMC limit values are complied with.

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 Preface

ESD information

CAUTION
Electrostatic sensitive devices (ESD) are single components, integrated circuits or devices
that can be damaged by electrostatic fields or electrostatic discharges.
Regulations for handling ESD components:
When handling components, make sure that personnel, workplaces, and packaging are
well earthed.
Personnel may only come into contact with electronic components, if
• They are grounded with an ESD wrist band, or
• They are in ESD areas with conductive flooring, ESD shoes or ESD grounding straps.
Electronic boards should only be touched if absolutely necessary. They must only be
handled on the front panel or, in the case of printed circuit boards, at the edge.
Electronic boards must not come into contact with plastics or items of clothing containing
synthetic fibers.
Boards must only be placed on conductive surfaces (work surfaces with ESD surface,
conductive ESD foam, ESD packing bag, ESD transport container).
Do not place boards near display units, monitors, or television sets (minimum distance from
screen: 10 cm).
Measurements must only be taken on boards when the measuring instrument is grounded
(via protective conductors, for example) or the measuring probe is briefly discharged before
measurements are taken with an isolated measuring device (for example, touching a bare
metal housing).

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Function Manual, 10/2008, 6SL3097-4AB10-0BP0 9
Preface

Safety information

DANGER
Commissioning must not start until you have ensured that the machine, in which the
components described here are installed, complies with the Machinery Directive 98/37/EC.
Only appropriately qualified personnel may mount/install, commission and service the
SINAMICS S units.
The personnel must take into account the information provided in the technical customer
documentation for the product, and be familiar with and observe the specified danger and
warning notices.
Operational electrical equipment and motors have parts and components which are at
hazardous voltage levels, that if touched, can result in severe bodily injury or death.
All work on the electrical system must be carried out when the system has been
disconnected from the power supply.
In combination with the drive system, the motors are generally approved for operation on
TN and TT systems with grounded neutral and on IT systems.
In operation on IT systems, the occurrence of a first fault between an active part and
ground must be signaled by a monitoring device. In accordance with IEC 60364-4-41 it is
recommended that the first fault should be eliminated as quickly as practically possible.
In networks with a grounded external conductor, an isolating transformer with grounded
neutral (secondary side) must be connected between the supply and the drive system to
protect the motor insulation from excessive stress. The majority of TT systems have a
grounded external conductor, so in this case an isolating transformer must be used.

DANGER
Correct and safe operation of SINAMICS S drive units assumes correct transportation in
the transportation packaging, correct long-term storage in the transport packaging, setup
and installation, as well as careful operation and maintenance.
The details in the Catalogs and proposals also apply to the design of special equipment
versions.
In addition to the danger and warning information provided in the technical customer
documentation, the applicable national, local, and system-specific regulations and
requirements must be taken into account.
To ensure compliance with EN 61800-5-1 and UL 508, only safety extra-low voltages from
the electronics modules may be connected to connections and terminals.

DANGER
Using protection against direct contact via DVC A (PELV) is only permissible in areas with
equipotential bonding and in dry rooms indoors. If these conditions are not fulfilled, then
other protective measures against electric shock must be used (e.g. protection using
protective impedances or limited voltage or using protective classes I and II).

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10 Function Manual, 10/2008, 6SL3097-4AB10-0BP0
 Preface

DANGER
Electrical, magnetic and electromagnetic fields (EMF) that occur during operation can pose
a danger to persons who are present in the direct vicinity of the product - especially
persons with pacemakers, implants, or similar devices.
The relevant directives and standards must be observed by the machine/plant operators
and persons present in the vicinity of the product. These are, for example, EMF Directive
2004/40/EEC and standards EN 12198-1 and -3 pertinent to the European Economic Area
(EEA), as well as accident prevention code BGV 11 and the associated rule BGR 11
"Electromagnetic fields" of the German employer's liability accident insurance association.
These state that a hazard analysis must drawn up for every workplace, from which
measures for reducing dangers and their impact on persons are derived and applied, and
exposure and danger zones are defined and observed.
The relevant safety notes in each chapter must be observed.

DANGER
As part of routine tests, SINAMICS S components will undergo a voltage test in accordance
with EN 61800-5-1. Before the voltage test is performed on the electrical equipment of
machines acc. to EN 60204-1, Section 19.4, all connectors of SINAMICS S equipment must
be disconnected/unplugged to prevent the equipment from being damaged.
Motors should be connected up in accordance with the circuit diagram supplied with the
motor (refer to the connection examples for Power Modules). They must not be connected
directly to the three-phase supply because this will damage them.

WARNING
Operating the equipment in the immediate vicinity (< 1.8 m) of mobile telephones with a
transmitter power of > 1 W may cause the equipment to malfunction.

Explanation of symbols
The symbols are in accordance with IEC 617-2.

Table 2 Symbols

Symbol Meaning

Protective earth (PE)

Ground (e.g. M 24 V)

Functional ground
Equipotential bonding

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Preface

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Table of contents

Preface ...................................................................................................................................................... 5
1 General information for commissioning.................................................................................................... 21
1.1 The STARTER user interface ......................................................................................................21
1.2 BICO interconnection procedure in STARTER............................................................................22
1.3 Notes on the commissioning of a 2-pole resolver as absolute encoder ......................................32
1.4 Temperature sensors for SINAMICS components ......................................................................33
2 Commissioning preparations for PROFIBUS ........................................................................................... 37
2.1 Requirements for commissioning.................................................................................................37
2.2 PROFIBUS components ..............................................................................................................40
2.3 Connection via serial interface.....................................................................................................41
2.4 DRIVE-CLiQ interface for CU305 ................................................................................................42
2.5 Powering-up/powering-down the drive system ............................................................................43
3 Commissioning with PROFIBUS.............................................................................................................. 47
3.1 Sequence of operations during commissioning ...........................................................................47
3.1.1 Safety guidelines..........................................................................................................................47
3.2 STARTER commissioning tool.....................................................................................................48
3.2.1 Important STARTER functions.....................................................................................................48
3.2.2 Activating online operation: STARTER via PROFIBUS...............................................................51
3.3 Basic Operator Panel 20 (BOP20)...............................................................................................52
3.3.1 Important functions via BOP20 ....................................................................................................53
3.4 Creating a project in STARTER ...................................................................................................54
3.4.1 Creating a project offline ..............................................................................................................54
3.4.2 Searching for a drive unit online ..................................................................................................56
3.4.3 Searching for nodes that can be accessed..................................................................................58
3.5 Example of first commissioning with STARTER ..........................................................................58
3.5.1 Task .............................................................................................................................................59
3.5.2 Commissioning with Starter (example) ........................................................................................60
3.6 Initial commissioning: Servo AC DRIVE with BOP20 as an example..........................................61
3.6.1 Task .............................................................................................................................................61
3.6.2 Component wiring (example) .......................................................................................................62
3.6.3 Quick commissioning using the BOP (example)..........................................................................63

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Table of contents

4 Commissioning with CANopen ................................................................................................................ 65

4.1 Requirements for commissioning................................................................................................ 65
4.1.1 Pre-requisites for commissioning the CANopen interface .......................................................... 65
4.1.2 Previous knowledge .................................................................................................................... 65
4.1.3 Prerequisites for commissioning CU305 with CANopen............................................................. 66
4.1.4 CAN bus on the CU305............................................................................................................... 67
4.1.5 CAN bus interface X126.............................................................................................................. 68
4.1.6 CANopen functionality CU305 CAN............................................................................................ 69
4.1.7 Diagnostics LED "COM".............................................................................................................. 70
4.2 Commissioning............................................................................................................................ 70
4.2.1 Procedure when commissioning the drive for the first time ........................................................ 70
4.2.2 CANopen object directory ........................................................................................................... 71
4.2.3 Commissioning options ............................................................................................................... 72
4.2.4 Configuring the drive unit with STARTER (overview) ................................................................. 73
4.2.5 Searching for the drive unit ONLINE........................................................................................... 74
4.2.6 Configuring a drive unit ............................................................................................................... 75
4.2.7 CAN settings ............................................................................................................................... 81
4.2.7.1 Monitoring.................................................................................................................................... 81
4.2.8 Loading the project to the drive unit............................................................................................ 82
4.3 Configuring COB-IDs and process data objects ......................................................................... 83
4.3.1 Configuring COB-IDs and process data...................................................................................... 83
4.4 Interconnecting process data ...................................................................................................... 83
4.4.1 Interconnecting process data ...................................................................................................... 83
4.5 Loading and managing projects ONLINE ................................................................................... 84
4.5.1 Load the projects from the drive unit to the PC/PG in ONLINE mode and save them ............... 84
5 Diagnostics .............................................................................................................................................. 85
5.1 Diagnostics via LEDs .................................................................................................................. 85
5.1.1 LEDs when the Control Unit is booted ........................................................................................ 85
5.1.2 LEDs after the Control Unit CU305 has booted .......................................................................... 86
5.1.3 Sensor Module Cabinet SMC10 / SMC20 .................................................................................. 88
5.1.4 SMC30 Sensor Module Cabinet ................................................................................................. 89
5.2 Diagnostics via STARTER .......................................................................................................... 90
5.2.1 Function generator ...................................................................................................................... 90
5.2.2 Trace function ............................................................................................................................. 94
5.2.3 Measuring function...................................................................................................................... 96
5.2.4 Measuring sockets ...................................................................................................................... 98
5.3 Fault and alarm messages........................................................................................................ 102
5.3.1 General information about faults and alarms ............................................................................ 102
5.3.2 Buffer for faults and alarms ....................................................................................................... 103
5.3.3 Configuring messages .............................................................................................................. 106
5.3.4 Parameters and function diagrams for faults and alarms ......................................................... 108
5.3.5 Forwarding of faults and alarms................................................................................................ 109
6 Parameterizing using the BOP20........................................................................................................... 111
6.1 General information about the BOP20...................................................................................... 111
6.2 Displays and using the BOP20 ................................................................................................. 113
6.3 Fault and alarm displays ........................................................................................................... 117
6.4 Controlling the drive using the BOP20...................................................................................... 118

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 Table of contents

7 Drive functions....................................................................................................................................... 119

7.1 Servo control ..............................................................................................................................119
7.1.1 Speed controller .........................................................................................................................119
7.1.2 Speed setpoint filter ...................................................................................................................120
7.1.3 Speed controller adaptation .......................................................................................................121
7.1.4 Torque-controlled operation.......................................................................................................123
7.1.5 Torque setpoint limitation...........................................................................................................126
7.1.6 Current controller .......................................................................................................................130
7.1.7 Current setpoint filter..................................................................................................................132
7.1.7.1 Description .................................................................................................................................132
7.1.7.2 Integration ..................................................................................................................................138
7.1.8 Note about the electronic motor model......................................................................................138
7.1.9 V/f control for diagnostics...........................................................................................................139
7.1.10 Optimizing the current and speed controller ..............................................................................142
7.1.11 Sensorless operation (without an encoder) ...............................................................................143
7.1.12 Motor data identification.............................................................................................................147
7.1.12.1 Motor data identification.............................................................................................................147
7.1.12.2 Motor data identification - induction motor.................................................................................150
7.1.12.3 Motor data identification - synchronous motor...........................................................................152
7.1.13 Pole position identification .........................................................................................................155
7.1.14 Vdc control .................................................................................................................................159
7.1.15 Dynamic Servo Control (DSC) ...................................................................................................162
7.1.16 Travel to fixed stop.....................................................................................................................165
7.1.17 Vertical axes...............................................................................................................................170
7.1.18 Variable signaling function .........................................................................................................171
7.2 Basic functions ...........................................................................................................................173
7.2.1 Changing over units ...................................................................................................................173
7.2.2 Reference parameters/normalizations.......................................................................................175
7.2.3 Automatic restart........................................................................................................................177
7.2.4 Armature short-circuit brake, DC brake .....................................................................................179
7.2.5 OFF3 torque limits .....................................................................................................................183
7.2.6 Simple brake control ..................................................................................................................184
7.2.6.1 Description .................................................................................................................................184
7.2.7 Runtime (operating hours counter) ............................................................................................186
7.2.8 Parking axis and parking encoder .............................................................................................187
7.2.8.1 Description .................................................................................................................................187
7.2.8.2 Example: parking axis and parking sensor ................................................................................189
7.2.9 Updating the firmware................................................................................................................190
7.2.9.1 Upgrading firmware and the project in STARTER .....................................................................190
7.2.10 Changing the direction of rotation without changing the setpoint ..............................................192
7.3 Function modules.......................................................................................................................193
7.3.1 Function modules - Definition and commissioning ....................................................................193
7.3.2 Technology controller.................................................................................................................194
7.3.2.1 Features .....................................................................................................................................194
7.3.2.2 Description .................................................................................................................................194
7.3.2.3 Integration ..................................................................................................................................197
7.3.2.4 Commissioning with STARTER .................................................................................................198
7.3.3 Extended monitoring functions...................................................................................................199
7.3.3.1 Description .................................................................................................................................199
7.3.3.2 Integration ..................................................................................................................................200
7.3.3.3 Commissioning...........................................................................................................................201
7.3.4 Extended brake control ..............................................................................................................202
7.3.4.1 Features .....................................................................................................................................202
7.3.4.2 Integration ..................................................................................................................................202

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7.3.4.3 Description ................................................................................................................................ 204

7.3.4.4 Examples................................................................................................................................... 204
7.3.4.5 Commissioning.......................................................................................................................... 206
7.3.5 Closed-loop position control...................................................................................................... 207
7.3.5.1 General features ....................................................................................................................... 207
7.3.5.2 Position actual value conditioning............................................................................................. 207
7.3.5.3 Position controller...................................................................................................................... 216
7.3.5.4 Monitoring functions .................................................................................................................. 217
7.3.5.5 Measuring probe evaluation and reference mark search ......................................................... 220
7.3.5.6 Integration ................................................................................................................................. 221
7.3.6 Basic Positioner ........................................................................................................................ 222
7.3.6.1 Mechanical system.................................................................................................................... 224
7.3.6.2 Limits ......................................................................................................................................... 226
7.3.6.3 Referencing............................................................................................................................... 231
7.3.6.4 Traversing blocks ...................................................................................................................... 238
7.3.6.5 Travel to fixed stop.................................................................................................................... 244
7.3.6.6 Direct setpoint input (MDI) ........................................................................................................ 247
7.3.6.7 Jog............................................................................................................................................. 250
7.3.6.8 Status signals............................................................................................................................ 251
7.3.7 Extended setpoint channel........................................................................................................ 253
7.3.7.1 Activation of the "extended setpoint channel" function module ................................................ 253
7.3.7.2 Description ................................................................................................................................ 254
7.3.7.3 Jog............................................................................................................................................. 255
7.3.7.4 Fixed speed setpoints ............................................................................................................... 259
7.3.7.5 Motorized potentiometer ........................................................................................................... 260
7.3.7.6 Main/supplementary setpoint and setpoint modification ........................................................... 262
7.3.7.7 Direction limitation and setpoint inversion................................................................................. 263
7.3.7.8 Suppression bandwidths and setpoint limits ............................................................................. 264
7.3.7.9 Ramp-function generator .......................................................................................................... 266
8 Safety Integrated Functions ................................................................................................................... 271
8.1 Standards and regulations ........................................................................................................ 271
8.1.1 General information................................................................................................................... 271
8.1.1.1 Aims .......................................................................................................................................... 271
8.1.1.2 Functional safety ....................................................................................................................... 272
8.1.2 Safety of machinery in Europe.................................................................................................. 272
8.1.2.1 Machinery Directive (98/37/EC) ................................................................................................ 273
8.1.2.2 Harmonized European Standards............................................................................................. 273
8.1.2.3 Standards for implementing safety-related controllers ............................................................. 275
8.1.2.4 EN ISO 13849-1 (previously EN 954-1).................................................................................... 277
8.1.2.5 EN 62061 .................................................................................................................................. 278
8.1.2.6 Series of standards EN 61508 (VDE 0803) .............................................................................. 280
8.1.2.7 Risk analysis/assessment ......................................................................................................... 280
8.1.2.8 Risk reduction ........................................................................................................................... 282
8.1.2.9 Residual risk.............................................................................................................................. 282
8.1.3 Machine safety in the USA........................................................................................................ 282
8.1.3.1 Minimum requirements of the OSHA ........................................................................................ 283
8.1.3.2 NRTL listing............................................................................................................................... 283
8.1.3.3 NFPA 79.................................................................................................................................... 284
8.1.3.4 ANSI B11................................................................................................................................... 284
8.1.4 Machine safety in Japan ........................................................................................................... 285
8.1.5 Equipment regulations .............................................................................................................. 285
8.1.6 Other safety-related issues ....................................................................................................... 286
8.1.6.1 Information sheets issued by the Employer's Liability Insurance Association .......................... 286
8.1.6.2 Additional references ................................................................................................................ 286

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8.2 General information about SINAMICS Safety Integrated ..........................................................287

8.2.1 Supported functions ...................................................................................................................287
8.2.2 Parameter, Checksum, Version, Password ...............................................................................288
8.3 System features .........................................................................................................................291
8.3.1 Certification ................................................................................................................................291
8.3.2 Safety instructions......................................................................................................................291
8.3.3 Probability of failure of the safety functions (PFH value)...........................................................294
8.3.4 Response times .........................................................................................................................295
8.3.5 Residual risk...............................................................................................................................296
8.4 Basic Functions..........................................................................................................................298
8.4.1 Safe Torque Off (STO)...............................................................................................................298
8.4.2 Safe Stop 1 (SS1, time controlled) ............................................................................................301
8.4.3 Safe Brake Control (SBC)..........................................................................................................302
8.4.4 Safety faults ...............................................................................................................................304
8.4.5 Forced checking procedure .......................................................................................................306
8.5 Extended Functions ...................................................................................................................307
8.5.1 Safe Stop 1 (SS1, time and acceleration controlled) .................................................................307
8.5.2 Safe Stop 2 (SS2) ......................................................................................................................310
8.5.3 Safe Operating Stop (SOS) .......................................................................................................312
8.5.4 Safely Limited Speed (SLS).......................................................................................................313
8.5.5 Safe Speed Monitor (SSM) ........................................................................................................316
8.5.6 Safe Acceleration Monitor (SBR) ...............................................................................................318
8.5.7 Safety faults ...............................................................................................................................320
8.5.8 Message buffer ..........................................................................................................................324
8.5.9 Safe actual value acquisition .....................................................................................................326
8.5.10 Forced dormant error detection .................................................................................................329
8.6 Controlling the safety functions..................................................................................................331
8.6.1 Overview of F-DI/F-DOs and of their structure ..........................................................................331
8.6.2 Control of the Basic Functions via a safe input terminal pair.....................................................332
8.6.2.1 Control via terminals on the Control Unit and the power unit ....................................................332
8.6.3 Control of the Safety Integrated Extended Functions using safe input terminals......................332
8.6.4 Overview of the F-DOs ..............................................................................................................337
8.6.5 Control by way of PROFIsafe ....................................................................................................339
8.7 Commissioning...........................................................................................................................342
8.7.1 Safety Integrated firmware versions ..........................................................................................342
8.7.2 General commissioning information ..........................................................................................343
8.7.2.1 Introduction ................................................................................................................................343
8.7.2.2 Setting the sampling times.........................................................................................................344
8.7.3 Commissioning the safety terminals by means of STARTER/SCOUT......................................345
8.7.3.1 Basic sequence of commissioning.............................................................................................345
8.7.3.2 Configuration start screen..........................................................................................................346
8.7.3.3 Configuration of the safety terminals .........................................................................................347
8.7.3.4 F-DI/F-DO configuration.............................................................................................................348
8.7.3.5 Control interface.........................................................................................................................350
8.7.4 Commissioning PROFIsafe via PROFIBUS ..............................................................................351
8.7.5 Information pertaining to component replacements...................................................................355
8.7.6 Information pertaining to series commissioning.........................................................................355
8.8 Application examples .................................................................................................................356
8.8.1 Input/output interconnections for a safety switching device with CU305...................................356
8.8.2 Interconnection of F-DO with redundant contactors with positively driven auxiliary
contacts......................................................................................................................................358

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Table of contents

8.9 Acceptance test and acceptance report.................................................................................... 359

8.9.1 General information................................................................................................................... 359
8.9.2 Safety logbook .......................................................................................................................... 364
8.9.3 Acceptance report ..................................................................................................................... 365
8.9.3.1 Plant description - Documentation part 1.................................................................................. 365
8.9.3.2 Description of safety functions - Documentation Part 2............................................................ 366
8.9.4 Acceptance tests....................................................................................................................... 368
8.9.4.1 Acceptance test for Safe Torque Off (STO).............................................................................. 368
8.9.4.2 Acceptance test for Safe Stop 1, time controlled (SS1)............................................................ 370
8.9.4.3 Acceptance test for "Safe Brake Control" (SBC) ...................................................................... 371
8.9.4.4 Acceptance test for Safe Stop 1, time and acceleration controlled .......................................... 373
8.9.4.5 Acceptance test for Safe Stop 2 (SS2) ..................................................................................... 375
8.9.4.6 Acceptance test for Safe Operating Stop (SOS) ...................................................................... 377
8.9.4.7 Acceptance test for Safely Limited Speed (SLS)...................................................................... 379
8.9.4.8 Acceptance test for Safe Speed Monitor (SSM) ....................................................................... 380
8.9.5 Completion of certificate............................................................................................................ 382
9 Communication PROFIBUS DP............................................................................................................. 383
9.1 Communication according to PROFIdrive................................................................................. 383
9.1.1 General information about PROFIdrive for SINAMICS............................................................. 383
9.1.2 Application classes.................................................................................................................... 384
9.1.3 Cyclic communication ............................................................................................................... 388
9.1.3.1 Telegrams and process data .................................................................................................... 388
9.1.3.2 Description of control words and setpoints ............................................................................... 392
9.1.3.3 Description of status words and actual values.......................................................................... 404
9.1.3.4 Control and status words for encoder ....................................................................................... 417
9.1.3.5 Example 2: Flying measurement .............................................................................................. 421
9.1.3.6 Central control and status words .............................................................................................. 428
9.1.3.7 Motion Control with PROFIdrive ............................................................................................... 434
9.1.4 Acyclic communication.............................................................................................................. 437
9.1.4.1 General information about acyclic communication ................................................................... 437
9.1.4.2 Structure of orders and responses............................................................................................ 439
9.1.4.3 Determining the drive object numbers ...................................................................................... 444
9.1.4.4 Example 1: read parameters..................................................................................................... 445
9.1.4.5 Example 2: write parameters (multi-parameter request) .......................................................... 447
9.2 Communication via PROFIBUS DP .......................................................................................... 450
9.2.1 General information about PROFIBUS ..................................................................................... 450
9.2.1.1 General information about PROFIBUS for SINAMICS ............................................................. 450
9.2.2 Commissioning PROFIBUS ...................................................................................................... 452
9.2.2.1 General information about commissioning................................................................................ 452
9.2.2.2 Commissioning procedure ........................................................................................................ 455
9.2.2.3 Diagnostics options ................................................................................................................... 455
9.2.2.4 SIMATIC HMI addressing ......................................................................................................... 455
9.2.2.5 Monitoring: telegram failure....................................................................................................... 457
9.2.3 Motion Control with PROFIBUS................................................................................................ 458

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18 Function Manual, 10/2008, 6SL3097-4AB10-0BP0
 Table of contents

10 Basic information about the drive system .............................................................................................. 463

10.1 Parameter ..................................................................................................................................463
10.2 Data sets ....................................................................................................................................466
10.2.1 CDS: Command Data Set..........................................................................................................466
10.2.2 DDS: Drive Data Set ..................................................................................................................467
10.2.3 EDS: Encoder Data Set .............................................................................................................468
10.2.4 MDS: Motor Data Set.................................................................................................................468
10.2.5 Integration ..................................................................................................................................469
10.2.6 Using data sets ..........................................................................................................................470
10.3 Working with the memory card ..................................................................................................472
10.3.1 Functions of the memory card ...................................................................................................472
10.4 BICO technology: Interconnecting signals.................................................................................475
10.4.1 Description .................................................................................................................................475
10.4.2 Binectors, connectors ................................................................................................................476
10.4.3 Interconnecting signals using BICO technology ........................................................................477
10.4.4 Internal encoding of the binector/connector output parameters ................................................478
10.4.5 Sample interconnections............................................................................................................478
10.4.6 BICO technology:.......................................................................................................................479
10.4.7 Scaling .......................................................................................................................................480
10.5 Inputs/outputs.............................................................................................................................481
10.5.1 Overview of inputs/outputs.........................................................................................................481
10.5.2 Digital inputs/outputs..................................................................................................................482
10.5.3 Analog Input ...............................................................................................................................485
10.6 System sampling times ..............................................................................................................486
10.7 Licensing ....................................................................................................................................487
11 Appendix................................................................................................................................................ 491
11.1 List of abbreviations ...................................................................................................................491
Index...................................................................................................................................................... 505

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Table of contents

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20 Function Manual, 10/2008, 6SL3097-4AB10-0BP0
General information for commissioning 1
1.1 The STARTER user interface
You can use STARTER to create the sample project. The different areas of the user
interface are used for different configuration tasks (refer to diagram below):
● Project navigator (area ①): this area displays the elements and objects that can be
added to your project.
● Working area (area ②): you create the project in this area:
– When you are configuring the drive, this area contains the Wizards that help you
configure the drive objects.
– You can configure the parameters for the speed setpoint filter, for example.
– When you call up the expert list, the system displays a list of all the parameters that
you can view or change.
● Detail view (area ③): this area contains detailed information on faults and alarms, for
example.

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Function Manual, 10/2008, 6SL3097-4AB10-0BP0 21
General information for commissioning
1.2 BICO interconnection procedure in STARTER

Figure 1-1 The different areas of the STARTER user interface

1.2 BICO interconnection procedure in STARTER

Introduction
Parameterization can be carried out via the following means:
● Expert list
● Graphical screen interface
The steps described below explain the BICO interconnection procedure in STARTER.

Expert list
When carrying out BICO interconnection via the expert list, proceed as follows:
You want to interconnect parameter p0840 of the control word with r parameter r2090[0], for
example.

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 General information for commissioning
1.2 BICO interconnection procedure in STARTER

1. In the project navigator, call up the expert list as follows: Drive_1 > right-click > Expert >
Expert list.
2. Search for parameter p0840.

Figure 1-2 Interconnect 1

3. Click the pushbutton to interconnect with an r parameter.

4. A list from which you can select the available r parameters is now displayed.

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Function Manual, 10/2008, 6SL3097-4AB10-0BP0 23
General information for commissioning
1.2 BICO interconnection procedure in STARTER

5. Search for parameter p2090.

Figure 1-3 Interconnect 2

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24 Function Manual, 10/2008, 6SL3097-4AB10-0BP0
 General information for commissioning
1.2 BICO interconnection procedure in STARTER

6. Click the "+" sign to open the 16 bits of r parameter r2090.

Figure 1-4 Interconnect 3

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Function Manual, 10/2008, 6SL3097-4AB10-0BP0 25
General information for commissioning
1.2 BICO interconnection procedure in STARTER

7. Double-click r2090: Bit0.

Figure 1-5 Interconnect 4

8. In the expert list, you can now see that p0840 has been interconnected with r parameter
r2090[0].

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26 Function Manual, 10/2008, 6SL3097-4AB10-0BP0
 General information for commissioning
1.2 BICO interconnection procedure in STARTER

Figure 1-6 Interconnect 5

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Function Manual, 10/2008, 6SL3097-4AB10-0BP0 27
General information for commissioning
1.2 BICO interconnection procedure in STARTER

Graphical screen interface

When carrying out BICO interconnection via the graphical screen interface, proceed as
follows:
For the set velocity, which is a 32-bit data type, you want to interconnect p parameter
p1155[0] for "Speed setpoint 1" with r parameter r2060[1], for example.
1. In the project navigator under Drive_1 > Open-loop/closed-loop control, double-click the
selection Setpoint addition.

Figure 1-7 Interconnection via graphical screen interface 2

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28 Function Manual, 10/2008, 6SL3097-4AB10-0BP0
 General information for commissioning
1.2 BICO interconnection procedure in STARTER

2. Click the blue field to the left of the field for Speed setpoint 1 and then double-click the
selection Further interconnections, which is now displayed.

Figure 1-8 Interconnection via graphical screen interface 3

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Function Manual, 10/2008, 6SL3097-4AB10-0BP0 29
General information for commissioning
1.2 BICO interconnection procedure in STARTER

3. A list from which you can select the available r parameters is now displayed.

Figure 1-9 Interconnection via graphical screen interface 4

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 General information for commissioning
1.2 BICO interconnection procedure in STARTER

4. Double-click r2060: Bit1.

Figure 1-10 Interconnection via graphical screen interface 5

5. In the graphical screen interface, you can now see that p1155 has been interconnected
with r parameter r2060[1].

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Function Manual, 10/2008, 6SL3097-4AB10-0BP0 31
General information for commissioning
1.3 Notes on the commissioning of a 2-pole resolver as absolute encoder

1.3 Notes on the commissioning of a 2-pole resolver as absolute encoder

Description
2-pole (1 pole pair) resolvers can be used as singleturn absolute encoders. The absolute
encoder actual position value is provided in Gn_XIST2 (r483[x]).

Actual position value format

The factory setting for the fine resolution of Gn_XIST1 differs from the fine resolution in
Gn_XIST2 (p0418=11, p0419=9). For this reason, there can be slight displacement of the
encoder position after switching the drive unit off/on.
Therefore, when using a 2-pole resolver as an absolute encoder, we recommend that the
fine resolution for Gn_XIST1 (p0418) be set to the same as the fine resolution for Gn_XIST2
(p0419), e.g. p0418=p0419=11.
2-pole resolvers are automatically entered in the PROFIdrive profile (r0979) as singleturn
absolute encoders.

Position tracking
The position tracking can also be activated for a 2-pole resolver. Note that when switched
off, the resolver may not be moved more than half an encoder revolution (pole width). The
activation and configuration of the position tracking is described in the chapter "Position
tracking".

EPOS - absolute encoder adjustment

If the 2-pole resolver is used as an absolute encoder for basic positioning (EPOS), the
absolute encoder adjustment must be performed:
● via STARTER (Basic positioner -> Referencing) or
● via the expert list.
To do this, the reference point coordinate p2599 is set to the value corresponding to the
mechanical system and the adjustment requested with p2507=2.
The data is then saved by copying from RAM to ROM.

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32 Function Manual, 10/2008, 6SL3097-4AB10-0BP0
 General information for commissioning
1.4 Temperature sensors for SINAMICS components

1.4 Temperature sensors for SINAMICS components

The following table provides an overview of the components which are available in
SINAMICS S110 with temperature sensor connections.

Table 1- 1 Temperature sensor connections for SINAMICS components

Module Interface Pin Signal name Technical specifications

SMC10/SMC20 X520 (sub D) 13 +Temp Temperature sensor
25 - Temp KTY84/130 / PTC

SMC30 X520 (sub D) 1 +Temp Temperature sensor

Temperature 8 - Temp KTY84/130 / PTC / bimetallic-
channel 2 element switch with NC contact
X531 (terminal) 3 - Temp Temperature sensor
Temperature 4 +Temp KTY84/130 / PTC / bimetallic-
channel 1 element switch with NC contact
CU305 X133 (terminal) 7 + Temp Motor temperature measurement
Temperature KTY84/130 (KTY+)
channel 1 Temperature sensor connection
KTY84/130 / PTC
8 M (- Temp) Ground for KTY or PTC
CU305 X23 (sub D) 1 +Temp Temperature sensor
8 - Temp KTY84/130 / PTC / bimetallic-
element switch with NC contact
1) Cable for connection to direct measurement systems: Order number 6FXx002-2CB54-xxxx

Commissioning information
The index [0..n] used in the following identifies either the motor data set or the encoder data
set.

SMC10/SMC20
The parameterization of the motor temperature evaluation via the sub D socket X520 can be
performed using the Starter screen (signals and monitoring \ Motor temperature).

SMC30
In addition to temperature evaluation via terminal X531 (temperature channel 1), this module
also has temperature evaluation at SUB-D socket X520 (temperature channel 2).
At the default setting (p0600 = 1 "Temperature via encoder 1" and p0601 = 20 "KTY") the
temperature is analyzed using the first temperature channel. The temperature sensor is
connected to terminal X531 on the SMC30. The temperature is shown via r0035.

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Function Manual, 10/2008, 6SL3097-4AB10-0BP0 33
General information for commissioning
1.4 Temperature sensors for SINAMICS components

The parameterization of the motor temperature evaluation via the sub D socket X520 must
be performed in the expert list as follows:
● p0600[0..n]: Selection of the encoder (1 or 2) to which the SMC30, that is used for the
temperature evaluation, is assigned (n = motor data set).
● p0601[0..n] = 10 (evaluation via several temperature channels), n = motor data set.
● p4601[0..n]: Select the temperature sensor type for temperature channel 2 (depends on
encoder data set n, not motor data set).
For multiple temperature channels (use of temperature channels 1 and 2 on SMC30),
parameter r0035 shows the maximum temperature.
Example:
A KTY temperature sensor is connected at the sub D socket X520 on the SMC30 of Encoder
1.
This is parameterized via:
● p0600[0..n] = 1 / p0601[0..n] = 10 / p4601[0..n] = 20
Both temperature channels (X520 and X531) can be used at the same time. In addition to
the above parameterization, the sensor type of the temperature sensor connected at terminal
X531 must be entered in p4600[0..n]. The maximum value is then generated for the motor
temperature and displayed in r0035.
SME20
Parameterization of the evaluation of KTY and PTC temperature sensors, connected at
connector X100, can be performed using the STARTER screen (\Signals and monitoring \
Motor temperature).

CU305
A temperature sensor can also be connected to this module using terminal X133 or sub D
socket X23.
The parameterization of the motor temperature evaluation via the sub D socket X23 or
terminal X133 can be performed using the Starter screen (\Signals and monitoring \ Motor
temperature).
It is not possible to use both temperature channels (X23 and X133) at the same time. Both
channels are connected with each other. The sensors would be connected in parallel and the
temperature display would show the wrong value.

Faults and alarms

F07011 drive: Motor overtemperature
KTY sensor:
The motor temperature has exceeded the fault threshold (p0605) or the timer stage (p0606)
after the alarm threshold was exceeded (p0604) has expired.
This results in the reaction parameterized in p0610.
PTC sensor:
The response threshold of 1650 Ohm was exceeded and the timer stage (p0606) has
expired.
This results in the reaction parameterized in p0610.
If an SME Module is used (p0601 = 10), parameter r0949 displays the number of the sensor
channel that has triggered the message.

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34 Function Manual, 10/2008, 6SL3097-4AB10-0BP0
 General information for commissioning
1.4 Temperature sensors for SINAMICS components

A07015 drive: Motor temperature sensor alarm

An error was detected when evaluating the temperature sensor set in p0600 and p0601.
When the fault occurs, the time is started in p0607. If the fault is still present after this time
has expired, then fault F07016 is output; however, at the earliest, 1 s after alarm A07015.
If an SME Module is used (p0601 = 10), parameter r2124 displays the number of the sensor
channel that has triggered the message.

F07016 drive: Motor temperature sensor fault

An error was detected when evaluating the temperature sensor set in p0600 and p0601.
If alarm A07015 is present, the time in p0607 is started. If the fault is still present after this
time has expired, then fault F07016 is output; however, at the earliest, 1 s after alarm
A07015.
If an SME Module is used (p0601 = 10), parameter r0949 displays the number of the sensor
channel that has triggered the message.

Function diagrams (see SINAMICS S110 List Manual)

● 8016 Signals and monitoring - Thermal monitoring of motor

Overview of important parameters (see SINAMICS S110 List Manual)

● r0035 Motor temperature
● p0600[0..n] Motor temperature sensor for monitoring
● p0601[0..n] Motor temperature sensor type
● p0604[0...n] Motor overtemperature alarm threshold
● p0605[0...n] Motor overtemperature fault threshold
● p0606[0...n] Motor overtemperature timer stage
● p0607[0...n] Temperature sensor fault timer stage
● p0610[0...n] Motor overtemperature reaction
● p460x[0...n] Motor temperature sensor (x+1) sensor type, x = 0..3

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Function Manual, 10/2008, 6SL3097-4AB10-0BP0 35
General information for commissioning
1.4 Temperature sensors for SINAMICS components

Drive functions
36 Function Manual, 10/2008, 6SL3097-4AB10-0BP0
Commissioning preparations for PROFIBUS 2
Before you start commissioning, you will need to carry out the preparations described in this
chapter:
● Requirements for commissioning
● PROFIBUS components

2.1 Requirements for commissioning

The basic requirements for commissioning a SINAMICS S110 drive system are as follows:
● STARTER commissioning tool
● PROFIBUS interface
● Wired drive line-up (see Equipment Manual)
The following diagram shows an overview of an example configuration with blocksize
components.

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Function Manual, 10/2008, 6SL3097-4AB10-0BP0 37
Commissioning preparations for PROFIBUS
2.1 Requirements for commissioning

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Drive functions
38 Function Manual, 10/2008, 6SL3097-4AB10-0BP0
 Commissioning preparations for PROFIBUS
2.1 Requirements for commissioning

Check list for commissioning blocksize power units

The following checklist must be carefully observed. The safety information in the Manuals
must be read and understood before starting work.

Table 2- 1 Check list for commissioning blocksize

Check O. K.
Are the ambient conditions in the permitted range (see Equipment Manual)?
Is the component firmly attached to the fixing points provided?
Can the cooling air flow unobstructed?
Have the ventilation clearances for the components been observed?
Are all necessary components of the configured drive line-up installed and available?
Have the DRIVE-CLiQ limitations for CU305 been observed?
Have the line-side and motor-side power cables been dimensioned and routed in
accordance with the ambient and routing conditions?
Have the maximum permissible cable lengths between the frequency converter and
the motor (depending on the type of cables used) been observed?
Have the cables been properly connected with the correct torque to the component
terminals?
Have the cables for the motor and low-voltage switchgear been connected with the
required torques?
Has all wiring work been successfully completed?
Are all connectors correctly plugged in and screwed in place?
Have all the screws been tightened to the specified torque?
Are the shield connections installed correctly?

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Function Manual, 10/2008, 6SL3097-4AB10-0BP0 39
Commissioning preparations for PROFIBUS
2.2 PROFIBUS components

2.2 PROFIBUS components

We recommend the following components for communication via PROFIBUS:
1. Communication modules if PG/PC interface via the PROFIBUS interface
– CP5511 (PROFIBUS connection via PCMCIA card in notebook as programming
device)
The PROFIBUS card CP5511 allows a maximum of 10 slave connections.
For larger projects (many CUs) with several drive units and thus with more than 10
PROFIBUS slaves, problems may occur with the notebook when going online with
STARTER.
Remedy: Replace interface card CP5511 with a CP5512 interface card or via menu
item "Select target system/target devices..." only select the drive units that you
actually want to work with.
– CP5512 (PROFIBUS connection via CARDBUS)
Configuration: PCMCIA type 2 card + adapter with 9-pin SUB-D socket for connection
to PROFIBUS.
For MS Windows 2000/XP Professional and PCMCIA 32 only
Order No.: 6GK1551-2AA00
– CP5611 A2 (PROFIBUS connection via short PCI card)
Configuration: Short PCI card with 9-pin SUB-D socket for connection to PROFIBUS.
Not for Windows 95/98SE
Order No.: 6GK1561-1AA01
– CP5613 A2 (PROFIBUS connection via short PCI card)
Configuration: Short PCI card with 9-pin SUB-D socket for connection to PROFIBUS.
Order No.: 6GK1561-3AA01
2. Connection cable
– between: CP 5xxx <--> PROFIBUS
Order No.: 6ES7901-4BD00-0XA0
– MPI cable (SIMATIC S7)
Order No.: 6ES7901-0BF00-0AA0

Cable lengths

Table 2- 2 Permissible PROFIBUS cable lengths

Baud rate [bit/s] Max. cable length [m]

9.6 k to 187.5 k 1000
500 k 400
1.5 M 200
3 to 12 M 100

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40 Function Manual, 10/2008, 6SL3097-4AB10-0BP0
 Commissioning preparations for PROFIBUS
2.3 Connection via serial interface

2.3 Connection via serial interface

Prerequisite
There must be a serial interface (COM) on the PC from which the connection is to be made.

Settings
1. In the STARTER, go to Project > Set PG/PC interface and select the Serial cable (PPI)
interface.
If this interface is not in the selection list, you will first have to add it using Select.

Note
If the interface cannot be added to the selection menu, the driver for the serial interface
has to be installed.
This is located under the following path on the STARTER CD:
\installation\starter\starter\Disk1\SerialCable_PPI\
The STARTER must not be active while the driver is being installed.

2. Enter the following settings. The "0" address and the transmission rate (e.g. 19.2 kbit/s)
are important here.

Figure 2-2 Setting the interface

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Function Manual, 10/2008, 6SL3097-4AB10-0BP0 41
Commissioning preparations for PROFIBUS
2.4 DRIVE-CLiQ interface for CU305

3. The Control Unit's PPI address is pre-set to "3" in the factory.

4. Also set the bus address to "3" during set-up, or under "properties" in the drive unit
context menu.

Figure 2-3 Setting the bus address

5. A null modem cable must be used to connect the PC (COM interface) to the Control Unit.
This interface must not be switched.

2.4 DRIVE-CLiQ interface for CU305

The CU305 has a DRIVE-CLiQ interface. You may connect exactly one of the following
components to this interface:
● SMI motor
● 1 encoder of type SMC10, SMC20, SMC30, SME20 or SME25
Further components or connections to the DRIVE-CLiQ interface are not permitted and lead
to errors in the drive system.

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42 Function Manual, 10/2008, 6SL3097-4AB10-0BP0
 Commissioning preparations for PROFIBUS
2.5 Powering-up/powering-down the drive system

2.5 Powering-up/powering-down the drive system

Powering-up the drive

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Figure 2-4 Powering-up the drive

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Function Manual, 10/2008, 6SL3097-4AB10-0BP0 43
Commissioning preparations for PROFIBUS
2.5 Powering-up/powering-down the drive system

Off responses
● OFF1
– n_set = 0 is input immediately to brake the drive along the deceleration ramp (p1121).
– When zero speed is detected, the motor holding brake (if parameterized) is closed
(p1215). The pulses are suppressed when the brake application time (p1217) expires.
Zero speed is detected when the actual speed drops below the speed threshold
(p1226) or once the monitoring time (p1227) started when speed setpoint ≤ speed
threshold (p1226) has expired.
● OFF2
– Immediate pulse suppression, the drive coasts to a standstill.
– The motor holding brake (if parameterized) is closed immediately.
– Switching on inhibited is activated.
● OFF3
– n_set = 0 is input immediately to brake the drive along the OFF3 deceleration ramp
(p1135).
– When zero speed is detected, the motor holding brake (if parameterized) is closed.
The pulses are suppressed when the brake application time (p1217) expires. Zero
speed is detected when the actual speed drops below the speed threshold (p1226) or
once the monitoring time (p1227) started when speed setpoint ≤ speed threshold
(p1226) has expired.
– Switching on inhibited is activated.

Control and status messages

Table 2- 3 Power-on/power-off control

Signal name Internal control word Binector input PROFdrive/Siemens

telegram 1 ... 111
0 = OFF1 STWA.00 p0840 ON/OFF1 STW1.0
STWAE.00
0 = OFF2 STWA.01 p0844 1. OFF2 STW1.1
STWAE.01 p0845 2. OFF2
0 = OFF3 STWA.02 p0848 1. OFF3 STW1.2
p0849 2. OFF3
Enable operation STWA.03 p0852 Enable operation STW1.3
STWAE.03

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44 Function Manual, 10/2008, 6SL3097-4AB10-0BP0
 Commissioning preparations for PROFIBUS
2.5 Powering-up/powering-down the drive system

Table 2- 4 Switch-in/switch-out status signal

Signal name Internal status word Parameter PROFdrive/Siemens

telegram 1 ... 111
Ready to start ZSWA.00 r0899.0 ZSW1.0
ZSWAE.00
Ready for operation ZSWA.01 r0899.1 ZSW1.1
ZSWAE.01
Operation enabled ZSWA.02 r0899.2 ZSW1.2
ZSWAE.02
Switching on inhibited ZSWA.06 r0899.6 ZSW1.6
ZSWAE.06
Pulses enabled ZSWA.11 r0899.11 ZSW1.11 1)
1) Only Siemens telegrams 102 and 103

Function diagrams (see SINAMICS S110 List Manual)

● 2610 Sequence control - sequencer
● 2634 Missing enable signals, line contactor control

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Function Manual, 10/2008, 6SL3097-4AB10-0BP0 45
Commissioning preparations for PROFIBUS
2.5 Powering-up/powering-down the drive system

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46 Function Manual, 10/2008, 6SL3097-4AB10-0BP0
Commissioning with PROFIBUS 3
3.1 Sequence of operations during commissioning
Once the basic requirements have been met, you may proceed as follows to commission the
drive:

Table 3- 1 Commissioning

Step Activity
1 Create project with STARTER.
2 Configure the drive unit in STARTER.
3 Save the project in STARTER.
4 Go online with the target device in STARTER.
5 Load the project to the target device.
6 The motor starts to run.

Note
If motors with a DRIVE-CLiQ interface are used, all motor and encoder data should be saved
in a non-volatile manner for spare part usage of the Sensor Module on the motor via p4692 =
1.

3.1.1 Safety guidelines

DANGER
A hazardous voltage will be present in all components for a further five minutes after the
system has been shutdown.
Note the information on the component!

CAUTION
A project with Safety Integrated may not be created offline.

Note
The design guidelines and safety information in the Manuals must be carefully observed
(refer to the SINAMICS S documentation, Equipment Manual).

CAUTION
In STARTER, after the changeover of the axis type via p9302/p9502 and subsequent
POWER ON, the units that depend on the axis type are only updated after a project upload.

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Function Manual, 10/2008, 6SL3097-4AB10-0BP0 47
Commissioning with PROFIBUS
3.2 STARTER commissioning tool

3.2 STARTER commissioning tool

Brief description
STARTER is used for commissioning drive units in the MICROMASTER and SINAMICS
product ranges.
STARTER can be used for the following:
● Commissioning
● Testing (via the control panel)
● Drive optimization
● Diagnostics

System prerequisites
The system requirements for STARTER can be found in the "Readme" file in the STARTER
installation directory.

3.2.1 Important STARTER functions

Description
STARTER supports the following tools for managing the project:
● Copy RAM to ROM
● Download to target device
● Load to PG/PC
● Restoring the factory settings
● Commissioning wizard
● Displaying toolbars

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48 Function Manual, 10/2008, 6SL3097-4AB10-0BP0
 Commissioning with PROFIBUS
3.2 STARTER commissioning tool

Copy RAM to ROM

You can use this function to save volatile Control Unit data to the non-volatile memory. This
ensures that the data is still available after the 24 V Control Unit supply has been switched
off.
This function can be activated as follows:
● Extras -> Setting -> Download -> Activate "Copy from RAM to ROM"
This means that every time data is loaded to the target system by choosing "Load project
to target system", the data is stored in the non-volatile memory.
● Right-click Drive unit -> Target system -> Copy from RAM to ROM
● Drive unit grayed out -> "Copy from RAM to ROM" button

NOTICE
The power supply to the Control Unit may first be switched off after saving has finished
(i.e. after saving has started, wait until it has finished and parameter p0977 has the
value 0 once more).

Download to target device

You can use this function to load the current STARTER project to the Control Unit. The data
is loaded to the working memory of the Control Unit. A reset is then triggered.
This function can be activated as follows:
● Right-click Drive unit -> Target system -> Load to target system
● Drive unit grayed out -> "Load to target system" button
● Online/offline comparison screen -> "Load to target device" button
● Project to all drive units simultaneously:
"Load project to target system" button, menu Project -> Load to target system

Load to PG/PC
You can use this function to load the current Control Unit project to STARTER.
This function can be activated as follows:
● Right-click Drive unit -> Target system -> Load to PG/PC
● Drive unit grayed out -> "Load project to PG/PC" button
● Online/offline comparison screen -> "Load project to PG/PC" button

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Function Manual, 10/2008, 6SL3097-4AB10-0BP0 49
Commissioning with PROFIBUS
3.2 STARTER commissioning tool

Restoring the factory settings

You can use this function (p0970 = 1) to set all the parameters in the work memory of the
Control Unit to the factory settings. The CU305 will then perform an automatic start. All
relevant parameters found are written to the work memory (RAM). As part of this process,
various factory-set parameters are automatically updated to actual (more recent) values.
Once this automatic configuration is complete, a project with all available drive parameters
will be available in the target system.
This function, which is called "Restore factory settings", can be activated as follows:
● Right-click Drive unit -> Target system -> Restore factory settings
● Drive unit grayed out -> "Restore factory settings" button
For more information about STARTER, see Getting Started.

Displaying toolbars
The toolbars can be activated by choosing View -> Toolbars (checkmark).

Creating and copying data sets (offline)

Drive and command data sets (DDS and CDS) can be added in the drive's configuration
screen by clicking the appropriate buttons.
For more information about data sets, see the Principles chapter for the drive system.

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50 Function Manual, 10/2008, 6SL3097-4AB10-0BP0
 Commissioning with PROFIBUS
3.2 STARTER commissioning tool

3.2.2 Activating online operation: STARTER via PROFIBUS

Description
The following options are available for online operation via PROFIBUS:
● Online operation via PROFIBUS

STARTER via PROFIBUS (example with 2 CU305 and a CU310 DP)

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Figure 3-1 STARTER via PROFIBUS (example with 2 CU305 and a CU310 DP)

Drive functions
Function Manual, 10/2008, 6SL3097-4AB10-0BP0 51
Commissioning with PROFIBUS
3.3 Basic Operator Panel 20 (BOP20)

Settings in STARTER for direct online connection via PROFIBUS

The following settings are required in STARTER for communication via PROFIBUS:
● Extras -> Set PG/PC interface
Add/remove interfaces
● Extras -> Set PG/PC interface... -> Properties
Activate/deactivate "PG/PC is the only master on the bus".

Note
• Baud rate
Switching STARTER to a working PROFIBUS:
STARTER automatically detects the baud rate used by SINAMICS for the PROFIBUS.
Switching the STARTER for commissioning:
The Control Unit automatically detects the baud rate set in STARTER.
• PROFIBUS addresses
The PROFIBUS addresses for the individual drive units must be specified in the
project and must match the address settings on the devices.

3.3 Basic Operator Panel 20 (BOP20)

Brief description
The Basic Operator Panel 20 (BOP20) is a basic operator panel with six keys and a display
unit with background lighting. The BOP20 can be plugged onto the SINAMICS Control Unit
and operated.

The following functions are possible using BOP20

● Entering parameters
● Display of operating modes, parameters, alarms and faults
● Powering-up/powering-down while commissioning
Further information: See 'Parameterizing using the BOP20 (Basic Operator Panel 20)'
chapter

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 Commissioning with PROFIBUS
3.3 Basic Operator Panel 20 (BOP20)

3.3.1 Important functions via BOP20

Description
Using the BOP20, the following functions can be executed via parameters that support you
when handling projects:
● Restoring the factory settings
● Copy RAM to ROM
● Acknowledge error

Restoring the factory settings

The factory setting of the complete device can be established in the drive object CU.
● p0009 = 30
● p0976 = 1

Copy RAM to ROM

You can initiate the saving of all parameters to the non-volatile memory in the drive object
CU:
● Press the P key for 3 seconds,
or
● p0009 = 0
● p0977 = 1

NOTICE
This parameter is not accepted if an identification run (e.g. motor identification) has
been selected on a drive.

Acknowledge error
To acknowledge all the faults that have been rectified, press the Fn key.

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Function Manual, 10/2008, 6SL3097-4AB10-0BP0 53
Commissioning with PROFIBUS
3.4 Creating a project in STARTER

3.4 Creating a project in STARTER

3.4.1 Creating a project offline

To create a project offline, you need the PROFIBUS address, the device type (e.g.
SINAMICS S110), and the device version (e.g. FW 4.1).

Table 3- 2 Sequence for creating a project in STARTER (example)

What to do? How to do it? Remark

1. Create a new project • Operator action: The project is created offline and
– Menu "Project"--> New ... loaded to the target system when
• User projects: configuration is complete.
– Projects already in the target directory
• Name: Project_1 (can be freely selected)
Type: Project
Storage location (path): Default (can be set as
required)

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54 Function Manual, 10/2008, 6SL3097-4AB10-0BP0
 Commissioning with PROFIBUS
3.4 Creating a project in STARTER

2. Add individual drive Operator action: Information about the bus

--> Double-click "Add individual drive unit". address:
Device type: SINAMICS S110 CU305 DP (can be When commissioning the system
selected) for the first time the PROFIBUS
address of the Control Unit must
Device version: 4.1x (can be selected)
be set here.
Address type: PROFIBUS/USS/PPI (can be selected)
The address is set via the
Bus address: 37 (can be selected) address switch on the Control
Unit (or via p0918 if the address
switch = "all ON" or "all OFF"
(factory setting = 126)).

3. Configure the drive unit. Once you have created the project, you have to configure the drive unit. An example
appears in the next section.

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Function Manual, 10/2008, 6SL3097-4AB10-0BP0 55
Commissioning with PROFIBUS
3.4 Creating a project in STARTER

3.4.2 Searching for a drive unit online

To search for a drive unit online, the drive unit and the PG/PC must be connected via
PROFIBUS.

Table 3- 3 Sequence for searching for a drive unit in STARTER (example)

What to do? How to do it?

1. Create a new Operator action:
project Menu "Project"--> New with Wizard
Click "Find drive unit online".

1.1 Enter the project Project name: Project_1 (can be freely selected)
data. Author: Any
Remark: Any

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 Commissioning with PROFIBUS
3.4 Creating a project in STARTER

What to do? How to do it?

2. Set up the PG/PC Here, you can set up the PG/PC interface by clicking "Change and test".
interface

3. Insert drives Here, you can search for nodes that have been accessed.

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Function Manual, 10/2008, 6SL3097-4AB10-0BP0 57
Commissioning with PROFIBUS
3.5 Example of first commissioning with STARTER

What to do? How to do it?

4. Summary You have now created the project.
-> Click "Complete".

5. Configure the drive Once you have created the project, you have to configure the drive unit. An example appears
unit. in the next section.

3.4.3 Searching for nodes that can be accessed

To search for a drive unit online, the drive unit and the PG/PC must be connected via
PROFIBUS. The interface must be set correctly in STARTER.

3.5 Example of first commissioning with STARTER

The example provided in this section explains all the configuration and parameter settings
that are required for first commissioning. Commissioning is carried out using the STARTER
commissioning tool.

Requirements for commissioning

1. The checklist for commissioning (Table 1-1 or 1-2 in Section 1.1) has been filled out and
the points ticked off.
2. STARTER is installed and activated.
--> see the "Readme" file on the STARTER installation CD.
3. The power supply (24 VDC) is switched on.

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 Commissioning with PROFIBUS
3.5 Example of first commissioning with STARTER

3.5.1 Task
1. Commission a drive system with the following components:

Table 3- 4 Component overview

Designation Component Order number

Closed-loop control and infeed
Control Unit Control Unit 305
Drive 1
Sensor Module SMC20 6SL3055-0AA00-5BAx
Motor Synchronous motor 1FK7061–7AF7x–xxxx
Motor encoder Incremental encoder sin/cos C/D 1FK7xxx–xxxxx–xAxx
1 Vpp 2048 p/r
2. The drive is to be enabled via PROFIBUS.
● Telegram for drive 1
● Standard telegram 4: Speed control, 1 position encoder

Note
For more information about telegram types, see the section titled "Communication via
PROFIBUS" or see the SINAMICS S110 List Manual.

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Function Manual, 10/2008, 6SL3097-4AB10-0BP0 59
Commissioning with PROFIBUS
3.5 Example of first commissioning with STARTER

3.5.2 Commissioning with Starter (example)

The table below describes the steps for commissioning with STARTER.

Table 3- 5 Sequence for commissioning with STARTER (example)

What to do? How to do it? Remark

1. Automatic Operator action: -
configuration -> "Project" -> "Connect to target system"
-> Double-click "Automatic configuration".
-> Follow the instructions provided in the wizard.
2. Configuring a drive The drive needs to be configured as follows. -
-> "Drive_1" -> Double-click "Configuration" -> Click
"Configure DDS"
3.1 Control structure You can activate the function modules. -
You can select the control type.
3.2 Power unit The wizard displays the data determined automatically from -
the electronic type plate.
3.3 Motor The name of the motor (e.g. tooling labeling) can be entered. You can select a standard
Select standard motor from list: Yes motor from the motor list or
you can enter the motor data
Select the motor type (see type plate).
manually. You can then
select the motor type.
3.4 Motor brakes Here, you can configure the brake and activate the "Extended For more information, see
brake control" function module. the Function Manual.
3.5 Encoder Motor encoder: If you are using an encoder
Select a standard encoder from the list: Yes that does not appear in the
Select "2048, 1 Vpp, A/B C/D R" list, you can also enter the
data manually.
3.6 Process data PROFIBUS telegram type 4 (drive 1) and 3 (drive 2) must be -
exchange selected.
3.7 Summary For system documentation purposes, the drive data can be -
copied to the clipboard and then pasted into a text program,
for example.
Note
The reference parameters and limit values can be protected against being automatically overwritten in STARTER by
setting p0340 = 1: Drive -> Configuration-> Reference parameters/Blocked list tab.
4. Save the parameters • Connect with target system (go online) Point the mouse at the drive
on the device • Target system -> Download to target device unit (SINAMICS S110) and
• Target system -> Copy RAM to ROM right-click.
(saving data to non-volatile memory)
5. The motor starts to The drive can be set in motion using the control panel in For more information about
run. STARTER. the control panel, see the
• Following the pulse enable, the drive will switch to STARTER online help.
operating status. The control panel supplies
the control word 1 (STW1)
and speed setpoint 1
(NSOLL).

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 Commissioning with PROFIBUS
3.6 Initial commissioning: Servo AC DRIVE with BOP20 as an example

STARTER diagnosis options

Under "Component" -> Diagnosis -> Control/status words
● Control/status words
● Status parameters
● Alarm history

3.6 Initial commissioning: Servo AC DRIVE with BOP20 as an example

The example provided in this section explains all the configuration and parameter settings
that are required for first commissioning. Commissioning is performed using the BOP20.

Commissioning requirement
● The check list for commissioning (Table 1-1 or 1-2 from Section 1.1) has been filled out
and the points complied with.

3.6.1 Task
1. Commission a drive unit (operating mode servo, closed-loop speed control) with the
following components:

Table 3- 6 Component overview

Designation Component Order number

Closed-loop control
Control Unit Control Unit 305 DP 6SL3040-0JA00-0AA0

Operator Panel Basic Operator Panel 20 6SL3055-0AA00-4BAx

(BOP20)
Drive
Power Module Power Module 340 6SL3210-xxxx-xxxx
Motor Synchronous motor with DRIVE- 1FK7061–7AF7x–xAxx
CLiQ interface
Motor encoder via DRIVE-CLiQ Incremental encoder sin/cos 1FK7xxx–xxxxx–xAxx
C/D
1 Vpp 2048 p/r

2. Commissioning is performed using the BOP20.

3. The function keys of the Basic Operator Panel (BOP) should be parameterized so that the
ON/OFF signal and the speed setpoints are entered using these keys.

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Function Manual, 10/2008, 6SL3097-4AB10-0BP0 61
Commissioning with PROFIBUS
3.6 Initial commissioning: Servo AC DRIVE with BOP20 as an example

3.6.2 Component wiring (example)

The following diagram shows a possible component configuration and wiring option.

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Figure 3-2 Component wiring with integrated Sensor Module (example)

For more information on wiring and connecting the encoder system, see the Equipment
Manual.

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62 Function Manual, 10/2008, 6SL3097-4AB10-0BP0
 Commissioning with PROFIBUS
3.6 Initial commissioning: Servo AC DRIVE with BOP20 as an example

3.6.3 Quick commissioning using the BOP (example)

Table 3- 7 Quick commissioning for a motor with a DRIVE-CLiQ interface

Procedure Description Factory

setting
Note:
The drive must be set to the factory settings before first commissioning is carried out.
1. p0009 = 1 Device commissioning parameter filter * 1
0 Ready
1 Device configuration
30 Parameter reset
2. p0009 = 2 Device commissioning parameter filter * 1
0 Ready
1 Device configuration
2 Defining the drive type / function module
30 Parameter reset
Note:
When a configured DRIVE-CLiQ component is booted for the first time, the firmware is automatically updated to the status
in the non-volatile memory. This may take a few minutes and is indicated by the READY-LED on the corresponding
components flashing green/red and the Control Unit flashing orange (0.5 Hz). Once all updates have been completed, the
READY-LED on the Control Unit flashes orange at 2 Hz and the corresponding READY-LED on the components flashes
green/red at 2 Hz. For the firmware to be activated, a POWER ON must be carried out for the components.
3. p0108[1] = Drive object, function module * 0000
H0004 Bit 8 Extended setpoint channel
4. p0009 = 0 Device commissioning parameter filter * 1
0 Ready
1 Device configuration
30 Parameter reset
5. DO = 2 Select drive object (DO) 2 ( = SERVO) 1
1 CU
2 SERVO
To select a drive object (DO), simultaneously press the Fn key and an arrow key.
The selected project is displayed at the top left.
6. p0840[0] = BI: ON/OFF1 [CDS] 0
r0019.0(DO 1) Sets the signal source for STW1.0 (ON/OFF1)
Interconnection with r0019.0 of the drive object Control Unit (DO 1)
Effect: Signal ON/OFF1 from the BOP
7. p1070[0] = CI: Main setpoint [CDS] 0
r1024 Sets the signal source for speed setpoint 1 of the speed controller.
Interconnecting to r1024 on its own drive object
8. Save all Press the P key for 3 s.
parameters

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Function Manual, 10/2008, 6SL3097-4AB10-0BP0 63
Commissioning with PROFIBUS
3.6 Initial commissioning: Servo AC DRIVE with BOP20 as an example

Procedure Description Factory

setting
9. Switching the drive on with the ON pushbutton
Binector output r0019.0 is set using this pushbutton.
* These parameters offer more setting options than the ones described here. For more possible settings, see the
SINAMICS S110 List Manual.
[CDS] Parameter depends on command data sets (CDS). Data set 0 is preset.
[DDS] Parameter depends on drive data sets (DDS). Data set 0 is preset.
BI binector input
BO binector output
CI connector input
CO connector output

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64 Function Manual, 10/2008, 6SL3097-4AB10-0BP0
Commissioning with CANopen 4
4.1 Requirements for commissioning

4.1.1 Pre-requisites for commissioning the CANopen interface

Section content
This section describes the commissioning prerequisites:
● CU305 CAN with connection to PC/PG
● The STARTER commissioning tool on the PC/PG
You can find a detailed description of the CANopen interface on the CU305 CAN in the
/GH8/ Manual and in the /IH2/ CANopen Commissioning Manual.
You can find an introduction to the commissioning tool STARTER in this Manual in the
section "Commissioning tool STARTER" or in the /IH2/ CANopen Commissioning Manual.

4.1.2 Previous knowledge

To fully understand this Commissioning Chapter on the CANopen interface, you must be
familiar with CANopen terminology.
This Chapter includes, among other things,
● An overview of the most important terms and abbreviations
● A breakdown of the communication objects in the CANopen object directory in the
CANopen slave software
You must be familiar with the following standards:

Note
SINAMICS with CANopen complies with the following standards:
- CiA DS-301 V4.02 (Application Layer and Communication Profile)
- CiA DS-402 V2.0 (Device Profile for Drives and Motion Control)
- CiA DR-303-3 V1.2 (Indicator Specification)
- CiA DS-306 V1.3: (Electronic data sheet specification for CANopen)

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Function Manual, 10/2008, 6SL3097-4AB10-0BP0 65
Commissioning with CANopen
4.1 Requirements for commissioning

4.1.3 Prerequisites for commissioning CU305 with CANopen

To commission a CAN bus in a SINAMICS drive line-up,

the following hardware and software components are required:
● CU305 CAN with firmware in the non-volatile memory.
● Link between the CANopen Control Unit and a PC/programming device with an RS232
connection.
● The STARTER commissioning tool is installed on your PC/PG.

Note
Please see the SINAMICS S110 Equipment Manual for descriptions of the components of
a SINAMICS drive line-up as well as for information about wiring, the interface to a
PC/programming device, and the installation of the STARTER commissioning tool.

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 Commissioning with CANopen
4.1 Requirements for commissioning

4.1.4 CAN bus on the CU305

The integrated CAN interface is used to connect drives in the SINAMICS S110 drive system
to higher-level automation systems with a CAN bus.

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The CU305 CAN uses 9-pin Sub D X126 connectors for the connection to the CAN bus
system.

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Function Manual, 10/2008, 6SL3097-4AB10-0BP0 67
Commissioning with CANopen
4.1 Requirements for commissioning

WARNING
Do NOT connect a PROFIBUS cable
Connecting a PROFIBUS cable to CAN connector X126 is highly likely to damage the
CANopen interface of the CU305 beyond repair.

The connector can be used as an input or an output. Unused pins are plated through.
The following baud rates (among others) are supported: 10, 20, 50, 125, 250, 500, 800
kBaud, and 1 MBaud.
The PC with STARTER is connected to serial interface X22 (RS232).

4.1.5 CAN bus interface X126

Connector assignment of the CANopen interface X126 on S110

Table 4- 1 CAN bus interface X126

Pin Designation Technical specifications

1 Reserved
2 CAN_L CAN signal (dominant low)
3 CAN_GND CAN ground
4 Reserved
5 CAN_SHLD Optional shield
6 GND CAN ground
7 CAN_H CAN signal
8 Reserved
9 Reserved
Type: 9-pin SUB-D male

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 Commissioning with CANopen
4.1 Requirements for commissioning

4.1.6 CANopen functionality CU305 CAN

Introduction
The CU305 CAN supports the CANopen transfer types with SDOs (service data objects) and
PDOs (process data objects).
The CU305 CAN also supports free PDO mapping.
The CU305 CAN supports CANopen communication profile DS 301 version 4.0, device
profile DSP 402 (drives and motion control) version 2.0, and indicator profile DR303-3
version 1.0.
For communication monitoring purposes, the CU305 CAN supports node guarding and the
heartbeat protocol (heartbeat producer).
The CU305 CAN features an SDO->parameter channel that can be used to read or write all
the SINAMICS parameters.
The CU305 CAN firmware supports Profile Velocity Mode.

Node guarding
SINAMICS waits a certain time (node lifetime) for message frames from the master
application and permits a specific number (lifetime factor) of failures within a specified time
interval (node guard time).
The node lifetime is calculated by multiplying the node guard time by the lifetime factor.

Heartbeat protocol
SINAMICS (producer) cyclically transmits (heartbeat time) its communication status (sign of
life) on the CAN bus to the master application.

Profile velocity mode

Velocity setpoint defaults and settings can be made in this mode.

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Function Manual, 10/2008, 6SL3097-4AB10-0BP0 69
Commissioning with CANopen
4.2 Commissioning

4.1.7 Diagnostics LED "COM"

COM diagnostics LED -> red

Table 4- 2 COM diagnostics LED -> red (CANopen error LED)

ERROR LED Status Meaning

flashing frequency
Off No error Ready
Single flash Warning limit At least one of the CAN controller error counters has
reached reached the "Error Passive" warning threshold (too many
telegrams with errors).
Double flash Error control event A guard event has occurred.
On Bus off The CAN controller is in "Bus off".

COM diagnostics LED -> green

Table 4- 3 COM diagnostics LED -> green (CANopen RUN LED)

ERROR LED Status Meaning

flashing frequency
Single flash Stopped The node is in the STOPPED state.
Flashing PRE- The node is in the PRE-OPERATIONAL state.
OPERATIONAL
On OPERATIONAL The node is in the OPERATIONAL state.

4.2 Commissioning

4.2.1 Procedure when commissioning the drive for the first time

Section content
This section shows you how to carry out initial commissioning for the CANopen interface in
the SINAMICS drive line-up using the STARTER commissioning tool. This section first looks
at the main steps in the initial commissioning procedure. The initial commissioning procedure
described here takes place with STARTER in ONLINE mode. At the end of each step, notes
are included (if necessary) to explain how the procedure differs in OFFLINE mode.

Prerequisite
Before you start to follow the steps described in this section for commissioning, you must
have read the section titled "Requirements for commissioning".

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4.2.2 CANopen object directory

CANopen object directory

When the drive objects are initialized,
the CANopen objects are initialized in the object directory of the SINAMICS drive line-up
(CANopen slave software).

Objects
The following SINAMICS objects are involved in communication:
1. Control Unit communication objects independent of the drive
– include: Number and number of errors, communication addresses etc.
2. Drive-dependent communication objects
– Up to eight PDOs for sending and eight PDOs for receiving can be parameterized for
the drive. Each PDO contains:
- Communication and
- mapping parameters (max. 8 bytes/4 words/64 bits)
3. Manufacturer-specific objects
– Objects to access SINAMICS parameters.
– Free objects for sending/receiving process data, there are freely interconnectable
objects available for each drive object (max. 16) in the object directory (see CANopen
Manual for table).
– The manufacturer-specific range starts in the object directory from address 2000 hex
and ends at 5FFF hex.
4. Drive objects in drive profile DSP 402
– Profile Velocity Mode.
– Setpoint and actual values and comparisons.

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4.2 Commissioning

4.2.3 Commissioning options

Prerequisites
You can find explanations of the CANopen terminology and other important technical
principles in the Introduction chapter in the CANopen Manual.

Commissioning
This section describes the commissioning prerequisites:
● SINAMICS S110: CU305 CAN
● STARTER commissioning tool

Note
All CANopen parameters, errors and warnings are described in the List Manual.

SINAMICS S110 on a CANopen interface

There are two ways of putting SINAMICS S110 into operation with the STARTER tool on a
CANopen interface.
● Via predefined message frames ("predefined connection set").
● Via free PDO mapping (user-defined message frames)

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4.2.4 Configuring the drive unit with STARTER (overview)

Initial commissioning: procedure

In the table below, the current commissioning step is highlighted in bold:

Table 4- 4 CANopen initial commissioning

Step Procedure
1 Hardware settings on the CU305
2 Configure the drive unit using the STARTER commissioning tool in ONLINE mode.
3 Configure the COB IDs and process data objects for the receive and transmit message
frames.
4 Interconnect the receive and transmit buffers.
5 In ONLINE mode, load the projects from the drive unit to the PC/PG and save.

Carrying out the commissioning step

Configure the drive unit in STARTER by carrying out the following steps:
● Search for the drive unit ONLINE.
● Enter the drive configuration data.
● Configure the motor.
● Configure the CANopen interface on the CU305 Control Unit
– CAN interface
– Monitoring
● Load the project to the drive unit.

Note
When carrying out these steps, see the SINAMICS CANopen Interface Commissioning
Manual.

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4.2.5 Searching for the drive unit ONLINE

Introduction
The SINAMICS firmware is able to detect the connected drives automatically, as well as set
and save the corresponding parameters.

Steps
To ensure that the drive unit configuration is identified automatically, open a new project in
STARTER: Proceed as follows:
1. To launch the STARTER commissioning tool, click the STARTER icon or select the menu
command Start > Programs > STARTER > STARTER in the Windows start menu. The
STARTER project assistant is launched.
2. Choose Find drive units online....

Figure 4-2 Find drive units online...

3. The Wizard guides you through the procedure for creating a new project. In the next
dialog box, enter a name for the project e.g. Project_CANopen_0 and click Continue >.

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4. The Project Wizard searches for the drive unit ONLINE and inserts it in the project. Click
Continue >. The Wizard displays a summary of the project.
5. Choose Complete. The new project and drive unit are displayed in STARTER.

Note
The system searches for drive units or, more precisely, Control Units; in other words, if
more than one Control Unit exists in the system, more than one drive unit is found. The
peripherals associated with a drive unit (Control Unit, etc.) are not yet displayed at this
point. They do not appear until automatic configuration is carried out.

4.2.6 Configuring a drive unit

Introduction
You have proceeded as described above and integrated the drive unit into the STARTER
project automatically.

Note
In the case of connection via an SMI, this step is not required (the motor is configured
automatically).

Steps
Proceed as follows to configure the CANopen interface, the motor, and the encoder for the
drive.

Note
You only have to change the motor and encoder configuration;

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1. Choose Disconnect from target system.... The modified data is loaded from RAM to ROM
and to the PG.
The motors are configured in OFFLINE mode and are then loaded to the target system in
ONLINE mode.
2. During first commissioning, double-click Configure drive unit in the project navigator (see
the example screen below). Once first commissioning is complete, you will find the
CANopen interface configuration under Control Unit → Configuration → Wizard button.

Figure 4-3 Configuring a drive

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3. Enter the transmission rate and the CAN bus address/node ID in the Configuration -
<Project name> - CAN interface dialog box.

Figure 4-4 CAN interface

4. You can select a transmission rate of 1 MBit/s for commissioning, for example.
The factory setting is 20 kBit/s.

Note
If, during commissioning, you power down/power up the control or carry out a RESET,
the factory settings will be restored.

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5. There are two possible ways of setting the bus address/node ID:
– In this dialog box, you can set a value between 1 and 126 if the address switch on the
Control Unit (labeled "DP address") is set to 0 or 127.

Note
If the address switch is set to between 1 and 126, values that were entered here in
OFFLINE mode will not be downloaded.

– Directly using the address switch on the Control Unit.

The following diagram shows an example for address 5.




6LJQLILFDQFH 21
2))
66
([DPSOH 21
2))
 
Figure 4-5 Example: Bus address via the address switch on the Control Unit

Compliance with the following instructions is mandatory!

Note
Permissible CAN bus address: 1...126.
The address set on the switch is displayed in p8620.0.
If the switch setting changes, the new setting will not be applied until the next POWER
ON.
The factory setting is "ON" or "OFF" for all switches.

During SINAMICS power up the address switch is polled first in order that the bus
address can be set. If the switch setting is 0 or 127, the address can be set via parameter
p8620.0.
If the address is set to a valid node address (1...126), this is copied to parameter
p8620.0, where it is displayed. Click Next >.
6. During first commissioning, you will need to enter a name for the drive in the Drive
properties dialog box. Click Next >. Once first commissioning is complete, you will find the
drive configuration under Drive_1 → Configuration → Configure DDS button.

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7. On the dialog screen which appears when you select this command path
("SINAMICS_S110_CU305_CAN configuration - Control structure"), you can define
whether the drive object (function module) is to operate with/without an extended setpoint
channel. The commissioning procedure described here is carried out without an extended
setpoint channel (ramp-function generator). The field for the extended setpoint channel
must be clicked-out.

Note
When the ramp-function generator is activated (with setpoint channel), the
interconnection from CI: p2151 = r1119 can be changed, so that to evaluate bit 10 in
status word (r8784) the setpoint can be retrieved (taken) from in front of the ramp-
function generator.
When the ramp-function generator is active, objects 6086 hex and 6083 hex of the drive
provide are included.

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8. You only configure the motor and the encoder! Work through the Wizard by choosing
Continue > until you reach the point at which you configure the motor (see the following
diagram).

Figure 4-6 Configure the motor

9. Choose the motor type and the motor according to the type (order no.) (see the rating
plate).
10.Click Continue > until you reach the point at which you configure the encoder.
11.Select the motor encoder and click Next > to run the wizard through to the dialog
containing the summary.
12.Click Complete.
This completes the OFFLINE configuration of the drive unit.

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4.2.7 CAN settings

4.2.7.1 Monitoring

Introduction
SINAMICS supports the following two optional monitoring services to ensure the functionality
of CANopen network nodes:
● Heartbeat:
SINAMICS (producer) cyclically transmits (heartbeat time) its communication status on
the CAN bus to the master application.
● Node guarding:
SINAMICS waits a certain time (node lifetime) for master frames from the master
application and permits a specific number (lifetime factor) of failures within a specified
time interval (node guard time).
The node lifetime is calculated by multiplying the node guard time by the lifetime factor.

Note
Only one node monitoring service can be activated at any one time (either heartbeat or
node guarding).
If both monitoring services are activated, node guarding is effective.

Steps
On the Monitoring tab, enter the required monitoring service (heartbeat or node guarding).
1. Select the Monitoring tab.
2. The default commissioning value for the Heartbeat monitoring mechanism could be, for
example, 100 ms. Enter this value (unless it has already been entered).
3. The default commissioning values for the node guarding monitoring service could be:
– Time interval (guard time): 100 ms
– Number of failures (lifetime factor): 3
Enter these values (unless they have already been entered).
The CANopen interface is now parameterized. To load the project to the target system in
ONLINE mode, carry out the following steps.

Note
Parameter p8609 determines how the drive or CAN node will respond in the event of a CAN
communication or device error.
Factory setting:
p8609 = 1, => no change

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Parameter p8609
Sets the behavior of the CAN node referred to the communications error or equipment fault.
● Values:
– 0: Pre-operational
– 1: No change
– 2: Stopped
● Index (corresponds to the CANopen object 1029 hex):
– [0] = Behavior for communication errors
– [1] = Behavior for device faults

4.2.8 Loading the project to the drive unit

Introduction
To load the project to the drive unit, proceed as follows:

Steps
1. Click Connect to target system. An ONLINE connection is established and an
ONLINE/OFFLINE comparison takes place. If any discrepancies are identified, they are
displayed (see screenshot below).

Figure 4-7 ONLINE/OFFLINE comparison (example)

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4.3 Configuring COB-IDs and process data objects

2. You changed the data OFFLINE and now have to load it to the target system. Carry out
the following:
– <-- Download in the "ONLINE/OFFLINE comparison" dialog box
– When the system asks "Are you sure?", click Yes. The system now starts loading the
data.
– When the system informs you that the data was successfully loaded to the target
system, click OK.
– Click OK for "Load from RAM to ROM".
3. Discrepancies were identified again during the ONLINE/OFFLINE comparison. Now click
Load to programming device -->.
4. Load the new data from the drive unit to the PG. Carry out the following:
– When the system asks "Are you sure?", click Yes. The system now starts loading the
data.
– When the system informs you that the data was successfully loaded to the PG, click
OK.
5. As no more discrepancies are showing on the ONLINE/OFFLINE comparison dialog
screen, you can click Close.
This completes the procedure for configuring the drive unit hardware with the CANopen
interface.

4.3 Configuring COB-IDs and process data objects

4.3.1 Configuring COB-IDs and process data

Configuring COB-IDs and process data

For more information about this subject please see the CANopen Commissioning Manual
(COB-IDS and process data objects associated with receive and transmit telegrams).

4.4 Interconnecting process data

4.4.1 Interconnecting process data

Interconnecting process data

For more information about this subject please see the chapter titled Interconnecting process
data in the receive and send buffers in the CANopen Commissioning Manual.

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4.5 Loading and managing projects ONLINE

4.5 Loading and managing projects ONLINE

4.5.1 Load the projects from the drive unit to the PC/PG in ONLINE mode and save
them

Prerequisite
You are in ONLINE mode in STARTER and have completed the initial commissioning
procedure.

Steps
To store the data configured ONLINE in the STARTER project on the PG/PC, proceed as
follows:
1. Select the drive unit in the project navigator. Select Target device > Load to programming
device from the context menu (right-click to open).
2. Carry out the following:
– When the system asks "Are you sure?", click Yes. The system now starts loading the
data.
– When the system informs you that the data was successfully loaded, click OK.
3. Click the Disconnect from target system function key.
4. If prompts are displayed, then click on the following one after the other:
– Changes in the drive unit...
– Save data, for SERVO_1
– When the system informs you that the data was successfully copied from RAM to
ROM, click OK.
– When the system prompts you to confirm that you want the data to be loaded to the
PG, click Yes.
– When the system informs you that the data was successfully loaded to the PG, click
OK.
5. STARTER is in OFFLINE mode.
6. Click Project > Save as...
This completes initial commissioning for the CANopen interface.

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Diagnostics 5
This chapter describes the following diagnostic features of the SINAMICS S drive system:
● Diagnostics via LEDs
● Diagnostics via STARTER
● Diagnostic buffer
● Fault and alarm messages

5.1 Diagnostics via LEDs

5.1.1 LEDs when the Control Unit is booted

The individual statuses during the booting procedure are indicated by means of the LEDs on
the Control Unit.
● The duration of the individual statuses varies.
● If an error occurs, booting is aborted and the cause of the error is indicated via the LEDs.
Remedy: Exchange the Control Unit.
● Once the unit has been successfully booted, all the LEDs are switched off briefly.
● Once the unit has been booted, the LEDs are driven via the loaded software.
The description of the LEDs after booting applies.

Control Unit 305 - behavior of the LEDs during booting

Table 5- 1 LEDs during power up

LED Status Remark

RDY COM OUT>5 MOD
orange orange red off Reset –
red red off off BIOS loaded –
red 2 Hz red off off BIOS error –
red off off off firmware –
loaded
red 2 Hz red 2 Hz off off file error problem with file system
off red off off firmware no CRC errors
checked
red 0.5 red 0.5 Hz off off firmware CRC error
Hz checked
orange off off off drive
initialization

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5.1 Diagnostics via LEDs

5.1.2 LEDs after the Control Unit CU305 has booted

Table 5- 2 Control Unit CU305 – description of the LEDs after booting

LED Color Status Description, cause Remedy

RDY - off Electronics power supply is missing or outside -
(READY) permissible tolerance range.
Green Continuous The component is ready and cyclic DRIVE-CLiQ -
communication takes place or the Control Unit waits
for initial commissioning.
Flashing Writing to the memory card1) -
2 Hz
Red Continuous At least one fault is present in this component. Remedy and
acknowledge fault
Flashing Boot error Replace Control Unit.
2 Hz Carry-out a POWER
ON.
Green/ Flashing Control Unit CU305 is ready for operation. Obtain licenses.
Red 0.5 Hz However there are no software licenses.
Orange Continuous DRIVE-CLiQ communication is being established. -
Flashing Updating the firmware of the DRIVE-CLiQ -
0.5 Hz components.
Flashing Firmware update is complete for components. Wait Turn POWER ON for
2 Hz for POWER ON for the components in question. the components in
question
Green/ Flashing Component detection via LED is activated -
orange or 1 Hz (p0124[0]).
red/ Note:
orange Both options depend on the LED status when
component recognition is activated via p0124[0] = 1.
COM - off Cyclic communication has not (yet) taken place. -
PROFIdrive Note:
cyclic operation/ The PROFIdrive is ready to communicate when the
CU305 DP Control Unit is ready to operate (see LED RDY).
Green Continuous Cyclic communication is taking place. -
Flashing Cyclic communication is not yet running fully. -
0.5 Hz Possible reasons:
• The controller is not transferring any setpoints.
• During isochronous operation, no global control
(GC) or a faulty global control (GC) is transferred
by the controller.
Red Continuous Cyclic communication has been interrupted. Remedy fault

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5.1 Diagnostics via LEDs

LED Color Status Description, cause Remedy

Orange Flashing Firmware CRC error. Make sure that the
2 Hz memory card has
been inserted
properly. 1)
Replace the memory
card. 1)
Replace Control Unit.
Carry-out a POWER
ON.
COM/ - off Cyclic communication has not (yet) taken place. -
CU305 CAN Note:
The CAN is ready to communicate when the Control
Unit is ready to operate (see LED RDY).
Green Continuous Cyclic communication is taking place. -
Flashing Cyclic communication is not yet running fully. -
0.5 Hz Possible reasons:
• The controller is not transferring any setpoints.
• During isochronous operation, no global control
(GC) or a faulty global control (GC) is transferred
by the controller.
Red Continuous Cyclic communication has been interrupted. Remedy fault
Orange Flashing Firmware CRC error. Make sure that the
2 Hz memory card has
been inserted
properly. 1)
Replace the memory
card. 1)
Replace Control Unit.
Carry-out a POWER
ON.
OUT>5 V - off The voltage of the electronics power supply for the -
measuring system is 5 V.
Orange Continuous The voltage of the electronics power supply for the -
measuring system is 24 V.
Important:
Make sure that the connected encoder can be
operated with a 24 V power supply. If an encoder
that is designed for a 5 V supply is operated with a
24 V supply, this can destroy the encoder
electronics.
MOD - off Reserved -
1) This option is only valid if an optional memory card is inserted.

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5.1 Diagnostics via LEDs

5.1.3 Sensor Module Cabinet SMC10 / SMC20

Table 5- 3 Sensor Module Cabinet 10 / 20 (SMC10 / SMC20) – description of the LEDs

LED Color Status Description, cause Remedy

RDY - off Electronics power supply is missing or outside permissible –
READY tolerance range.
Green Continuous The component is ready for operation and cyclic DRIVE- –
CLiQ communication is taking place.
Orange Continuous DRIVE-CLiQ communication is being established. –
Red Continuous At least one fault is present in this component. Remedy and
Note: acknowledge fault
LED is driven irrespective of the corresponding messages
being reconfigured.
Green/re 0.5 Hz Firmware is being downloaded. –
d flashing
light
2 Hz Firmware download is complete. Wait for POWER ON Carry out a POWER
flashing ON
light
Green/or Flashing Component recognition via LED is activated (p0144) –
ange light Note:
or Both options depend on the LED status when component
Red/oran recognition is activated via p0144 = 1.
ge

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5.1.4 SMC30 Sensor Module Cabinet

Table 5- 4 Sensor Module Cabinet SMC30 – description of the LEDs

LED Color State Description, cause Remedy

RDY - Off Electronics power supply is missing or outside permissible –
READY tolerance range.
Green Continuous The component is ready for operation and cyclic DRIVE- –
light CLiQ communication is taking place.
Orange Continuous DRIVE-CLiQ communication is being established. –
light
Red Continuous At least one fault is present in this component. Remedy and
light Note: acknowledge fault
The LED is activated regardless of whether the
corresponding messages have been reconfigured.
Green/re Flashing, Firmware is being downloaded. –
d 0.5 Hz
Green/re Flashing, 2 Firmware download is complete. Wait for POWER ON. Carry out a POWER
d Hz ON
Green/or Flashing Component recognition via LED is activated (p0144). –
ange Note:
or Both options depend on the LED status when component
Red/oran recognition is activated via p0144 = 1.
ge
OUT > 5 V - Off Electronics power supply is missing or outside permissible –
tolerance range.
Power supply ≤ 5 V.
Orange Continuous Electronics power supply for encoder system available. –
light Power supply > 5 V.
Important:
Make sure that the connected encoder can be operated
with a 24 V power supply. If an encoder that is designed
for a 5 V supply is operated with a 24 V supply, this can
destroy the encoder electronics.

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Diagnostics
5.2 Diagnostics via STARTER

5.2 Diagnostics via STARTER

Description
The diagnostic functions support commissioning and service personnel during
commissioning, troubleshooting, diagnostics and service activities.

General information
Prerequisites: Online operation of STARTER.
The following diagnostic functions are available in STARTER:
● Specifying signals with the ramp-function generator
● Signal recording with the trace function
● Analyzing the control response with the measuring function
● Outputting voltage signals for external measuring devices via test sockets

5.2.1 Function generator

Description
The ramp-function generator can be used, for example, for the following tasks:
● To measure and optimize control loops.
● To compare the dynamic response of coupled drives.
● To specify a simple traversing profile without a traversing program.
The ramp-function generator can be used to generate different signal shapes.
In the connector output operating mode (r4818), the output signal can be injected into the
control loop via the BICO interconnection.
Depending on the mode set, this setpoint can also be applied to the control structure as, for
example, a current setpoint, disturbing torque, or speed setpoint. The impact of
superimposed control loops is automatically suppressed.

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5.2 Diagnostics via STARTER

Parameterizing and operating the ramp-function generator

The ramp-function generator is parameterized and operated via the parameterization and
commissioning tool STARTER.

Figure 5-1 "Ramp-function generator" initial screen

Note
Please see the online help for more information about parameterizing and operation.

Properties
● Concurrent injection to several drives possible.
● The following parameterizable signal shapes can be set:
– Square-wave
– Staircase
– Triangular
– PRBS (pseudo random binary signal, white noise)
– Sinusoidal
● An offset is possible for each signal. The ramp-up to the offset is parameterizable. Signal
generation begins after the ramp-up to the offset.

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● Restriction of the output signal to the minimum and maximum value settable.
● Operating modes of the function generator
– Connector output
– Current setpoint downstream of filter (current setpoint filter)
– Disturbing torque (downstream of current setpoint filter)
– Speed setpoint downstream of filter (speed setpoint filter)
– Current setpoint upstream of filter (current setpoint filter)
– Speed setpoint upstream of filter (speed setpoint filter)

Injection points of the ramp-function generator

6SHHGVHWSRLQW 6SHHGVHWSRLQW &XUUHQWVHWSRLQW &XUUHQWVHWSRLQW

XSVWUHDPRIILOWHU GRZQVWUHDPRI XSVWUHDPRIILOWHU GRZQVWUHDPRIILOWHU
ILOWHU

6HWSRLQW 6SHHG 6HWSRLQW 3RZHU

3DWK
ILOWHU FRQWUROOHU ILOWHU FRQWUROOHU
)URP  
,QWHUSRODWRU
'LVWXUELQJ
WRUTXH

Figure 5-2 Injection points of the ramp-function generator

Further signal shapes

Further signal shapes can be parameterized.
Example:
The "triangular" signal form can be parameterized with "upper limitation" to produce a
triangle with no peak.

8SSHU
OLPLW
6LJQDOIRUP
7ULDQJOH

Figure 5-3 "Triangular" signal without peak

Starting/stopping the ramp-function generator

Note
With the corresponding ramp-function generator parameter settings (e.g. offset), the motor
can "drift" and travel to its end stop.
The movement of the drive is not monitored while the ramp-function generator is active.

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5.2 Diagnostics via STARTER

To start the ramp-function generator:

1. Meet the conditions for starting the ramp-function generator
– Activate the control panel
Drive_1 –> Commissioning –> Control panel
– Switch on the drive
Control panel –> Activate enable signals –> Switch on
2. Select the operating mode
e.g. speed setpoint downstream of filter
3. Set the signal shape
e.g. square-wave
4. Load the settings to the target system ("Download parameterization" button)
5. Start the ramp-function generator ("Start FctGen" button)
To stop the measuring function:
● "Stop FctGen" button

Parameterization
The "function generator" parameter screen is selected via the following icon in the toolbar of
the STARTER commissioning tool:

Figure 5-4 STARTER icon for "trace function/ramp-function generator"

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5.2 Diagnostics via STARTER

5.2.2 Trace function

Description
The trace function can be used to record measured values over a defined period depending
on trigger conditions.

Call to the trace function

The "Trace" parameter screen is selected via the following icon in the toolbar of the
STARTER commissioning tool:

Figure 5-5 STARTER icon for "trace/function generator"

Parameterizing and using the trace function

The trace function is parameterized and operated via the parameterization and
commissioning tool STARTER.

Figure 5-6 Trace function

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The unit cycle time display flashes 3 times at around 1 Hz when the time slice is changed
from < 4 ms to ≥4 ms (see description under "Properties").

Note
Please see the online help for more information about parameterizing and operation.

Properties
● Up to 4 recording channels per trace.
● Device cycle for individual trace: 0.25 ms
● Two independent trace recorders per Control Unit
– Endless trace:
Activate Ring buffer to define the recording length more precisely. If the ring buffer is
deactivated, the trace records until the available memory space is filled.
– Device cycle for endless trace: 2 ms
● Trigger:
– Without triggering (recording immediately after start)
– Triggering on signal with edge or on level
– Trigger delay and pretrigger possible
● STARTER parameterization and commissioning tool
– Automatic or adjustable scaling of display axes
– Signal measurement via cursor
● Settable trace cycle: Integer multiples of the basic sampling time
– Averaging of trace values:
If a float value is recorded with a cycle which is slower than the device cycle, the
values recorded will not be averaged.

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5.2 Diagnostics via STARTER

5.2.3 Measuring function

Description
The measuring function is used for optimizing the drive controller. By parameterizing the
measuring function, the impact of superimposed control loops can be suppressed selectively
and the dynamic response of the individual drives analyzed. The ramp-function generator
and trace function are linked for this purpose. The control loop is supplied with the ramp-
function generator signal at a given point (e.g. speed setpoint) and recorded by the trace
function at another (e.g. speed actual value). The trace function is parameterized
automatically when the measuring function is parameterized. Specific predefined operating
modes for the trace function are used for this purpose.

Parameterizing and using the measuring function

The measuring function is parameterized and operated via the parameterization and
commissioning tool STARTER.

Figure 5-7 "Measuring function" initial screen

Note
Please see the online help for more information about parameterizing and operation.

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 Diagnostics
5.2 Diagnostics via STARTER

Properties
● Measuring functions
– Current controller setpoint change (downstream of the current setpoint filter)
– Current controller reference frequency response (downstream of the current setpoint
filter)
– Speed controller setpoint change (downstream of the speed setpoint filter)
– Speed controller disturbance step change (fault downstream of the current setpoint
filter)
– Speed controller reference frequency response (downstream of the speed setpoint
filter)
– Speed controller reference frequency response (upstream of the speed setpoint filter)
– Speed controller interference frequency response (fault downstream of the current
setpoint filter)
– Speed controller path (excitation downstream of current setpoint filter)

Starting/stopping the measuring function

CAUTION
With the corresponding measuring function parameter settings (e.g. offset), the motor can
"drift" and travel to its end stop.
The movement of the drive is not monitored while the measuring function is active.

To start the measuring function:

1. Ensure that the prerequisites for starting the measuring function are fulfilled.
– Activate the control panel.
Drive_1 –> Commissioning –> Control panel
– Switch on the drive.
Control panel –> Activate enable signals –> Switch on
2. Select the drive (as control panel).
3. Set the measuring function.
e.g. current controller setpoint change
4. Load the settings to the target system ("Download parameterization" button).
5. Start the ramp-function generator ("Start measuring function" button)

To stop the measuring function:

● "Stop measuring function" button

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Diagnostics
5.2 Diagnostics via STARTER

Parameterization
The "measuring function" parameter screen is selected via the following icon in the toolbar of
the STARTER commissioning tool:

Figure 5-8 STARTER icon for "Measuring function"

5.2.4 Measuring sockets

Description
The measuring sockets are used to output analog signals. Any interconnectable signal can
be output to any measuring socket on the Control Unit.

CAUTION
The measuring sockets should be used for commissioning and servicing purposes only.
The measurements may only be carried out by properly trained specialist personnel.

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Figure 5-9 Arrangement of the measuring sockets on the Control Unit CU305

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 Diagnostics
5.2 Diagnostics via STARTER

Parameterizing and using the measuring sockets

The measuring sockets are parameterized and operated via the STARTER parameterization
and commissioning tool.

Figure 5-10 "Measuring sockets" initial screen

In the STARTER commissioning tool, select the parameter screen "Measuring sockets" in
the project tree under the CU in the entry inputs/outputs in the tab Measuring sockets.

Note
Please see the online help for more information about parameterizing and operation.

Properties

• Resolution 8-bit
• Voltage range 0 V to +4.98 V
• Measuring cycle Depends on the measuring signal
(e.g. actual speed value in speed controller cycle 250 μs)
Short-circuit-proof
Parameterizable scaling
Adjustable offset
Adjustable limitation

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Diagnostics
5.2 Diagnostics via STARTER

Signal chart for measuring sockets


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Figure 5-11 Signal chart for measuring sockets

Which signal can be output via measuring sockets?

The signal to be output via a measuring socket is specified by parameterizing the connector
input p0771[0...1].

Important measuring signals (examples):

r0060 CO: Speed setpoint before speed setpoint filter

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

Scaling
Scaling specifies how the measuring signal is processed. A straight line with 2 points must
be defined for this purpose.
Example:
x1 / y1 = 0.0% / 2.49 V x2 / y2 = 100.0% / 4.98 V (default setting)
– 0.0% is mapped onto 2.49 V
– 100.0% is mapped onto 0.00 V

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 Diagnostics
5.2 Diagnostics via STARTER

Offset
The offset is applied additively to the signal to be output. The signal to be output can thus be
displayed within the measuring range.

Limitation
● Limitation On
If signals are output outside the permissible measuring range, the signal is limited to 4.98
V or to 0V.
● Limitation off
The output of signals outside the permissible measuring range causes a signal overflow.
In the event of an overflow, the signal jumps from 0 V to 4.98 V or from 4.98 to 0 V.

Example of a measurement
Assumption:
The actual speed (r0063) is to be output for a drive via measuring socket T1.
How do you do it?
1. Connect and set the measuring device.
2. Interconnect the signal (e.g. STARTER).
Interconnect the connector input (CI) belonging to the measuring socket with the desired
connector output (CO).
CI: p0771[1] = CO: r0063
3. Parameterize the signal characteristic (scaling, offset, limitation).

Function diagrams (see SINAMICS S110 List Manual)

● 8134 measuring sockets

Overview of important parameters (see SINAMICS S110 List Manual)

Adjustable parameters
● p0771[0...1] CI: Measuring sockets signal source
● p0777[0...1] Measuring sockets characteristic value x1
● P0778[0...1] Measuring sockets characteristic value y1
● p0779[0...1] Measuring sockets characteristic value x2
● p0780[0...1] Measuring sockets characteristic value y2
● p0783[0...1] Measuring sockets offset
● p0784[0...1] Measuring sockets limit on/off
Display parameters
● r0772[0...1] Measuring sockets output signal
● r0774[0...1] Measuring sockets output voltage
● r0786[0...1] Measuring sockets normalization per volt

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Diagnostics
5.3 Fault and alarm messages

5.3 Fault and alarm messages

5.3.1 General information about faults and alarms

Description
The errors and states detected by the individual components of the drive system are
indicated by messages.
The messages are categorized into faults and alarms.

Note
The individual faults and alarms are described in the SINAMICS S110 List Manual in the
section titled "Faults and Alarms". Function diagrams for the fault buffer, alarm buffer, fault
trigger and fault configuration are also contained in the Section "Function diagrams" ->
"Faults and alarms".

Properties of faults and alarms

● Faults
– Are identified by Fxxxxx.
– Can lead to a fault reaction.
– Must be acknowledged once the cause has been remedied.
– Status via Control Unit and LED RDY.
– Status via PROFIBUS status signal ZSW1.3 (fault active).
– Entry in the fault buffer.
● Alarms
– Are identified by Axxxxx.
– Have no further effect on the drive.
– The alarms are automatically reset once the cause has been remedied. No
acknowledgment is required.
– Status via PROFIBUS status signal ZSW1.7 (alarm active).
– Entry in the alarm buffer.
● General properties of faults and alarms
– Can be configured (e.g. change fault to alarm, fault reaction).
– Triggering on selected messages possible.
– Initiation of messages possible via an external signal.

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 Diagnostics
5.3 Fault and alarm messages

Acknowledgment of faults
The list of faults and alarms specifies how each fault is acknowledged after the cause has
been remedied.
1. Acknowledgment of faults by "POWER ON"
– Switch the drive on/off (POWER ON)
2. Acknowledgment of faults by "IMMEDIATE"
– Via PROFIBUS control signal
STW1.7 (reset fault memory): 0/1 edge
Set STW1.0 (ON/OFF1) = "0" and "1"
– Via external input signal
Binector input and interconnection with digital input
p2103 = "Requested signal source"
Across all of the drive objects (DO) of a Control Unit
p2102 = "Requested signal source"
3. Acknowledge faults with "PULSE INHIBIT"
– The fault can only be acknowledged with a pulse inhibit (r0899.11 = 0).
– The same possibilities are available for acknowledging as described under
acknowledge IMMEDIATELY.

Note
The drive cannot resume operation until all active faults have been acknowledged.

5.3.2 Buffer for faults and alarms

Note
The contents of the fault buffer are saved to non-volatile memory when the Control Unit is
powered down, i.e. the fault buffer history is still available when the unit is powered up again.

NOTICE
The entry in the fault/alarm buffer is made after a delay. For this reason, the fault/alarm
buffer should not be read until a change in the buffer is also recognized (r0944, r2121) after
"Fault active"/"Alarm active" is output.

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Diagnostics
5.3 Fault and alarm messages

Fault buffer
Faults which occur are entered in the fault buffer as follows:

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r0949[0] [I32] r0948[0] [ms] r2109[0] [ ms]

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r2133[0] [Float] r2130[0] [ d] r2136[0] [d]

)DXOW r0949[1] [I32] r0948[1] [ms] r2109[1] [ ms]

r0945[1] r3115[7]
r2133[1] [Float] r2130[1] [ d] r2136[1] [d]
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r3115[7] <1>

)DXOW r0949[8] [I32] r0948[8] [ms] r2109[8] [ ms]

r0945[8] r3115[8]
r2133[8] [Float] r2130[8] [ d] r2136[8] [d]
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r0949[9] [I32] r0948[9] [ms] r2109[9] [ ms]
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r0949[15] [I32] r0948[15] [ms] r2109[15] [ms]

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r0949[56] [I32] r0948[56] [ms] r2109[56] [ms]

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r0949[63] [I32] r0948[63] [ms] r2109[63] [ms]

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r2133[63] [ Float] r2130[63] [d] r2136[63] [d]

Figure 5-12 Structure of the fault buffer

Properties of the fault buffer:

● A new fault incident encompasses one or more faults and is entered in "Current fault
incident".
● The entries appear in the buffer according to the time at which they occurred.
● If a new fault incident occurs, the fault buffer is reorganized. The history is recorded in
"Acknowledged fault incident" 1 to 7.
● If the cause of at least one fault in "Current fault incident" is remedied and acknowledged,
the fault buffer is reorganized. Faults that have not been remedied remain in "Current
fault incident".
● If "Current fault incident" contains eight faults and a new fault occurs, the fault in the
parameters in index 7 is overwritten by the new fault.
● r0944 is incremented each time the fault buffer changes.
● A fault value (r0949) can be output for a fault. The fault value is used to diagnose the fault
more accurately; please refer to the fault description for details of the meaning.

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 Diagnostics
5.3 Fault and alarm messages

Clearing the fault buffer

● The fault buffer is reset as follows: p0952 = 0

Alarm buffer, alarm history

The alarm buffer comprises the alarm code, the alarm value and the alarm time (received,
resolved). The alarm history occupies the last indices ([8...63]) of the parameter.

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Figure 5-13 Structure of alarm buffer

Alarms that occur are entered in the alarm buffer as follows:

A maximum of 64 alarms are displayed in the alarm buffer:
● Index 0 .. 6: The first 7 alarms are displayed.
● Index 7: The most recent alarm is displayed.
A maximum of 56 alarms are displayed in the alarm history:
● Index 8: The most recent alarm is displayed.
● Index 9 .. 63: The first 55 alarms are displayed.

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Diagnostics
5.3 Fault and alarm messages

Properties of the alarm buffer/alarm history:

● The arrangement in the alarm buffer is made after the time that they occurred from 7 to 0.
In the alarm history, this is from 8 to 63.
● If 8 alarms have been entered into the alarm buffer, and a new alarm is received, then the
alarms that have been resolved are transferred into the alarm history.
● r2121 is incremented each time the alarm buffer changes.
● An alarm value (r2124) can be output for an alarm. The alarm value is used to diagnose
the alarm more accurately; please refer to the alarm description for details of the
meaning.
Deleting the alarm buffer, index [0...7]:
● The alarm buffer index [0...7] is reset as follows: p2111 = 0

5.3.3 Configuring messages

The properties of the faults and alarms in the drive system are permanently defined.
The following can be configured for some of the messages within a permanently defined
framework for the drive system:

Change message type (example)

Select message Set message type
p2118[5] = 1001 p2119[5] = 1: Fault (F)
= 2: Alarm (A)
= 3: No message (N)
Change fault reaction (example)
Select message Set fault response
p2100[3] = 1002 p2101[3] = 0: None
= 1: OFF1
= 2: OFF2
= 3: OFF3
= 4: STOP1 (available soon)
= 5: STOP2
= 6: IASC/DC brake
Internal armature short-circuit braking
or DC brake
= 7: ENCODER (p0491)
Change acknowledgment (example)
Select message Set acknowledgment
p2126[4] = 1003 p2127[4] = 1: POWER ON
= 2: IMMEDIATELY
= 3: PULSE INHIBIT

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 Diagnostics
5.3 Fault and alarm messages

Note
Only those messages which are listed in the indexed parameters can be changed as
desired. All other message settings retain their factory settings or are reset to the factory
settings.
Examples:
• In the case of messages listed via p2128[0...19], the message type can be changed. The
factory setting is set for all other messages.
• The fault response of fault F12345 has been changed via p2100[n]. The factory settings
are to be restored.
– p2100[n] = 0

Triggering on messages (example)

Table 5- 5

Select message Trigger signal

p2128[0] = 1001 BO: r2129.0
or
p2128[1] = 1002 BO: r2129.1

Note
The value from CO: r2129 can be used as group trigger.
CO: r2129 = 0 No selected message has been output.
CO: r2129 > 0 Group trigger.
At least one selected message has been output.
The individual binector outputs BO: r2129 should be investigated.

Triggering messages externally

If the appropriate binector input is interconnected with an input signal, fault 1, 2 or 3 or alarm
1, 2 or 3 can be triggered via an external input signal.
Once an external fault (1 to 3) has been triggered on the Control Unit drive object, this fault
is also present on all associated drive objects. If one of these external faults is triggered on a
different drive object, it is only present on that particular drive object.

BI: p2106 ––> External fault 1 ––> F07860(A)

BI: p2107 ––> External fault 2 ––> F07861(A)
BI: p2108 ––> External fault 3 ––> F07862(A)
BI: p2112 ––> External alarm 1 ––> A07850(F)
BI: p2116 ––> External alarm 2 ––> A07851(F)
BI: p2117 ––> External alarm 3 ––> A07852(F)

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Diagnostics
5.3 Fault and alarm messages

Note
An external fault or alarm is triggered by a 1/0 signal.
An external fault and alarm do not usually mean that an internal drive message has been
generated. The cause of an external fault and warning should, therefore, be remedied
outside the drive.

5.3.4 Parameters and function diagrams for faults and alarms

Function diagrams (see SINAMICS S110 List Manual)

● 8060 Faults and alarms – fault buffer
● 8065 Faults and alarms – alarm buffer
● 8070 Faults and alarms – fault/alarm trigger word r2129
● 8075 Faults and alarms – fault/alarm configuration

Overview of important parameters (see SINAMICS S110 List Manual)

● r0944 Counter for fault buffer changes
...
● p0952 Fault counter
● p2100[0...19] Fault code for fault reaction selection
...
● r2139 Status word for faults

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 Diagnostics
5.3 Fault and alarm messages

5.3.5 Forwarding of faults and alarms

Forwarding of faults and alarms of the CU

When faults or alarms are triggered on the drive object of the CU, it is always assumed that
central functions of the drive unit are affected. For this reason, these faults and alarms are
not only signaled on the drive object of the CU, but are also forwarded to all other drive
objects. The fault reaction affects the drive object of the CU and all other drive objects.
A fault that is set on the drive object of the CU must be acknowledged on all drive objects to
which this fault was forwarded. In this way, the fault is then automatically acknowledged on
the drive object of the CU. Alternatively all faults of all drive objects can also be
acknowledged on the CU.
If a set alarm is reset on the drive object of the CU, this alarm also disappears automatically
on the other drive objects to which this alarm was forwarded.

Forwarding of faults and alarms due to BICO interconnections

If two or more drive objects are connected via BICO interconnections, faults and alarms of
CU-type drive objects are forwarded to SERVO-type drive objects.

Fault and alarm classes

There are differentiated alarm messages in the cyclic telegrams between the former alarm
classes "Alarm" and "Fault". Therefore there are 3 additional levels of alarm between the
"pure" alarm and the fault.
The function permits a higher-level control (SIMATIC, SIMOTION, SINUMERIK, etc.) to have
different control reactions to alarm messages from the drive.
The new statuses act as alarms for the drive, therefore there is NO immediate reaction from
the drive (like for the former level "alarm").
Information on alarm classes are described in status word ZSW2 at bit positions bit 5 - 6 (for
SINAMICS) or bit 11-12 (SIMODRIVE 611) (see also "ZSW2" in the chapter "Cyclic
Communication").
ZSW2: Valid for SINAMICS Interface Mode p2038=0 (function diagram 2454)
Bit 5 - 6 Alarm classes alarms
= 0: Alarm (former alarm level)
= 1: Alarm class W_NCA alarms
= 2: Alarm class W_NCB alarms
= 3: Alarm class W_NCC alarms

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Diagnostics
5.3 Fault and alarm messages

ZSW2: Valid for SIMODRIVE 611 Interface Mode p2038=1 (function diagram 2453)
Bit 11 - 12 Alarm classes alarms
= 0: Alarm (former alarm level)
= 1: Alarm class W_NCA alarms
= 2: Alarm class W_NCB alarms
= 3: Alarm class W_NCC alarms
These attributes for differentiating the alarms are assigned implicitly to the appropriate alarm
numbers. The reaction to the existing alarm classes in the alarm is defined by the user
program in the higher-level control.
Explanations of the alarm classes
● W_NCA: Drive operation currently not limited
– e.g. alarm when measurement systems inactive
– no limitation on current movement
– Prevent possible switching to the defective measuring system
● W_NCB: Time-limited operation
– e.g. prewarning temperature: without further action the drive may need to be switched
off
– After a timer stage -> additional fault
– after exceeding a switch-off threshold -> additional fault
● W_NCC: Functionally limited operation
– e.g. reduced voltage/current/torque/speed limits (i2t)
– e.g. continue with reduced accuracy / resolution
– e.g. continue without encoder

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Parameterizing using the BOP20 6
6.1 General information about the BOP20
With the BOP20, drives can be powered up and powered down during the commissioning
phase and parameters can be displayed and modified. Faults can be diagnosed as well as
acknowledged.
The BOP20 is snapped onto the Control Unit; to do this the dummy cover must be removed
(for additional information on mounting, please refer to the Equipment Manual).

Overview of displays and keys

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Figure 6-1 Overview of displays and keys

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Parameterizing using the BOP20
6.1 General information about the BOP20

Information on the displays

Table 6- 1 LED

Display Meaning
top left The active drive object of the BOP is displayed here.
2 positions The displays and key operations always refer to this drive object.
RUN Is lit (bright) if the drive is in the RUN state (operation).
RUN is also displayed via bit r0899.2 of the drive.
top right The following is displayed in this field:
2 positions • More than 6 digits: Characters that are still present but are invisible (e.g. "r2" ––> 2
characters to the right are invisible, "L1" ––> 1 character to the left is invisible)
• Designation of BICO inputs (bi, ci)
• Designation of BICO outputs (bo, co)
• Source object of a BICO interconnection to a drive object different than the active one.
S Is (bright) if at least one parameter was changed and the value was not transferred into the non-
volatile memory.
P Is lit (bright) if, for a parameter, the value only becomes effective after pressing the P key.
C Is light (bright) if at least one parameter was changed and the calculation for consistent data
management has still not been initiated.
Below, 6 digit Displays, e.g. parameters, indices, faults and alarms.

Information on the keys

Table 6- 2 Keys

Key Name Meaning

ON Power up the drive for which the command "ON/OFF1" should come from the BOP.
Binector output r0019.0 is set using this key.
OFF Powering down the drive for which the commands "ON/OFF1", "OFF2" or "OFF3" should come
from the BOP.
The binector outputs r0019.0, .1 and .2 are simultaneously reset when this key is pressed. After
the key has been released, binector outputs r0019.1 and .2 are again set to a "1" signal.
Functions The significance of these keys depends on the actual display.
Note:
The effectiveness of this key to acknowledge faults can be defined using the appropriate BiCo
parameterization.
Parameters The significance of these keys depends on the actual display.
If this key is pressed for 3 s, the "Copy RAM to ROM" function is executed. The "S" displayed on
the BOP disappears.
Raise The keys depend on the current display and are used to either raise or lower values.
Lower

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 Parameterizing using the BOP20
6.2 Displays and using the BOP20

BOP20 functions

Table 6- 3 Functions

Name Description
Units The units are not displayed on the BOP.
Access level The access level for the BOP is defined using p0003.
The higher the access level, the more parameters can be selected using the BOP.
Unplug while voltage is The BOP can be withdrawn and inserted under voltage.
present • The ON and OFF keys have a function.
When withdrawing, the drive is stopped.
Once the BOP has been inserted, the drive must be switched on again.
.
• ON and OFF keys have no function
Withdrawing and inserting has no effect on the drive.
Actuating keys The following applies to the "P" and "FN" keys:
• When used in a combination with another key, "P" or "FN" must be pressed first and then
the other key.

Parameters for BOP

Drive object, Control Unit

● p0003 BOP access level
● p0009 Device commissioning, parameter filter
● r0019 CO/BO: Control word, BOP
● p0977 Save all parameters

SERVO drive object

● p0010 Commissioning parameter filter

6.2 Displays and using the BOP20

Features
● Operating display
● Changing the active drive object
● Displaying/changing parameters
● Displaying/acknowledging faults and alarms
● Controlling the drive using the BOP20

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Function Manual, 10/2008, 6SL3097-4AB10-0BP0 113
Parameterizing using the BOP20
6.2 Displays and using the BOP20

Parameter display
The parameters are selected in the BOP20 using the number. The parameter display is
reached from the operating display by pressing the "P" key. Parameters can be searched for
using the arrow keys. The parameter value is displayed by pressing the "P" key again. You
can toggle between the drive objects by simultaneously pressing the keys "FN" and the
arrow keys. You can toggle between r0000 and the parameter that was last displayed by
pressing the "FN" key in the parameter display.

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114 Function Manual, 10/2008, 6SL3097-4AB10-0BP0
 Parameterizing using the BOP20
6.2 Displays and using the BOP20

Value display
To switch from the parameter display to the value display, press the "P" key. In the value
display, the values of the adjustable parameters can be increased and decreased using the
arrow. The cursor can be selected using the "FN" key.

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Function Manual, 10/2008, 6SL3097-4AB10-0BP0 115
Parameterizing using the BOP20
6.2 Displays and using the BOP20

Example: Changing binector and connector input parameters

For the binector input p0840[0] (OFF1) of drive object 2 binector output r0019.0 of the
Control Unit (drive object 1) is interconnected.

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116 Function Manual, 10/2008, 6SL3097-4AB10-0BP0
 Parameterizing using the BOP20
6.3 Fault and alarm displays

6.3 Fault and alarm displays

Displaying faults

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Parameterizing using the BOP20
6.4 Controlling the drive using the BOP20

Displaying alarms

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6.4 Controlling the drive using the BOP20

Description
When commissioning the drive, it can be controlled via the BOP20. A control word is
available on the Control Unit drive object (r0019) for this purpose, which can be
interconnected with the appropriate binector inputs of e.g. the drive.
The interconnections do not function if a standard PROFIdrive telegram was selected as its
interconnection cannot be disconnected.

Table 6- 4 BOP20 control word

Bit (r0019) Name Example, interconnection parameters

0 ON / OFF (OFF1) p0840
1 No coast down/coast down (OFF2) p0844
2 No quick stop/quick stop (OFF3) p0848
Note:
For simple commissioning, only bit 0 should be interconnected. When interconnecting bits 0 ... 2,
then the system is powered-down according to the following priority: OFF2, OFF3, OFF1.
7 Acknowledge fault (0 -> 1) p2102

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Drive functions 7
7.1 Servo control
This type of closed-loop control enables operation with a high dynamic response and
precision for a motor with a motor encoder.

7.1.1 Speed controller

The speed controller controls the motor speed using the actual values from the encoder
(operation with encoder) or the calculated actual speed value from the electric motor model
(operation without encoder).

Properties
● Speed setpoint filter
● Speed controller adaptation

Note
Speed and torque cannot be controlled simultaneously. If speed control is activated, this
has priority over torque control.

Limits
The maximum speed p1082[D] is defined with default values for the selected motor and
becomes active during commissioning. The ramp function generators refer to this value.

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Drive functions
7.1 Servo control

7.1.2 Speed setpoint filter

The speed setpoint filter can be used as follows:
● Bandstop
● Low-pass 1st order (PT1) or
● Low-pass 2nd order (PT2)
The filter is activated via parameter p1414. The filter elements are selected via parameter
p1415.

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Function diagrams (see SINAMICS S110 List Manual)

● 5020 Speed setpoint filter and speed pre-control

Overview of important parameters (see SINAMICS S110 List Manual)

Adjustable parameters
● p1414[D] Speed setpoint filter activation
● p1415[D] Speed setpoint filter 1 type
● p1416[D] Speed setpoint filter 1 time constant
● p1417[D] Speed setpoint filter 1 denominator natural frequency
● p1418[D] Speed setpoint filter 1 denominator damping
● p1419[D] Speed setpoint filter 1 numerator natural frequency
● p1420[D] Speed setpoint filter 1 numerator damping

Parameterization
The "speed setpoint filter" parameter screen is selected with the icon in the toolbar of the
STARTER commissioning tool.

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 Drive functions
7.1 Servo control

7.1.3 Speed controller adaptation

Description
Two adaptation methods are available, namely free Kp_n adaptation and speed-dependent
Kp_n/Tn_n adaptation.
Free Kp_n adaptation is also active in "operation without encoder" mode and is used in
"operation with encoder" mode as an additional factor for speed-dependent Kp_n adaptation.
Speed-dependent Kp_n/Tn_n adaptation is only active in "operation with encoder" mode and
also affects the Tn_n value.

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Example of speed-dependent adaptation

Note
This type of adaptation is only active in "operation with encoder" mode.

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Drive functions
7.1 Servo control

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Parameterization
The "speed controller" parameter screen is selected via the following icon in the toolbar of
the STARTER commissioning tool:

Figure 7-5 STARTER icon for "speed controller"

Function diagrams (see SINAMICS S110 List Manual)

● 5050 Kp_n and Tn_n adaptation

Overview of important parameters (see SINAMICS S110 List Manual)

Free Kp_n adaptation

● p1455[0...n] CI: Speed controller P gain adaptation signal
● p1456[0...n] Speed controller P gain adaptation lower starting point
● p1457[0...n] Speed controller P gain adaptation upper starting point
● p1458[0...n] Lower adaptation factor
● p1459[0...n] Upper adaptation factor

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 Drive functions
7.1 Servo control

Speed-dependent Kp_n/Tn_n adaptation

● p1460[0...n] Speed controller P gain lower adaptation speed
● p1461[0...n] Speed controller Kp adaptation speed upper scaling
● p1462[0...n] Speed controller integral time lower adaptation speed
● p1463[0...n] Speed controller Tn adaptation speed upper scaling
● p1464[0...n] Speed controller lower adaptation speed
● p1465[0...n] Speed controller upper adaptation speed
● p1466[0...n] CI: Speed controller P gain scaling

7.1.4 Torque-controlled operation

Description
An operating mode switchover (p1300) can be carried out or a binector input (p1501) used to
switch from speed control to torque control mode. All torque setpoints from the speed control
system are rendered inactive. The setpoints for torque control mode are selected by
parameterization.

Properties
● Switchover to torque control mode via:
– Operating mode selection
– Binector input
● Torque setpoint can be specified:
– The torque setpoint source can be selected
– The torque setpoint can be scaled
– An additional torque setpoint can be entered
● Display of the overall torque

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Drive functions
7.1 Servo control

Commissioning of torque control mode

1. Set torque control mode (p1300 = 23; p1501 = "1" signal)
2. Specify torque setpoint
– Select source (p1511)
– Scale setpoint (p1512)
– Select supplementary setpoint (1513)

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3. Activate enable signals

OFF responses
● OFF1 and p1300 = 23
– Reaction as for OFF2
● OFF1, p1501 = "1" signal and p1300 ≠ 23
– No separate braking response; the braking response takes place by a drive that
specifies the torque.
– The pulses are suppressed when the brake application time (p1217) expires. Zero
speed is detected when the actual speed drops below the speed threshold (p1226) or
once the monitoring time (p1227) started when speed setpoint ≤ speed threshold
(p1226) has expired.
– Switching on inhibited is activated.
● OFF2
– Immediate pulse suppression, the drive coasts to standstill.
– The motor brake (if parameterized) is closed immediately.
– Switching on inhibited is activated.

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7.1 Servo control

● OFF3
– Switch to speed-controlled operation
– n_set = 0 is input immediately to brake the drive along the OFF3 deceleration ramp
(p1135).
– When zero speed is detected, the motor brake (if parameterized) is closed.
– The pulses are suppressed when the motor brake application time (p1217) has
elapsed. Zero speed is detected when the actual speed drops below the speed
threshold (p1226) or once the monitoring time (p1227) started when speed setpoint ≤
speed threshold (p1226) has expired.
– Switching on inhibited is activated.

Function diagrams (see SINAMICS S110 List Manual)

● 5060 Torque setpoint, control type switchover
● 5610 Torque limiting/reduction/interpolator

Signal overview (see SINAMICS S110 List Manual)

● r1406.12 Torque control active

Parameterization
The "torque setpoint" parameter screen is selected via the following icon in the toolbar of the
STARTER commissioning tool:

Figure 7-7 STARTER icon for "torque setpoint"

Overview of important parameters (see SINAMICS S110 List Manual)

Adjustable parameters
● p1300 Open-loop/closed-loop control operating mode
● p1501[C] BI: Change over between closed-loop speed/torque control
● p1511[C] CI: Supplementary torque 1
● p1512[C] CI: Supplementary torque 1 scaling
● p1513[C] CI: Supplementary torque 2

Display parameters
● r1515 Supplementary torque total

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Drive functions
7.1 Servo control

7.1.5 Torque setpoint limitation

Description
The steps required for limiting the torque setpoint are as follows:
1. Define the torque setpoint and an additional torque setpoint
2. Generate torque limits
The torque setpoint can be limited to a maximum permissible value in all four quadrants.
Different limits can be parameterized for motor and regenerative modes.

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Note
This function is effective immediately without any settings. The user can also define further
settings for limiting the torque.

Properties
The connector inputs of the function are initialized with fixed torque limits. If required, the
torque limits can also be defined dynamically (during operation).
● A control bit can be used to select the torque limitation mode. The following alternatives
are available:
– Upper and lower torque limit
– Motor and regenerative torque limit
● Additional power limitation configurable
– Motor mode power limit
– Regenerative mode power limit

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 Drive functions
7.1 Servo control

● The following factors are monitored by the current controller and thus always apply in
addition to torque limitation:
– Stall power
– Maximum torque-generating current
● Offset of the setting values also possible (see "Example: Torque limits with or without
offset").
● The following torque limits are displayed via parameters:
– Lowest of all upper torque limits with and without offset
– Highest of all lower torque limits with and without offset

Fixed and variable torque limit settings

Table 7- 1 Fixed and variable torque limit settings

Selection Torque limitation mode

Mode Maximum upper or lower torque limits Maximum motor or regenerative mode torque
p1400.4 = 0 limits p1400.4 = 1
Fixed torque limit Upper torque limit (as positive p1520 Motor mode torque limit (as p1520
value) positive value)
Lower torque limit (as negative p1521 Regenerative mode torque limit (as p1521
value) negative value)
Source for variable torque Upper torque limit p1522 Motor mode torque limit p1522
limit Lower torque limit p1523 Regenerative mode torque limit p1523
Source for variable scaling Upper torque limit p1528 Motor mode torque limit p1528
factor of torque limit Lower torque limit p1529 Regenerative mode torque limit p1529
Torque offset for torque Shifts the upper and lower p1532 Shifts the motor and regenerative p1532
limit torque limits together mode torque limits together

Variants of torque limitation

The following variants are available:
1. No settings entered:
The application does not require any additional restrictions to the torque limits.
2. Fixed limits are required for the torque:
The fixed upper and lower limits or alternatively the fixed motor and regenerative limits
can be specified separately by different sources.
3. Dynamic limits are required for the torque:
– The dynamic upper and lower limit or, alternatively, the dynamic motor and
regenerative limit can be specified separately by different sources.
– Parameters are used to select the source of the current limit.

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Drive functions
7.1 Servo control

4. A torque offset can be parameterized.

5. In addition, the power limits can be parameterized separately for motor and regenerative
mode.

NOTICE
Negative values at r1534 or positive values at r1535 represent a minimum torque for the
other torque directions and can cause the drive to rotate if no load torque is generated
to counteract this (see function diagram 5630 in the SINAMICS S110 List Manual).

Example: Torque limits with or without offset

The signals selected via p1522 and p1523 include the torque limits parameterized via p1520
and p1521.

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Activating the torque limits

1. Use parameters to select the torque limitation source.
2. Use a control word to specify the torque limitation mode.
3. The following can also be carried out if necessary:
– Select and activate additional limitations.
– Set the torque offset.

Examples
● Travel to fixed stop
● Tension control for continuous goods conveyors and winders

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7.1 Servo control

Function diagrams (see SINAMICS S110 List Manual)

● 5610 Torque limiting/reduction/interpolator
● 5620 Motor/generator torque limit
● 5630 Upper/lower torque limit
● 5640 Mode changeover, power/current limiting

Parameterization
The "torque limit" parameter screen is selected via the following icon in the toolbar of the
STARTER commissioning tool:

Figure 7-10 STARTER icon for "torque limit"

Overview of important parameters (see SINAMICS S110 List Manual)

● p0640[0...n] Current limit
● p1400[0...n] Speed control configuration
● r1508 CO: Torque setpoint before supplementary torque
● r1509 CO: Torque setpoint before torque limiting
● r1515 Supplementary torque total
● p1520[0...n] CO: Torque limit, upper/motoring
● p1521[0...n] CO: Torque limit, lower/regenerative
● p1522[C] CI: Torque limit, upper/motoring
● p1523[C] CI: Torque limit, lower/regenerative
● r1526 Torque limit, upper/motoring without offset
● r1527 Torque limit, lower/regenerative without offset
● p1528[0...n] CI: Torque limit, upper/motoring, scaling
● p1529[0...n] CI: Torque limit, lower/regenerative scaling
● p1530[0...n] Motor mode power limit
● p1531[0...n] Regenerative mode power limit
● p1532[0...n] Torque limit offset
● r1533 Maximum torque-generating current of all current limits
● r1534 CO: Torque limit, upper total
● r1535 CO: Torque limit, lower total
● r1536 Maximum motor-mode torque-generating current limit
● r1537 Minimum regenerative-mode torque-generating current
● r1538 CO: Upper effective torque limit
● r1539 CO: Lower effective torque limit

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Drive functions
7.1 Servo control

7.1.6 Current controller

Properties
● PI controller for current control
● Two identical current setpoint filters
● Current and torque limitation
● Current controller adaptation
● Flux control

Closed-loop current control

No settings are required for operating the current controller. Optimization measures can be
taken in certain circumstances.

Current and torque limitation

The current and torque limitations are initialized when the system is commissioned for the
first time and should be adjusted according to the application.

Current controller adaptation

The P gain of the current controller can be reduced (depending on the current) by means of
current controller adaptation. Current controller adaptation can be deactivated with the
setting p1402.2 = 0.

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Flux controller (for induction motor)

The parameters for the flux controller are initialized when the system is commissioned for the
first time and do not usually need to be adjusted.

Commissioning with STARTER

In the STARTER commissioning tool, the "Current controller" parameter screen is selected
with the icon in the toolbar:

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7.1 Servo control

Function diagrams (see SINAMICS S110 List Manual)

● 5710 Current setpoint filters
● 5714 Iq and Id controller
● 5722 Specified field current, flux reduction, flux controller

Overview of important parameters (see SINAMICS S110 List Manual)

Closed-loop current control

● p1701[0...n] Current controller reference model dead time
● p1715[0...n] Current controller P gain
● p1717[0...n] Current controller integral time

Current and torque limitation

● p0323[0...n] Maximum motor current
● p0326[0...n] Stall torque correction factor
● p0640[0...n] Current limit
● p1520[0...n] CO: Torque limit, upper/motoring
● p1521[0...n] CO: Torque limit, lower/regenerative
● p1522[0...n] CI: Torque limit, upper/motoring
● p1523[0...n] CI: Torque limit, lower/regenerative
● p1524[0...n] CO: Torque limit, upper/motoring, scaling
● p1525[0...n] CO: Torque limit, lower/regenerative scaling
● p1528[0...n] CI: Torque limit, upper/motoring, scaling
● p1529[0...n] CI: Lower or regenerative torque limit scaling
● p1530[0...n] Motor mode power limit
● p1531[0...n] Regenerative mode power limit
● p1532[0...n] Torque offset torque limit

Display parameters
● r1526 Torque limit, upper/motoring without offset
● r1527 Torque limit, lower/regenerative without offset
● r1533 Maximum torque-generating current of all current limits
● r1534 CO: Torque limit, upper total
● r1535 CO: Torque limit, lower total
● r1536 Maximum torque-generating current limit
● r1537 Maximum torque-generating current limit
● r1538 CO: Upper effective torque limit
● r1539 CO: Upper effective torque limit

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Drive functions
7.1 Servo control

Current controller adaptation

● p0391[0...n] Current controller adaptation lower starting point
● p0392[0...n] Current controller adaptation upper starting point
● p0393[0...n] Current controller adaptation upper P gain
● p1590[0...n] Flux controller P gain
● p1592[0...n] Flux controller integral time

7.1.7 Current setpoint filter

7.1.7.1 Description

Description
The two current setpoint filters connected in series can be parameterized as follows:
● Low-pass 2nd order (PT2: -40 dB/decade) (type 1)
● General filter 2nd order (type 2)
Bandstop and lowpass with reduction are converted to the parameters of the general filter
2nd order via STARTER.
– Bandstop
– Low-pass with reduction by a constant value
The phase frequency curve is shown alongside the amplitude log frequency curve. A phase
shift results in a control system delay and should be kept to a minimum.

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 Drive functions
7.1 Servo control

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Drive functions
7.1 Servo control

Transfer function:
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Denominator natural frequency fN

Denominator damping DN

Table 7- 2 Example of a PT2 filter

STARTER filter parameters Amplitude log frequency curve Phase frequency curve
Characteristic frequency fN 500 Hz I1 +]
Damping DN 0.7 dB G%

Band-stop with infinite notch depth

Table 7- 3 Example of band-stop with infinite notch depth

STARTER filter parameters Amplitude log frequency curve Phase frequency curve
Blocking frequency fSp = 500 Hz
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Notch depth K = -∞ dB
Reduction Abs = 0 dB

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Simplified conversion to parameters for general order filters:

Reduction or increase after the blocking frequency (Abs)
Infinite notch depth at the blocking frequency
● Numerator natural frequency fZ = fSp
● Numerator damping DZ = 0
● Denominator natural frequency fN = fSp
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 Drive functions
7.1 Servo control

Band-stop with defined notch depth

Table 7- 4 Example of band-stop with defined notch depth

STARTER filter parameters Amplitude log frequency curve Phase frequency curve
Blocking frequency fSp = 500 Hz
Bandwidth fBB = 500 Hz
Notch depth K = -20 dB
Reduction Abs = 0 dB .  G%

Simplified conversion to parameters for general order filters:

No reduction or increase after the blocking frequency
Defined notch at the blocking frequency K[dB] (e.g. -20 dB)
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● Denominator natural frequency fN = fSp
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7.1 Servo control

Band-stop with defined reduction

Table 7- 5 Example of band-stop

STARTER filter parameters Amplitude log frequency curve Phase frequency curve
Blocking frequency fSP = 500 Hz
Bandwidth fBB = 500 Hz $EV G% 
Notch depth K = -∞ dB
Reduction ABS = -10 dB

General conversion to parameters for general order filters:

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I1 = I6S  
˭
● Denominator natural frequency
I%%
'1 $EV
 I6S  
● Denominator damping

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General low-pass with reduction

Table 7- 6 Example of general low-pass with reduction

STARTER filter parameters Amplitude log frequency curve Phase frequency curve
Characteristic frequency fAbs = 500 Hz I$EV +]
Damping D = 0.7 G%
Reduction Abs = -10 dB

$EV  G%

Conversion to parameters for general order filters:

● Numerator natural frequency fZ = fAbs (start of reduction)
I$EV
I= $EV

● Numerator damping  

● Denominator natural frequency fN

● Denominator damping DN

Transfer function general 2nd order filter


V ' =
V 
˭ I=  ˭ I=
+V 
V '1
V 
˭I1 ˭I1

Numerator natural frequency fZ

Numerator damping DZ
Denominator natural frequency fN
Denominator damping DN

Table 7- 7 Example of general 2nd order filter

STARTER filter parameters Amplitude log frequency curve Phase frequency curve
Numerator frequency fZ = 500 Hz
Numerator damping DZ = 0.02 dB I1 +]
Denominator frequency fN = 900 Hz
Denominator damping DN = 0.15 dB

I= +]

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7.1.7.2 Integration

Parameterization
The "current setpoint filter" parameter screen is selected via the following icon in the toolbar
of the STARTER commissioning tool:

Figure 7-13 STARTER icon for "current setpoint filter"

Function diagrams (see SINAMICS S110 List Manual)

● 5710 Current setpoint filters

Overview of important parameters (see SINAMICS S110 List Manual)

● p1656 Activates current setpoint filter
● p1657 Current setpoint filter 1 type
● p1658 Current setpoint filter 1 denominator natural frequency
● p1659 Current setpoint filter 1 denominator damping
● p1660 Current setpoint filter 1 numerator natural frequency
● p1661Current setpoint filter 1 numerator damping
● ...
● p1666 Current setpoint filter 2 numerator damping
● p1699 Filter data transfer

7.1.8 Note about the electronic motor model

A model change takes place within the speed range p1752*(100%-p1756) and p1752. With
induction motors with encoder, the torque image is more accurate in higher speed ranges;
the effect of the rotor resistance and the saturation of the main field inductance are
corrected. With synchronous motors with encoder, the commutation angle is monitored.

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7.1.9 V/f control for diagnostics

Description
With V/f control, the motor is operated with an open control loop and does require speed
control or actual current sensing, for example. Operation is possible with a small amount of
motor data.
V/f control can be used to check the following:
● Motor Module
● Power cable between the Motor Module and motor
● Motor
● DRIVE-CLiQ cable between the Motor Module and Motor
● Encoder and actual encoder value
The following motors can be operated with V/f control:
● Induction motors
● Synchronous motors

CAUTION
V/f control must only be used as a diagnostic function (e.g. to check that the motor
encoder is functioning correctly).

Note
In V/f mode, the calculated actual speed value is always displayed in r0063. The speed of
the encoder (if installed) is displayed in r0061. If an encoder is not installed, r0061
displays "0".

Note
The operation of synchronous motors with V/f control is allowed only at up to 25 % of the
rated motor speed.

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Structure of V/f control

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Prerequisites for V/f control

1. First commissioning has been carried out:
The parameters for V/f control have been initialized with appropriate values.
2. First commissioning has not been carried out:
The following relevant motor data must be checked and corrected:
– r0313 Motor pole pair number, actual (or calculated)
– p0314 Motor pole pair number
– p1318 V/f control ramp-up/ramp-down time
– p1319 V/f control voltage at zero frequency
– p1326 V/f control programmable characteristic frequency 4
– p1327 V/f control programmable characteristic voltage 4
V/f control can now be commissioned.

Note
With synchronous motors, V/f mode is normally only stable at low speeds. Higher speeds
can induce vibrations.

Commissioning V/f control

1. Verify the preconditions for V/f control mode.
2. Set p0311 –> Rated motor speed
3. Set p1317 = 1 –> activates the function
4. Activate the enable signals for operation
5. Specify the speed setpoint –> evaluate the diagnostic function

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V/f characteristic
The speed setpoint is converted to the frequency specification taking into account the
number of pole pairs. The synchronous frequency associated with the speed setpoint is
output (no slip compensation).

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Figure 7-15 V/f characteristic

Function diagrams (see SINAMICS S110 List Manual)

● 5300 V/f control for diagnostics

Overview of important parameters (see SINAMICS S110 List Manual)

● p0304 Motor rated voltage
● p0310 Motor rated frequency
● p0311 Motor rated speed
● r0313 Motor pole pair number, actual (or calculated)
● p0314 Motor pole pair number
● p0322 Maximum motor speed
● p0323 Maximum motor current
● p0640 Current limit
● p1082 Maximum speed
● p1317 V/f control diagnostics activation
● p1318 V/f control ramp-up/ramp-down time
● p1319 V/f control voltage at zero frequency
● p1326 V/f control programmable characteristic frequency 4
● p1327 V/f control programmable characteristic voltage 4

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7.1.10 Optimizing the current and speed controller

General information

CAUTION
Controller optimization may only be performed by skilled personnel with a knowledge of
control engineering.

The following tools are available for optimizing the controllers:

● "Function generator" in STARTER
● "Trace" in STARTER
● "Measuring function" in STARTER
● Measuring sockets on the Control Unit

Optimizing the current controller

The current controller is initialized when the system is commissioned for the first time and is
adequately optimized for most applications.

Optimizing the speed controller

The speed controller is set in accordance with the motor moment of inertia when the motor is
configured for the first time. The calculated proportional gain is set to approximately 30% of
the maximum possible gain in order to minimize vibrations when the controller is mounted on
the mechanical system of the machine for the first time.
The integral time of the speed controller is always preset to 10 ms.
The following optimization measures are necessary in order to achieve the full dynamic
response:
● Increase the proportional gain Kp_n (p1460)
● Change the integral action time Tn_n (p1462)

Automatic controller setting of the speed controller (frequency response analysis) in STARTER
● The automatic speed controller setting has the following features:
– Section identification using FFT analysis
– Automatic setting of filters in the current setpoint arm, e.g. for damping resonances
– Automatic setting of the controller (amplification factor Kp, integral time Tn)
● The automatic controller settings can be verified with the measuring functions.
The "Automatic controller setting" parameter screen is selected with the icon in the
toolbar of the STARTER commissioning tool:

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Example of measuring the speed controller frequency response

By measuring the speed controller frequency response and the control system, critical
resonance frequencies can, if necessary, be determined at the stability limit of the speed
control loop and dampened using one or more current setpoint filters. This normally enables
the proportional gain to be increased (e.g. Kp_n = 3* default value).
After the Kp_n value has been set, the ideal integral action time Tn_n (e.g. reduced from 10
ms to 5 ms) can be determined.

Example of speed setpoint step change

A rectangular step change can be applied to the speed setpoint via the speed setpoint step
change measuring function. The measuring function has preselected the measurement for
the speed setpoint and the torque-generating current.

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Figure 7-16 Setting the proportional gain Kp

Parameter overview
See "Speed controller".

7.1.11 Sensorless operation (without an encoder)

NOTICE
The operation of synchronous motors without an encoder must be verified in a test
application. Stable operation in this mode cannot be guaranteed for every application.
Therefore, the user will be solely responsible for the use of this operating mode.

Description
This allows operation without an encoder and mixed operation (with/without encoder).
Encoderless operation with the motor model allows a higher dynamic response and greater
stability than a standard drive with V/f control. Compared with a drive with an encoder,
however, speed accuracy is lower and the dynamic response and smooth running features
deteriorate.

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Since the dynamic response in operation without an encoder is lower than in operation with
an encoder, accelerating torque pre-control is implemented to improve the control dynamic
performance. It controls, knowing the drive torque, and taking into account the existing
torque and current limits as well as the load moment of inertia (motor moment of inertia:
p0341*p0342 + load torque: p1498) the required torque for a demanded speed dynamic
performance optimized from a time perspective.

Note
If the motor is operated with and without an encoder (e.g. p0491 not 0 or p1404 < p1082),
the maximum current during operation without an encoder can be reduced via p0642
(reference value is p0640) in order to minimize interfering, saturation-related motor data
changes during operation without an encoder.

A torque smoothing time can be parameterized via p1517 for the torque pre-control. The
speed controller needs to be optimized for operation without an encoder due to the lower
dynamic response. This can be carried out via p1470 (P gain) and p1472 (integral time).
In the low-speed range, the actual speed value, the orientation, and the actual flux can no
longer be calculated during operation without an encoder due to the accuracy of the
measured values and the parameter sensitivity of the technique. For this reason, an open-
loop current/frequency control is selected. The switchover threshold is parameterized via
p1755 and the hysteresis via p1756.
To accept a high load torque even in the open-loop controlled range, the motor current can
be increased via p1612. To do so, the drive torque (e.g. friction torque) must be known or
estimated. An additional reserve of approx. 20% should also be added. In synchronous
motors, the torque is converted to the current via the motor torque constant (p0316). In the
lower speed range, the required current cannot be measured directly on the Motor Module.
The default setting is 50% (synchronous motor) or 80% (induction motor) of the motor rated
current (p0305). When parameterizing the motor current (p1612), you must take into account
the thermal motor load.

Note
Encoderless operation is not permitted for vertical axes or similar. Encoderless operation is
not suitable for a higher-level closed-loop position control either.

The start behavior of synchronous motors from standstill can be improved further by
parameterizing the pole position identification (p1982 = 1).

Behavior once pulses have been canceled

Once the pulses have been canceled in operation without an encoder, the current actual
speed value of the motor can no longer be calculated. Once the pulses are enabled again,
the system must search for the actual speed value.
p1400.11 can be used to parameterize whether the search is to begin with the speed
setpoint (p1400.11 = 1) or with speed = 0.0 (p1400.11 = 0). Under normal circumstances,
p1400.11 = 0 because the motor is usually started from standstill. If the motor is rotating
faster than the changeover speed p1755 when the pulses are enabled, p1400.11 = 1 must
be set.
If the motor is rotating and the start value for the search is as of the setpoint (p1400.11 = 1),
the speed setpoint must be in the same direction as the actual speed before the pulses can

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be enabled. A large discrepancy between the actual and setpoint speed can cause a
malfunction.

WARNING
Once the pulses have been canceled, no information about the motor speed is available.
The computed actual speed value is then set to zero, which means that all actual speed
value messages and output signals are irrelevant.

Switchover between closed-loop/open-loop operation and operation with/without encoder

Operation without an encoder is activated via parameter setting p1300 = 20. If p1300 = 20 or
p1404 = 0, operation without an encoder is active across the entire speed range. If the
speed value is less than the changeover speed p1755, the motor is operated in accordance
with the current/frequency.
During operation with an encoder, a switchover can be made to operation without an
encoder when the speed threshold p1404 is exceeded. If p1404 > 0 and p1404 < p1755, a
switchover is not made to operation without an encoder until the speed exceeds p1755.
Operation without an encoder is displayed in parameter r1407.1.

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Figure 7-17 Area switchover

Note
In closed-loop control operating mode "Speed controller without encoder", a rotor position
encoder is not required. Since a temperature monitor is not usually connected in this case
either, this must be parameterized via p0600 = 0 (no sensor).

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Series reactor
When high-speed special motors are used, or other low leakage induction motors, a series
reactor may be required to ensure stable operation of the current controller.
The series reactor can be integrated via p0353.

Commissioning/optimization
1. Estimate the motor current p1612 on the basis of the mechanical conditions (I = M/kt).
2. Set Kn (p1470) and Tn (p1472) above I/f operation (> p1755). The load moment of inertia
should be set to zero here (p1498 = 0), since this deactivates part of the torque pre-
control.
3. Determine the load moment of inertia in the speed range above I/f operation (> p1755) by
setting p1498 via a ramp response (e.g. ramp time 100 ms) and assessing the current
(r0077) and model speed (r0063).

Function diagrams (see SINAMICS S110 List Manual)

● 5050 Kp_n-/Tn_n adaptation
● 5060 Torque setpoint, control type switchover
● 5210 Speed controller

Overview of important parameters (see SINAMICS S110 List Manual)

● p0341 Motor moment of inertia
● p0342 Ratio between the total moment of inertia and that of the motor
● p0353 Motor series inductance
● p0600 Motor temperature sensor for monitoring
● p0640 Current limit
● p0642 Encoderless current reduction
● p1300 Open-loop/closed-loop control operating mode
● p1400.11 Speed control configuration; encoderless operation actual speed value start
value
● p1404 Encoderless operation changeover speed
● r1407.1 CO/BO: Status word speed controller; encoderless operation active
● p1470 Speed controller encoderless operation P-gain
● p1472 Speed controller encoderless operation integral-action time
● p1498 Load moment of inertia
● p1517 Accelerating torque smoothing time constant
● p1612 Current setpoint, open-loop control, encoderless
● p1755 Motor model without encoder, changeover speed
● p1756 Motor model changeover speed hysteresis

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7.1.12 Motor data identification

7.1.12.1 Motor data identification

Description
Motor data identification (MotID) provides a means of determining motor data (of third-party
motors, for example). The drive system must have been commissioned for the first time as
basis for using MotID. To do this, either the electrical motor data (motor data sheet) or the
rating plate data must be entered and the calculation of the motor/control parameters
(p0340) must have been completed.
Commissioning involves the following steps:
● Enter the motor data or the rating plate data and the encoder data
● Complete calculation of the motor and control data as starting value for the MotID
(p0340 = 3, if motor data, p0340 = 1, if rating plate data were entered)
● Carry out a static measurement (p1910)
● For synchronous motors: Carry out an angular commutation calibration (p1990) and if
required, fine synchronization (refer to r1992)
● Carry out a rotating measurement (p1960)
Before starting the rotating measurement, the speed controller setting should be checked
and optimized (p1460, p1462 and p1470, p1472).
It is preferable if the rotating MotID is carried out with the motor de-coupled from the
mechanical system. This therefore means that only the motor moment of inertia is
determined. The total moment of inertia with mechanical system can be subsequently
identified with p1959 = 4 and p1960 = 1. The stress on the mechanical system can be
reduced by parameterizing the ramp-up time (p1958) and/or using a speed limit
(p1959.14/p1959.15) or using the current and speed limit. The higher the selected ramp-
up time, the less accurate the moment of inertia determined.

Note
Completion of the individual identification runs can be read via parameters r3925 to
r3928.

The enable signals OFF1, OFF2, OFF3 and "enable operation" remain effective and can be
interrupt the motor identification routine.

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If there is an extended setpoint channel (r0108.08 = 1), parameters p1959.14 = 0 and

p1959.15 = 0 and a direction of rotation limit (p1110 or p1111) is active there, then this is
observed at the instant of the start via p1960. For p1958 = -1, the ramp-up and ramp-down
time of the setpoint channel (p1120 and p1121) are also used for the MotID.

Note
If a ramp-up/ramp-down time or one direction of rotation limit is activated, parts of the motor
data identification routine cannot be carried out. For other parts of the motor data
identification routine, the accuracy of the results is diminished because a ramp-up/ramp-
down time is selected. If possible, p1958 should be 0 and no direction of rotation limit
selected (p1959.14 = 1 and p1959.15 = 1).

DANGER
The stationary MotID can result in slight movement of up to 210 degrees electrical.
For the rotating motor data identification routine, motor motion is initiated, which can reach
the maximum speed (p1082) and the motor torque corresponding to the maximum current
(p0640).
The rotating measurement should be carried out with a motor running at no load (de-
coupled from the mechanical system) in order to prevent damage/destruction to the load or
be influenced by the load. If the motor cannot be de-coupled from the mechanical system,
then the stress on the mechanical system can be reduced by parameterizing the ramp-up
time (p1958) and/or using a speed limit (p1959.14/p1959.15) or using the current and
speed limit.
If a mechanical distance limit has been set, you are advised not to carry out the rotating
measurement.
The emergency OFF functions must be fully operational during commissioning.
To protect the machines and personnel, the relevant safety regulations must be observed.

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Motor data
Motor data input requires the following parameters:

Table 7- 8 Motor data

Induction motor Permanent-magnet synchronous motor

• p0304 Motor rated voltage • p0305 Motor rated current
• p0305 Motor rated current • p0311 Motor rated speed
• p0307 Motor rated power • p0314 Motor pole pair number
• p0308 Motor rated power factor • p0316 motor torque constant
• p0310 Motor rated frequency • p0322 maximum motor speed
• p0311 Motor rated speed • p0323 maximum motor current
• p0320 Motor rated magnetizing current • p0341 Motor moment of inertia
• p0322 maximum motor speed • p0350 motor stator resistance, cold
• p0350 motor stator resistance, cold • p0353 motor series inductance
• p0353 motor series inductance • p0356 motor stator leakage inductance
• p0354 motor rotor resistance, cold • p0400ff encoder data
• p0356 motor stator leakage inductance
• p0358 motor rotor leakage inductance
• p0360 motor magnetizing inductance
• p0400ff encoder data

Rating plate data

Input of the rating plate data requires the following parameters:

Table 7- 9 Rating plate data

Induction motor Permanent-magnet synchronous motor

• p0304 rated voltage • p0304 rated voltage
• p0305 rated current • p0305 rated current
• p0307 rated power • p0307 rated power (alternative p0316)
• p0308 rated power factor (cos ϕ) • p0311 rated speed
• p0310 rated frequency • p0314 Motor pole pair number
• p0311 rated speed or p0315 Motor pole pair width
• p0322 maximum motor speed • p0322 maximum motor speed
• p0353 motor series inductance • p0323 maximum motor current
• p0400ff encoder data • p0353 motor series inductance
• p0400ff encoder data

Since the rating plate data contains the initialization values for identification, you must
ensure that it is entered correctly and consistently to enable the above data to be
determined.

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Parameters to control the MotID

The following parameters influence the MotID:

Table 7- 10 Parameters for control

Static measurement (motor data identification) Rotating measurement

• p0640 Current limit • p0640 Current limit
• p1215 Motor holding brake configuration • p1082 Maximum speed
• p1909 Motor data identification control word • p1958 motor data identification ramp-up/ramp-down time
• p1910 Motor data identification, stationary • p1959 Rotating measurement configuration
• p1959.14/.15 Positive/negative direction permitted* • p1960 Rotating measurement selection
Note:
If a brake is being used and is operational (p1215 = 1, 3), then the stationary measurement with closed brake is carried
out. If possible (e.g. no hanging/suspended axis), we recommend that the brake is opened before the MotID (p1215 = 2).
This also means that the encoder size can be adjusted and the angular commutation calibrated.
*The p1959 setting has the following effects on the rotational direction parameter p1821:
Positive direction permitted, with setting p1821=0 means: Clockwise direction of rotation
Negative direction permitted, with setting p1821=1 means: Counter-clockwise direction of rotation

7.1.12.2 Motor data identification - induction motor

Induction motor
The data are identified in the gamma equivalent circuit diagram and displayed in r19xx. The
motor parameters p0350, p0354, p0356, p0358 and p0360 taken from the MotID refer to the
T equivalent circuit diagram of the induction machine and cannot be directly compared. This
is the reason that an r parameter is listed in the table, which displays the parameterized
motor parameters in the gamma equivalent circuit diagram.

Table 7- 11 Data determined using p1910 for induction motors (stationary measurement)

Determined data (gamma) Data that are accepted (p1910 = 1)

r1912 identified stator resistance p0350 motor stator resistance, cold
+ p0352 cable resistance
r1913 rotor time constant identified r0384
motor rotor time constant/damping time constant, d axis
r1915 stator inductance identified -
r1925 threshold voltage identified -
r1927 rotor resistance identified r0374 motor resistance cold (gamma)
p0354
r1932 d inductance r0377 motor leakage inductance, total (gamma)
p0353 motor series inductance
p0356 motor leakage inductance
p0358 motor leakage inductance
p1715 current controller P gain
p1717 current controller integral action time
r1934 q inductance identified -

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Determined data (gamma) Data that are accepted (p1910 = 1)

r1936 magnetizing inductance identified r0382 motor main inductance, transformed (gamma)
p0360 motor main inductance
p1590 flux controller P gain
p1592 flux controller integral action time
r1973 encoder pulse number identified -
Note:
The encoder pulse number is only determined very imprecisely and is only suitable for making rough checks (p0408). The
sign is negative if inversion is required (p0410.0).
- p0410 encoder inversion actual value
Note:
If the encoder inversion is changed using MotID, fault F07993 is output, which refers to a possible change in the direction
of rotation and can only be acknowledged by p1910 = -2.

Table 7- 12 Data determined using p1960 for induction motors (rotating measurement)

Determined data (gamma) Data that are accepted (p1960 = 1)

r1934 q inductance identified -
r1935 q inductance identification current
Note:
The q inductance characteristic can be used as basis to manually determine the data for the current controller adaptation
(p0391, p0392 and p0393).
r1936 magnetizing inductance identified r0382 motor main inductance, transformed (gamma)
p0360 motor main inductance
p1590 flux controller P gain
p1592 flux controller integral action time
r1948 magnetizing current identified p0320 rated motor magnetizing current
r1962 saturation characteristic magnetizing current -
identified
r1963 saturation characteristic stator inductance -
identified
Note:
The magnetic design of the motor can be identified from the saturation characteristic.
r1969 moment of inertia identified p0341 motor moment of inertia
* p0342 ratio between the total moment of inertia and that of the
motor
+ p1498 load moment of inertia
r1973 encoder pulse number identified -
Note:
The encoder pulse number is only determined very imprecisely and is only suitable for making rough checks (p0408). The
sign is negative if inversion is required (p0410.0).

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7.1.12.3 Motor data identification - synchronous motor

Synchronous motor

Table 7- 13 Data determined using p1910 for synchronous motors (stationary measurement)

Determined data Data that are accepted (p1910 = 1)

r1912 stator resistance identified p0350 motor stator resistance, cold
+ p0352 cable resistance
r1925 threshold voltage identified -
r1932 d inductance p0356 motor stator leakage inductance
+ p0353 motor series inductance
p1715 current controller P gain
p1717 current controller integral-action time
r1934 q inductance identified -
r1950 Voltage emulation error p1952 Voltage emulation error, final value
voltage values
r1951 Voltage emulation error, current values p1953 Voltage emulation error, current offset
Note regarding r1950 to p1953:
Active when the function module "extended torque control" is activated and activated compensation of the voltage
emulation error (p1780.8 = 1).
r1973 Encoder pulse number identified -
Note:
The encoder pulse number is only determined very imprecisely and is only suitable for making rough checks (p0408). The
sign is negative if inversion is required (p0410.0).
r1984 Pole position identification angular difference p0431 Angular commutation offset
Note:
r1984 indicates the difference of the angular commutation offset before being transferred into p0431.
- p0410 Encoder inversion actual value
Note:
If the encoder inversion is changed using MotID, fault F07993 is output, which refers to a possible change in the direction
of rotation and can only be acknowledged by p1910 = -2.

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Table 7- 14 Data determined using p1960 for synchronous motors (rotating measurement)

Determined data Data that are accepted (p1960 = 1)

r1934 q inductance identified -
r1935 q inductance identification current -
Note:
The q inductance characteristic can be used as basis to manually determine the data for the current controller adaptation
(p0391, p0392 and p0393).
r1937 torque constant identified p0316 motor torque constant
r1938 voltage constant identified p0317 motor voltage constant
r1939 reluctance torque constant identified p0328 motor reluctance torque constant
r1947 optimum load angle identified p0327 optimum motor load angle
r1969 moment of inertia identified p0341 Motor moment of inertia
* p0342 ratio between the total moment of inertia and that of
the motor
+ p1498 load moment of inertia
r1973 Encoder pulse number identified -
Note:
The encoder pulse number is only determined very imprecisely and is only suitable for making rough checks (p0408). The
sign is negative if inversion is required (p0410.0).
r1984 Pole position identification angular difference p0431 Angular commutation offset
Note:
r1984 indicates the difference of the angular commutation offset before being transferred into p0431.

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Overview of important parameters (see SINAMICS S110 List Manual)

● r0047 Status identification

Standstill measurement
● p1909 Motor data identification control word
● p1910 Motor data identification, stationary

Rotating measurement
● p1958 Motor data identification ramp-up/ramp-down times
● p1959 Rotating measurement configuration
● p1960 Rotating measurement selection

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7.1.13 Pole position identification

Description
For synchronous motors, the pole position identification determines its electrical pole
position, that is required for the field-oriented control. Generally, the electrical pole position is
provided from a mechanically adjusted encoder with absolute information. In this case, pole
position identification is not required. For the following encoder properties, pole position
identification is not required:
● Absolute encoder (e.g. EnDat, DRIVE-CLiQ encoder)
● Encoder with C/D track and pole pair number ≤ 8
● Hall sensor
● Resolver with a multiple integer ratio between the motor pole pair number and the
encoder pole pair number
● Incremental encoder with a multiple integer ratio between the motor pole pair number and
the encoder pulse number
The pole position identification is used for:
● Determining the pole position (p1982 = 1)
● Determining the angular commutation offset during commissioning (p1990 = 1)
● Plausibility check for encoders with absolute information (p1982 = 2)

WARNING
When the motors are not braked, the motor rotates or moves as a result of the current
impressed during the measurement. The magnitude of the motion depends on the
magnitude of the current and the moment of inertia of the motor and load.

Notes regarding pole position identification

The relevant technique can be selected using parameter P1980. The following techniques
are available for a pole position identification routine:
● Saturation-based 1st+ 2nd harmonics (p1980 = 0)
● Saturation-based 1st harmonics (p1980 = 1)
● Saturation-based, two-stage (p1980 = 4)
● Saturation-based (p1980 = 10)
The following supplementary conditions apply to the saturation-based motion technique:
● This technique can be used for both braked and non-braked motors.
● It can only be used for a speed setpoint = 0 or from standstill.
● The specified current magnitudes (p0325, p0329) must be sufficient to provide a
significant measuring result.

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● For motors without iron, the pole position cannot be identified using the saturation-based
technique.
● With 1FK7 motors, two-stage procedures must not be used (p1980 = 4). The value in
p0329, which is set automatically, must not be reduced.
For the motion-based technique, the following supplementary conditions apply:
● The motor must be free to move and it may not be subject to external forces (no
hanging/suspended axes)
● It can only be used for a speed setpoint = 0 or from standstill.
● If there is a motor brake, then this must be open (p1215 = 2).
● The specified current magnitude (p1993) must move the motor by a sufficient amount.

WARNING
Before using the pole position identification routine, the control sense of the speed
control loop must be corrected (p0410.0).
For rotating motors, in encoderless operation with a small positive speed setpoint (e.g.
10 RPM), the speed actual value (r0061) and the speed setpoint (r1438) must have the
same sign.

Pole position determination with zero marks

The pole position identification routine provides coarse synchronization. If zero marks exist,
the pole position can be automatically compared with the zero mark position once the zero
mark(s) have been passed (fine synchronization). The zero mark position must be either
mechanically or electrically (p0431) calibrated. If the encoder system permits this, then we
recommend fine synchronization (p0404.15 = 1). This is because it avoids measurement
spread and allows the determined pole position to be additionally checked.

Suitable zero marks are:

● One zero mark in the complete traversing range
● Equidistant zero marks whose relevant position to the commutation are identical
● Distance-coded zero marks

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Determining a suitable technique for the pole position identification routine

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Figure 7-20 Selecting the appropriate technique

Angular commutation offset commissioning support (p1990)

The function for determining the commutation angle offset is activated via p1990=1. The
commutation angle offset is entered in p0431. This function can be used in the following
cases:
● Single calibration of the pole position for encoders with absolute information
(exception: The Hall sensor must always be mechanically adjusted.)
● Calibrating the zero mark position for fine synchronization

Table 7- 15 Mode of operation of p0431

Incremental without Incremental with one Incremental with distance- Absolute encoder
zero mark zero mark coded zero marks
C/D track p0431 p0431 Currently not available Not permitted
shifts the commutation shifts the commutation
with respect to the C/D with respect to the C/D
track track and zero mark
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does not influence the does not influence the does not influence the Hall
Hall sensor. The Hall Hall sensor. sensor.
sensor must be p0431 p0431: shifts the commutation
mechanically adjusted. shifts the commutation with respect to the absolute
with respect to the zero position (after two zero marks
mark have been passed)
Pole position p0431 p0431 p0431: shifts the commutation p0431
identification no effect shifts the commutation with respect to the absolute shifts the commutation
with respect to the zero position (after two zero marks with respect to
mark have been passed) absolute position

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Note
When fault F07414 occurs, p1990 is automatically started; if p1980 is not equal to 99 and
p0301 does not refer to a catalog motor with an encoder that is adjusted in the factory.

Overview of important parameters (see SINAMICS S110 List Manual)

● p0325[0...n] Motor pole position identification current 1st phase
● p0329[0...n] Motor pole position identification current
● p0404.15 Commutation with zero mark
● p0431 Angular commutation offset
● p1980[0...n] Pole position identification procedure
● p1981[0...n] Pole position identification maximum movement
● p1982[0...n] Pole position identification selection
● p1983 Pole position identification test
● r1984 Pole position identification angular difference
● r1985 Pole position identification saturation curve
● r1987 Pole position identification trigger curve
● p1990 Pole position identification commutation angle offset commissioning
● r1992 Pole position identification diagnostics
● p1993 Pole position identification current, motion based
● p1994 Pole position identification rise time motion based
● p1995 Pole position identification motion based P gain
● p1996 Pole position identification motion based integral action time
● p1997 Pole position identification motion based smoothing time

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7.1.14 Vdc control

Description
Vdc control can be activated if overvoltage or undervoltage is present in the supply voltage.
This prevents a fault from occurring due to the supply voltage and ensures that the drive is
always ready to use.
This function is activated by means of the configuration parameter (p1240). It can be
activated if an overvoltage or undervoltage is present. The torque limit of the motor at which
the Vdc controller is active can be affected if discrepancies in the supply voltage are
significant enough. The motor may no longer be able to maintain its setpoint speed or the
acceleration/braking phases could be prolonged.
The Vdc controller is an automatic P controller that influences the torque limits. It only
intervenes when the supply voltage approaches the "upper threshold" (p1244) or "lower
threshold" (p1248) and the corresponding controller is activated via the configuration
parameter (p1240).
An application for the Vdc controller is, for example, as a safety measure in the event of a
power failure (Vdc_min and Vdc_max controller).

Description of Vdc_min control (p1240 = 2, 3)

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In the event of a power failure, the Power Module will no longer be able to maintain the
supply voltage, in particular if the motor is drawing active power. To maintain the supply
voltage in the event of a power failure (e.g. for a controlled emergency retraction), the
Vdc_min controller can be activated for the drive. If the voltage threshold set in p1248 is
undershot, this drive will be decelerated so that its kinetic energy can be used to maintain
the supply voltage. The threshold should be considerably higher than the trip threshold of the
motor (recommendation: 50 V below the supply voltage). When the power supply is restored,
the Vdc controller is automatically deactivated and the drive will ramp back up to the speed

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7.1 Servo control

setpoint. If the supply voltage cannot be restored, the power supply will fail once the kinetic
energy of the drive has been exhausted with an active Vdc_min controller.

Note
You must make sure that the converter is not disconnected from the power supply. It could
become disconnected, for example, if the line contactor drops out. The line contactor would
need to have an uninterruptible power supply (UPS), for example.

Description of Vdc_min control without braking (p1240 = 8, 9)

As with p1240 = 2, 3, however, active motor braking can be prevented by a reduction in the
supply voltage. The effective upper torque limit must not be less than the torque limit offset
(p1532). The motor does not switch to regenerative mode and no longer draws any active
power from the DC link.

Description of Vdc_max control (p1240 = 1, 3)

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In the event of a power failure, the voltage can increase until it reaches the shutdown
threshold when the drive is decelerated. The Vdc_max controller can be activated to prevent
the system from shutting down due to overvoltage. The Vdc_max controller is normally
activated for drives that have to decelerate/accelerate high levels of kinetic energy
themselves. When the overvoltage threshold in p1244 is reached (recommended setting: 50
V higher than the supply voltage), the braking torque of the drive with an active Vdc_max
controller is reduced by shifting the torque limit. In this way, the drive feeds back the same
amount of energy that is assimilated as a result of losses or consumers, thereby minimizing
the braking time.

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Description of Vdc_max control without acceleration (p1240 = 7, 9)

As with p1240 = 1, 3, if the drive must not be accelerated by means of an increase in the
supply voltage, acceleration can be prevented by setting p1240 = 7, 9. The effective lower
torque limit must not be greater than the torque limit offset (p1532).

Description of Vdc controller monitoring functions (p1240 = 4, 5, 6)

In the event of a power failure, the supply voltage can increase until it reaches the shutdown
threshold when the drive is decelerated. To ensure that uncritical drives do not attempt to
draw power from the supply voltage in the event of a power failure, such drives can be
switched off by a fault (F07404) with a parameterizable voltage threshold (p1244). This is
carried out by activating the Vdc_max monitoring function (p1240 = 4, 6).

Function diagrams (see SINAMICS S110 List Manual)

● 5650 Vdc_max controller and Vdc_min controller

Overview of important parameters (see SINAMICS S110 List Manual)

Adjustable parameters
● p1240 Vdc controller or Vdc monitoring configuration
● p1244 DC link voltage threshold, upper
● p1248 DC link voltage threshold, lower
● p1250 Vdc controller proportional gain

Display parameters
● r0056.14 Vdc_max controller active
● r0056.15 Vdc_min controller active

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7.1.15 Dynamic Servo Control (DSC)

Description
The function Dynamic Servo Control" (DSC) is a closed-loop control structure which is
computed in a fast speed controller clock cycle and is supplied with setpoints by the control
in the position controller clock cycle.
This allows higher position controller gain factors to be achieved.
The following prerequisites are necessary to use the "Dynamic Servo Control" function:
● n-set mode
● Isochronous PROFIBUS-DP
● The position controller gain factor (KPC) and the position deviation (XERR) must be
included in the PROFIBUS-DP setpoint telegram (refer to p0915).
● The position actual value must be transferred to the master in the actual value telegram
of PROFIBUS-DP via the encoder interface Gx_XIST1.
● When DSC is activated, the speed setpoint N_SOLL_B from the PROFIBUS DP telegram
is used as speed pre-control value.
● The internal quasi position controller uses the position actual value from the motor
measuring system (G1_XIST1) or the position actual value from the additional encoder
system (free telegrams).

Further PZD data telegram types can be used with the telegram extension. It must then be
ensured that SERVO supports a maximum of 16 PZD setpoints and 19 PZD actual values.

Note
Synchronization is required on the control side and on the drive side for the operation of
DSC.

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Activating
If the prerequisites for DSC are met, the DSC structure is activated through a logical
combination of the parameters p1190 "DSC position deviation XERR" and p1191 "DSC
position controller gain KPC" through a selected suitable PROFIdrive telegram.
If KPC = 0 is issued, only speed control with the speed pre-control value (p1430, typically
N_SOLL_B) can be used. Position controlled operation requires a transfer of KPC > 0.
When DSC is activated, it is recommended to use a new setting for the position controller
gain KPC in the master.
When DSC is activated, the channels p1155 and p1160 for the position setpoint values as
well as the channel for the extended setpoint value are not used.
The p1430 value for speed pre-control is still taken into account.

Deactivating
If both KPC = 0 (p1191=0) and XERR = 0 (p1190 = 0) are set, the DSC structure is dissolved
and the "DSC" function is deactivated. In this case, only the value from p1430 from speed
pre-control is taken into account.
Since it is possible to set higher gain factors using DSC, the control loop can become
unstable when DSC is disabled. For this reason, before deactivating DSC, the value for KPC
in the master must be reduced.

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Speed setpoint filter

A speed setpoint filter to smoothen the speet setpoint steps is no longer required when DSC
is active.
When using the "DSC" function, it only makes sense to use speed setpoint filter 1 to support
the position controller, e.g. to suppress resonance effects.

External encoder systems (except motor encoder)

If, with DSC active, an external encoder is to be used, this requires the selection of a
telegram with additional encoder actual values: Free telegrams.
For optimum control in DSC mode, the same encoders must be used for the controller
(Master) and the drive via the parameter p1192 "DSC encoder selection".
Since the motor encoder is no longer used in this case, the adaptation factor for the
conversion of the selected encoder system into the motor encoder system is determined
using parameter p1193 "DCS encoder adaptation factor". The factor represents the ratio of
the pulse difference between the motor encoder and the used encoder for the same
reference distance.
The effect of the parameters p1192 and p1193 is illustrated in function diagram 3090.

Diagnostics
Via the parameter r1407.4 = 1 it can be indicated whether the speed setpoint of DSC is
used.
Preconditions for the indication:
● p1190 and p1191 must be connected to a signal source with a value of > 0
(DSC structure activated).
● OFF1, OFF2 and OFF3 must not be active.
● The motor data identification must not be active.
● Master control must not be active.

The "DSC" function cannot be active under the following conditions:

● Isochronous mode has not been selected (r2054 not equal to 4)
● PROFIBUS is not isochronous (r2064[0] not equal to 1)
● On the control side, DSC is not active, which causes the value of KPC =0 to be
transmitted to p1191.

Function diagrams (see SINAMICS S110 List Manual)

● 2420 PROFIdrive standard telegrans and process data
● 2422 Vendor-specific telegrams and process data
● 3090 Dynamic Servo Control (DSC)
● 5020 Speed setpoint filter and speed pre-control
● 5030 Reference model

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Overview of important parameters (see SINAMICS S110 List Manual)

● p1190 CI: DSC position deviation XERR
● p1191 CI: DSC position controller gain KPC
● p1192[D] DSC encoder selection
● p1193[D] DSC encoder adaptation factor
● r1407.4 CO/BO: Status word, velocity controller

7.1.16 Travel to fixed stop

Description
This function can be used to move a motor to a fixed stop at a specified torque without a
fault being signaled. When the stop is reached, the specified torque is built up and remains
applied.
The desired torque derating is brought about by scaling the upper/motor-mode torque limit
and the lower/regenerative-mode torque limit.

Application examples
● Screwing parts together with a defined torque.
● Moving to a mechanical reference point.

Signals
When PROFIBUS telegrams 2 to 4 are used, the following are automatically interconnected:
● Control word 2, bit 8
● Status word 2, bit 8

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Also with PROFIdrive telegrams 102 and 103:

● Message word, bit 1
● Process data M_red to the scaling of the torque limit

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When PROFIdrive telegrams 2 to 4 are used, no torque reduction is transmitted. When the
"Travel to fixed stop" function is activated, the motor ramps up to the torque limits specified
in p1520 and p1521. If the torque has to be reduced, telegrams 102 and 103, for example,
can be used for transmission. Another option would be to enter a fixed value in p2900 and
interconnect it to the torque limits p1528 and p1529.

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Signal chart

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Commissioning for PROFIdrive telegrams 2 to 4

1. Activate travel to fixed stop.
Set p1545 = "1".
2. Set the required torque limit.
Example:
p1400.4 = "0" ––> upper or lower torque limit
p1520 = 100 Nm ––> effective in upper positive torque direction
p1521 = –1500 Nm ––> effective in lower negative torque direction
3. Run motor to fixed stop.
The motor runs at the set torque until it reaches the stop and continues to work against
the stop until the torque limit has been reached, this status being indicated in status bit
r1407.7 "Torque limit reached".

Control and status messages

Table 7- 16 Control: Travel to fixed stop

Signal name Internal control word Binector input PROFIdrive p0922 and/or
STW n_ctrl p2079
Activate travel to fixed stop 8 p1545 Activate travel to fixed stop STW2.8

Table 7- 17 Status message: Travel to fixed stop

Signal name Internal status word Parameter PROFIdrive p0922 and/or

p2079
Travel to fixed stop active - r1406.8 ZSW2.8
Torque limits reached ZSW n_ctrl.7 r1407.7 ZSW1.11 (inverted)
Torque utilization < torque ZSW monitoring functions r2199.11 MESSAGEW.1
threshold value 2 3.11

Function diagrams (see SINAMICS S110 List Manual)

● 5610 Torque limiting/reduction/interpolator
● 5620 Motor/generator torque limit
● 5630 Upper/lower torque limit
● 8012 Torque messages, motor blocked/stalled

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Overview of important parameters (see SINAMICS S110 List Manual)

● p1400[0...n] Speed control configuration
● r1407.7 BO: Torque limit reached
● p1520[0...n] CO: Torque limit, upper/motoring
● p1521[0...n] CO: Torque limit, lower/regenerative
● p1522[0...n] CI: Torque limit, upper/motoring
● p1523[0...n] CI: Torque limit, lower/regenerative
● r1526 Torque limit, upper/motoring without offset
● r1527 Torque limit, lower/regenerative without offset
● p1532[0...n] Torque limit offset
● p1542[0...n] CI: Travel to fixed stop, torque reduction
● r1543 CO: Travel to fixed stop, torque scaling
● p1544 Travel to fixed stop, evaluate torque reduction
● p1545[0...n] BI: Activate travel to fixed stop
● p2194[0...n] Torque threshold 2
● p2199.11 BO: Torque utilization < torque threshold value 2

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7.1.17 Vertical axes

Description
With a vertical axis without mechanical weight compensation, electronic weight
compensation can be set by offsetting the torque limits (p1532). The torque limits specified in
p1520 and p1521 are shifted by this offset value.
The offset value can be read in r0031 and transferred in p1532.
To reduce compensation once the brake has been released, the torque offset can be
interconnected as a supplementary torque setpoint (p1513). In this way, the holding torque is
set as soon as the brake has been released.

Function diagrams (see SINAMICS S110 List Manual)

● 5060 Torque setpoint, control type switchover
● 5620 Motor/generator torque limit
● 5630 Upper/lower torque limit

Overview of important parameters (see SINAMICS S110 List Manual)

● r0031 Actual torque smoothed
● p1513 CI: Supplementary torque 2
● p1520 CO: Torque limit, upper/motoring
● p1521 CO: Torque limit, lower/regenerative
● p1532 CO: Torque limit, offset

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7.1.18 Variable signaling function

Description
The variable signaling function can be used to monitor BICO sources and parameters (with
the attribute traceable) for violation of an upper or lower threshold (p3295).
A hysteresis (p3296) can be specified for the threshold value and a pull-in or drop-out delay
(p3297/8) can be specified for the output signal (p3294).
The setting of a hysteresis results in a tolerance band around the threshold value. If the
upper threshold value is exceeded the output signal is set to 1, if it drops below the lower
threshold value the output signal is reset to 0.
After the configuration is completed, the variable signaling function must be activated with
p3290.0.

Example 1:
Heating should be switched on depending on the temperature. For this the analog signal of
an external sensor is connected with the variable signaling function. A temperature threshold
and a hysteresis is defined to prevent the heating from switching on and off constantly.
Example 2:
A process variable pressure is to be monitored, whereby a temporary overpressure is
tolerated. For this the output signal of an external sensor is connected with the variable
signaling function. The pressure thresholds and a pull-in delay are set as tolerance time.
When the output signal of the variable signaling function is set, bit 5 in message word
MELDW is set during cyclic communication. The message word MELDW is a component of
the telegrams 102, 103, 110, 111.

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Function diagram (see SINAMICS S110 List Manual)

● 5301 Servo control - variable signaling function

Overview of important parameters (see SINAMICS S110 List Manual)

● p3290 Start variable signaling function
Bit 0 = 0: Stop variable signaling function (default)
Bit 0 = 1: Start variable signaling function with current parameter settings
Bit 1 = 0: Compare without sign
Bit 1 = 1: Compare with sign (default)
● p3291 Variable signaling function signal source
BICO source, with which the connector parameters or parameters with the
attribute traceable can be connected.
● p3292 Variable signaling function signal source address
Set the address of the signal source for the variable signaling function
● p3293 Variable signaling function signal source data type
Set the data type of the signal source for the variable signaling function
● p3294 Variable signaling function output signal
Display the output signal for the variable signaling function.
Specify the signal source (binector parameter), individual bits
can be interconnected.
● p3295 Variable signaling function threshold value
Set the threshold value for the variable signaling function.
● p3296 Variable signaling function hysteresis
Set the hysteresis for the variable signaling function.
● p3297 Variable signaling function pull-in delay [ms]
Set the pull-in delay for the variable signaling function.
The output signal is set if the condition for a 1 signal is fulfilled for a longer period
than the programmed pull-in delay.
● p3298 Variable signaling function drop-out delay [ms]
Set the drop-out delay for the variable signaling function.
The output signal is reset if the condition for a 0 signal is fulfilled for a longer period
than the programmed drop-out delay.

Note:
The variable signaling function works with an accuracy of 8 ms (also to be taken into account
for pull-in and drop-out delay).

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7.2 Basic functions

7.2 Basic functions

7.2.1 Changing over units

Description
By changing over the units, parameters and process quantities for input and output can be
changed over to an appropriate system of units (US units or as per unit quantities (%)).
The following supplementary conditions apply when changing over units:
● Parameters of the rating plate of the drive converter or the motor rating plate can be
changed over between SI/US units; however, a per unit representation is not possible.
● After changing over the units parameter, all parameters that are assigned to one of the
units group dependent on it, are all changed over to the new system of units.
● A parameter is available to select technological units (p0595) to represent technological
quantities in the technology controller.
● If the units are converted to per unit quantities and the reference quantity changed, the
percentage value entered in a parameter is not changed.
Example:
– A fixed speed of 80% corresponds, for a reference speed of 1500 RPM, to a value of
1200 RPM.
– If the reference speed is changed to 3000 RPM, then the value of 80% is kept and
now means 2400 RPM.

Restrictions
● When a unit changeover occurs, rounding to the decimal places is carried out. This can
lead to the original value being changed by up to one decimal place.
● If a referenced form is selected and the reference parameters (e.g. p2000) are changed
retrospectively, the referenced values of some of the control parameters are also
adjusted to ensure that the control behavior is unaffected.
● If the reference variables (p2000 to p2007) are changed offline in STARTER, there is a
risk that the parameter value ranges will be violated. In this case, appropriate fault
messages will be displayed when the parameters are loaded to the drive units.

Groups of units
Every parameter that can be changed over is assigned to a units group, that, depending on
the group, can be changed over within certain limits.
This assignment and the unit groups for each parameter are listed in the parameter list in the
SINAMICS S110 List Manual.
The units groups can be individually switched via the following parameters: p0100, p0505
and p0595

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7.2 Basic functions

Function in STARTER
To call up the function for converting units in STARTER, choose Drive object ->
Configuration -> Units. The reference parameters can be found under Drive object ->
Configuration -> Reference parameters

Overview of important parameters (see SINAMICS S110 List Manual)

● p0010 Commissioning parameter filter
● p0100 Motor Standard IEC/NEMA
● p0505 Selecting the system of units
● p0595 Selecting technological units
● p0596 Reference quantity, technological units
● p2000 CO: Reference frequency/speed
● p2001 CO: Reference voltage
● p2002 CO: Reference current
● p2003 CO: Reference torque
● r2004 CO: Reference power
● p2005 CO: Reference angle
● p2007 CO: Reference acceleration

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7.2.2 Reference parameters/normalizations

Description
Reference values, corresponding to 100%, are required for the statement of units as
percentages. These reference values are entered in parameters p2000 to p2007. They are
computed during the calculation through p0340 = 1 or in STARTER during drive
configuration. After calculation in the drive, these parameters are automatically protected via
p0573 = 1 from boundary violation through a new calculation (p0340). This eliminates the
need to adjust the references values in a PROFIdrive controller whenever a new calculation
of the reference parameters via p0340 takes place.

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Note
If a referenced form is selected and the reference parameters (e.g. p2000) are changed
retrospectively, the referenced values of some of the control parameters are also adjusted to
ensure that the control behavior is unaffected.

Using STARTER offline

Following offline drive configuration, the reference parameters are preset; they can be
changed and protected under Drive -> Configuration -> "Disabled list" tab.

Note
If the reference values (p2000 to p2007) are changed offline in STARTER, it can lead to
boundary violations of the parameter values, which cause fault messages during loading to
the drive.

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7.2 Basic functions

Normalization for servo object

Table 7- 18 Normalization for servo object

Size Normalization parameter Default at initial commissioning

Reference speed 100 % = p2000 Induction motor p2000 = Maximum motor speed (p0322)
Synchronous motor p2000 = Rated motor speed (p0311)
Reference voltage 100 % = p2001 p2001 = 1000 V
Reference current 100 % = p2002 p2002 = Motor limit current (p0338); when p0338 = "0", 2
* rated motor current (p0305)
Reference torque 100 % = p2003 p2003 = p0338 * p0334; when "0", 2 * rated motor torque
(p0333)
Reference power 100 % = r2004 r2004 = p2003 * p2000 * π / 30
Reference angle 100% = p2005 90°
Reference acceleration 100% = p2007 0.01 1/s2
Reference frequency 100 % = p2000/60 -
Reference modulation depth 100 % = Maximum output -
voltage without overload
Reference flux 100 % = Rated motor flux -
Reference temperature 100% = 100°C -
Reference electrical angle 100 % = 90° -

Overview of important parameters (see SINAMICS S110 List Manual)

● p0340 Automatic calculation of motor/control parameters
● p0573 Disable automatic calculation of reference values
● p2000 Reference speed reference frequency
● p2001 Reference voltage
● p2002 Reference current
● p2003 Reference torque
● r2004 Reference power
● p2005 Reference angle
● p2007 Reference acceleration

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7.2 Basic functions

7.2.3 Automatic restart

Description
The "automatic restart" function is used to restart the drive automatically once the power has
been restored following a power failure. In this case, all of the faults present are
automatically acknowledged and the drive is powered-up again. This function is not only
restricted to line supply faults; it can also be used to automatically acknowledge faults and to
restart the motor after any fault trips.

WARNING
If p1210 is set to value > 1, the motor can start automatically once the power supply has
been restored. This is especially critical if the motor comes to a standstill (zero speed) after
longer line supply failures and it is incorrectly assumed that it has been powered down. For
this reason, death, serious injury, or considerable material damage can occur if personnel
enter the working area of a motor in this condition.

Automatic restart mode

Table 7- 19 Automatic restart mode

p1210 Mode Meaning

0 Disables automatic restart Automatic restart inactive
1 Acknowledges all faults without When p1210 = 1, faults that are present are
restarting acknowledged automatically when their cause is
rectified. If further faults occur after faults have been
acknowledged, then these are also again
automatically acknowledged. A minimum time of
p1212 + 1 s must expire between successful fault
acknowledgment and a fault re-occurring if the
signal ON/OFF1 (control word 1, bit 0) is at a HIGH
signal level. If the ON/OFF1 signal is at a LOW
signal level, the time between a successful fault
acknowledgment and a new fault must be at least
1s.
For p1210 = 1, fault F07320 is not generated if the
acknowledge attempt failed (e.g. because the faults
occurred too frequently).

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7.2 Basic functions

p1210 Mode Meaning

4 Automatic restart after line If p1210 = 4, an automatic restart will only be
supply failure, no additional start performed if in addition fault F30003 occurs on the
attempts Motor Module or there is a HIGH signal at binector
input p1208[1]. If additional faults are present, then
these faults are also acknowledged and when
successfully acknowledged, the starting attempt is
continued. When the 24 V power supply of the CU
fails, this is interrupted as a line supply failure.
6 Restart after any fault with When p1210 = 6, an automatic restart is carried out
additional start attempts after any fault or when p1208[0] = 1. If the faults
occur one after the other, then the number of start
attempts is defined using p1211. Monitoring over
time can be set using p1213.

Starting attempts (p1211) and delay time (p1212)

p1211 is used to specify the number of starting attempts. The number is internally
decremented after each successful fault acknowledgment (line supply voltage must be re-
applied). Fault F07320 is signaled if the number of parameterized startup attempts is
exceeded.
When p1211 = x, x + 1 starting attempts are made.

Note
A start attempt immediately starts when the fault occurs.
The faults are automatically acknowledged in intervals of half the delay time p1212.
After successful acknowledgment and voltage recovery, the system is automatically powered
up again.

The starting attempt is considered to have been successfully completed once motor
magnetization (induction motor) is complete (r0056.4 = 1) and one additional second has
expired. The starting counter is only reset back to the initial value p1211 after this time.
If additional faults occur between successful acknowledgment and the end of the startup
attempt, then the startup counter, when it is acknowledged, is also decremented.

Monitoring time line supply return (p1213)

The monitoring time starts when the faults are detected. If the automatic acknowledgments
are not successful, the monitoring time runs again. If the drive has not successfully restarted
once the monitoring time has expired (motor magnetization must have been completed:
r0056.4 = 1), fault F07320 is output. The monitoring is de-activated with p1213 = 0.
If a fault is pending, fault F07320 will be generated on every restart attempt if the time
defined in p1213 has expired. If p1210 > 1 and the time in p1213 is set lower than p1212,
then fault F07320 will also be generated on every restart attempt. The monitoring time must
be extended if the faults that occur cannot be immediately and successfully acknowledged
(e.g. when faults are permanently present).

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7.2 Basic functions

Commissioning
1. Activating the function
– Automatic restart: Set mode (p1210).
2. Set starting attempts (p1211).
3. Set delay times (p1212, p1213).
4. Check function.

Overview of important parameters (see SINAMICS S110 List Manual)

● r0863 CO/BO: Drive coupling status word/control word
● p1210 Automatic restart, mode
● p1211 Automatic restart, attempts to start
● p1212 Automatic restart, delay time start attempts
● p1213 Automatic restart, waiting time increment

7.2.4 Armature short-circuit brake, DC brake

Features
● For permanent-magnet synchronous motors:
– Controlling an external armature short-circuit configuration
● For induction motors:
Activation of DC brake
● Assignment as fault response
Description
Armature short-circuit braking is only supported for permanent-magnet synchronous motors.
It is mainly required when braking in a hazardous situation, if controlled braking using the
frequency converter is no longer possible (e.g. in the event of a power failure, EMERGENCY
OFF, etc.). The motor stator windings are short-circuited by means of a contactor circuit
(possibly using external braking resistors). The resistance in the motor circuit suppresses the
motor's kinetic energy.
In order for the CU305 to be able to maintain this function in the event of a power failure, an
uninterruptible 24 V power supply (UPS) must be used. High-speed permanent-magnet
spindle drives for machine tools are a typical application for armature short-circuit braking.
With the external armature short-circuit brake, the slow contactor response causes a
response in the range of > 60 ms.
DC braking is only supported for induction motors. It can be used most effectively to bring
the rotor to a safe standstill in the event of the loss of the encoder signal. In order to achieve
this, a constant DC current is injected in the stator to decelerate the rotor to standstill and
hold it there.
The functions can be triggered by applying a "1" signal to binector input p1230 or in
response to a fault (see the description of p0491 or p2100/p2101).

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7.2 Basic functions

External armature short-circuit braking

The external armature short-circuit is activated by setting p1231 = 1 (with contactor feedback
signal) or p1231 = 2 (without contactor feedback signal). It can be triggered via an input
signal p1230 (signal = 1) or a fault response. Triggering takes place once the pulses have
been suppressed or the circuit breaker has been inhibited.
This function uses output terminals to control an external contactor, which can short-circuit
the motor terminals via external resistors, for example. An armature short-circuit brake has
the advantage of a higher braking effect than a mechanical brake at the start of braking (at a
high speed). However, since the braking effect fades away as the speed drops, we
recommend a combination of armature and mechanical braking.
For the function with contactor feedback signal, the feedback inputs of both command data
sets (CDS = 2) p1235[0..1] have to be wired.
The external armature short-circuit is only supported for rotary-type permanent-magnet
synchronous motors (p0300 = 2xx).

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7.2 Basic functions

DC brake (induction motors)

The DC brake is activated by setting parameter p1231 = 4 (internal armature short-circuit/DC
brake). It can be triggered via an input signal p1230 (signal = 1) or a fault response:
Activation of DC brake with BI p1230
If the DC brake is activated with the digital input signal, the pulses will first be inhibited for
the motor demagnetization time p0347 in order to demagnetize the motor. Next, braking
current p1232 is injected into the DC brake for as long as the signal = 1 at the binector input,
in order to decelerate the motor or hold it at standstill.
When the DC brake is released, the drive will return to its initial operating mode (it is only at
this point that the motor is remagnetized).
In this mode, parameter p1234 (speed at the start of DC braking) is ignored.
DC brake as a fault response
If the DC brake is activated as a fault response, the motor will first be decelerated in field-
oriented mode along the OFF1 ramp (defined using p1082, p1121) until it reaches the speed
at the start of DC braking (p1234). If the fault in response to which braking has been
triggered is an encoder fault, braking will not be controlled (p1234 is ignored). Next, the
pulses will be inhibited for the motor demagnetization time p0347 in order to demagnetize
the motor. DC braking will then commence for the DC braking duration set in p1233. If an
encoder signal is available (neither encoder fault nor encoderless operation), the DC brake
will remain active for the set duration p1233 but will be deactivated at the latest when the
standstill threshold p1226 is undershot.

NOTICE
In encoderless operation or with strong field weakening in particular, when the rotor is
rotating, there is no guarantee of controlled operation being restored once the DC brake
function has been deactivated. In such cases, the drive will shut down with a fault message
with OFF2 response.

Note
• During parameterization, a check is made to determine whether the following conditions
have been met (if not, fault message F7906 is generated):
– Suitable type of motor for function
– Function-specific: Sensible assignment of parameters p1232 ... p1237.
• The internal armature short-circuit (p1231 = 4 for synchronous motor) and internal voltage
protection (p1231 = 3) functions are not supported for the SINAMICS S110 system.
• The "IASC/DC brake" fault response has the second-highest priority (second only to
OFF2).

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7.2 Basic functions

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Figure 7-29 DC brake

Function diagrams (see SINAMICS S110 List Manual)

● 7014 External armature short circuit (p0300 = 2xx or 4xx, synchronous motors)
● 7017 DC brake (p0300 = 1xx, induction motors)

Overview of important parameters (see SINAMICS S110 List Manual)

● p1226 Standstill detection, velocity threshold
● p1230[0...n] BI: Armature short-circuit/DC brake activation
● p1231[0...n] Armature short-circuit/DC brake configuration
● p1232[0...n] DC brake, braking current
● p1233[0...n] DC braking time
● p1234[0...n] DC brake starting speed
● p1235[0...n] BI: External armature short-circuit, contactor feedback signal
● p1236[0...n] External armature short-circuit, contactor feedback signal monitoring time
● p1237[0...n] External armature short-circuit, delay time when opening
● r1238 CO: Armature short-circuit, external state
● r1239.0..10 CO/BO: Armature short-circuit/DC brake status word

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7.2 Basic functions

7.2.5 OFF3 torque limits

Description
If the torque limits are externally specified (e.g. tension controller), then the drive can only be
stopped with a reduced torque.
In order to avoid this, there is a binector input (p1551), that for a LOW signal, activates the
torque limits p1520 and p1521. This means that the drive can brake with the maximum
torque by interconnecting the signal OFF 3 (r0899.5) to this binector.


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Figure 7-30 Torque limits OFF3

Function diagrams (see SINAMICS S110 List Manual)

● 5620 Motor/generator torque limits
● 5630 Upper/lower torque limit

Overview of important parameters (see SINAMICS S110 List Manual)

● p1520 Torque limit, upper/motoring
● p1521 Torque limit, lower/regenerative

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7.2.6 Simple brake control

7.2.6.1 Description

Features
● Automatic activation by means of sequence control
● Standstill (zero-speed) monitoring
● Forced brake release (p0855, p1215)
● Application of brake for a 1 signal "unconditionally close holding brake" (p0858)
● Application of brake after "Enable speed controller" signal has been canceled (p0856)

Description
The "Simple brake control" is used exclusively for the control of holding brakes. The holding
brake is used to secure drives against unwanted motion when deactivated.
The control command for opening and closing the holding brake is transferred directly to the
drive via by the Control Unit that logically links and monitors the signals with the system-
internal processes.
The Motor Module then performs the action and activates the output for the holding brake.
The exact sequence control is illustrated in the SINAMICS S110 List Manual (FP 2701). The
operating principle of the holding brake can be configured via parameter p1215.

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The start of the closing time for the brake depends on the expiration of the shorter of the two
times p1227 (Pulse suppression, delay time) and p1228 (Zero speed detection monitoring
time)

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7.2 Basic functions

WARNING
The holding brake must not be used as a service brake.
When holding brakes are used, the special technological and machine-specific conditions
and standards for ensuring personnel and machine safety must be observed.
The risks involved with vertical axes, for example, must also be taken into account.

Commissioning
Simple brake control will be activated automatically (p1215 = 1) when the Motor Module has
an internal brake control and a connected brake has been found.
If no internal brake control is available, the control can be activated using a parameter
(p1215 = 3).

CAUTION
If p1215 = 0 (no brake available) is set when a brake is present, the drive runs with applied
brake. This can damage the brake beyond repair.

CAUTION
Brake control monitoring may only be activated for Blocksize power units with Safe Brake
Relay (p1278 = 0).

Function diagrams (see SINAMICS S110 List Manual)

● 2701 Simple brake control (r0108.14 = 0)

Overview of important parameters (see SINAMICS S110 List Manual)

● r0056.4 Magnetizing complete
● r0060 CO: Speed setpoint before the setpoint filter
● r0063 CO: Actual speed smoothed (servo)
● r0108.14 Extended brake control
● p0855[C] BI: Unconditionally release holding brake
● p0856 BI: Speed controller enabled
● p0858 BI: Unconditionally close holding brake
● r0899.12 BO: Holding brake open
● r0899.13 BO: Command, close holding brake
● p1215 Motor holding brake configuration
● p1216 Holding brake release time

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7.2 Basic functions

● p1217 Holding brake application time

● p1226 Threshold for zero speed detection
● p1227 Zero speed detection monitoring time
● p1228 Zero speed detection, delay time
● p1278 Deactivate monitoring of brake control

7.2.7 Runtime (operating hours counter)

Total system runtime

The total system runtime is displayed in p2114 (Control Unit). Index 0 indicates the system
runtime in milliseconds after reaching 86.400.000 ms (24 hours), the value is reset. Index 1
indicates the system runtime in days.
At power-off the counter value is saved.
After the drive unit is powered-up, the counter continues to run with the value that was saved
the last time that the drive unit was powered-down.

Relative system runtime

The relative system runtime after the last POWER ON is displayed in p0969 (Control Unit).
The value is in milliseconds and the counter overflows after 49 days.

Actual motor operating hours

The motor operating hours counter p0650 (drive) is started when the pulses are enabled.
When the pulse enable is withdrawn, the counter is stopped and the value saved.
If p0651 is at 0, the counter is de-activated.
If the maintenance interval set in p0651 is reached, fault F01590 is triggered. Once the
motor has been maintained, the maintenance interval must be reset.

CAUTION
If the motor data set is switched during the star/delta switchover without the motor being
changed, the two values in p0650 must be added to determine the correct number of motor
operating hours.

Operating hours counter for the fan

The operating hours of the fan in the power unit are displayed in p0251 (drive).
The number of hours operated can only be reset to 0 in this parameter (e.g. after a fan has
been replaced). The service life of the fan is entered in p0252 (drive). Alarm A30042 is
output 500 hours before this figure is reached. Monitoring is deactivated when p0252 = 0.

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7.2.8 Parking axis and parking encoder

7.2.8.1 Description
The parking function is used in two ways:
● "Parking axis"
– Monitoring of all encoders assigned to the "motor control" application of a drive is
suppressed.
– All encoders assigned to the "Motor control" application of a drive are prepared for the
"removed" state.
● "Parking encoder"
– Monitoring of a certain encoder is suppressed.
– The encoder is prepared for the "removed" state.

Parking an axis
When the axis is parked, the power unit and all the encoders assigned to "motor control" are
switched to inactive (r0146[n] = 0).
● Control is carried out via the control/status words of the cyclic telegram (STW2.7 and
ZSW2.7) or using parameters p0897 and r0896.0.
● The drive must be brought to a standstill by the higher-level controller (disable pulses e.g.
via STW1.0/OFF1).
● A measuring system that is not assigned to the "motor control" (e.g. direct measuring
system) remains active (r0146[n] = 1).
● The drive object remains active.

Note
Once the "Parking axis" / "Parking encoder" status has been canceled, you may have to
carry out the following actions:
If the motor encoder has been replaced: determine the commutation angle offset (p1990).
A new encoder must be referenced again (e.g. to determine the machine zero point).

Parking an encoder
When an encoder is parked, the encoder being addressed is switched to inactive (r0146 =
0).
● Control is carried out via the encoder control/status words of the cyclic telegram
(Gn_STW.14 and Gn_ZSW.14).
● With a parked motor measuring system, the associated drive must be brought to a
standstill by the higher-level control system (disable pulses e.g. via CTW1.0/OFF1).
● The monitoring functions for the power unit remain active (r0126 = 1).

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7.2 Basic functions

Example: parking axis

In the following example, an axis is parked. To ensure that the axis parking is effective, the
drive must be brought to a standstill (e.g. via STW1.0 (OFF1). All components assigned to
the motor control (e.g. power unit and motor encoder) are shut down.


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Example: parking encoder

In the following example, a motor encoder is parked. To activate motor encoder parking, the
drive must be stopped (e.g. via STW1.0 (OFF1).


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Function chart: parking encoder

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Overview of important parameters (see SINAMICS S110 List Manual)

● p0145 Activate/deactivate encoder interface
● r0146 Encoder interface active/inactive
● p0895 BI: Activate/deactivate power unit component
● r0896.0 BO: Parking axis status word
● p0897 BI: Parking axis selection

7.2.8.2 Example: parking axis and parking sensor

Example: parking axis

In the following example, an axis is parked. To ensure that the axis parking is effective, the
drive must be brought to a standstill (e.g. via CTW1.0 (OFF1). All components assigned to
the motor control (e.g. power unit and motor encoder) are shut down.


67:

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Figure 7-33 Function chart: parking axis

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7.2 Basic functions

Example: parking encoder

In the following example, a motor encoder is parked. To activate motor encoder parking, the
drive must be stopped (e.g. via STW1.0 (OFF1).


67:


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*QB=6:


U


Q


Figure 7-34 Function chart: parking encoder

7.2.9 Updating the firmware

The firmware must be updated if the functional scope is extended in a more recent version
and the corresponding functions need to be used.
A memory card containing the firmware update should be inserted into the powered-down
Control Unit 305. On power up, the firmware on the memory card will be transferred to the
CU305's non-volatile ROM memory. Any parameter data sets also on the memory card will
also be transferred. The Control Unit 305 will then start automatically with the newly
uploaded firmware, including the newly uploaded parameters, if applicable.
This process may take a few minutes and is indicated by the READY(RDY) LED on the
CU305 lighting up steady red. The progress is displayed in parameter p7827.
Once all updates have been uploaded, the READY(RDY) LED will flash red at 2 Hz and the
corresponding READY(RDY) LED on the component will flash green/red at 2 Hz. For the
firmware to be activated, a POWER ON must be carried out for the components.

Note
The versions of the DRIVE-CLiQ component and that of the Control Unit may differ. A
version overview can be accessed via parameter r7825.

7.2.9.1 Upgrading firmware and the project in STARTER

Preconditions are a functional project, a memory card containing the new firmware and a
current version of STARTER.

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Upgrade the project

1. Is the project in STARTER? Yes: continue with 3.
2. Upload project with STARTER.
– Connect with target system (go online)
– Downloading the project into the PG
3. Install the latest firmware version for the project.
– in the project navigator, right-click the drive unit -> Target -> Device version
– e.g. select version "SINAMICS S110 V4.1x" -> Change version

Update the firmware and load the new project to the target device.
1. Insert memory card with the new firmware version.
– Disconnect the Control Unit from the power supply ->
– Insert the memory card containing the new FW version ->
– Power-up the Control Unit again.
2. Go online and download the project to the target device -> Copy from RAM to ROM
3. Upgrading the firmware for the DRIVE-CLiQ components takes place automatically.
4. Reset the drive unit using a POWER ON (Control Unit and all DRIVE-CLiQ components).
The new firmware release is only effective in the DRIVE-CLiQ components now and is
also displayed in the version overview.

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7.2.10 Changing the direction of rotation without changing the setpoint

Features
● Not change to the speed setpoint and actual value, the torque setpoint and actual value
and the relative position change.
● Only possible when the pulses are inhibited

CAUTION
If a change of rotational direction is configured in the data set configurations (e.g.
p1821[0] = 0 and p1821[1] = 1), then when the function module basic positioner or
position control is activated, the absolute adjustment must be reset each time the
system boots or when the rotational direction changes (p2507), as the position
reference is lost when the rotational direction changes.

Note
If one of the p1959.14/15 options (positive/negative direction of rotation permitted) is
selected in parameter p1959, this will affect the direction of rotation when p1821 (sense of
rotation) is set as follows:
If p1821 = 0 or 1, positive direction of rotation (p1959.14 =1) means: clockwise or counter-
clockwise direction respectively.
If p1821 = 1 or 0, negative direction of rotation (p1959.15 =1) means: counter-clockwise or
clockwise direction respectively.

Description
The direction of rotation of the motor can be reversed using the rotational direction change
via p1821 without having to change the motor rotating field by interchanging two phases at
the motor and having to invert the encoder signals using p0410.
The rotational direction change via p1821 can be detected as a result of the direction of
rotation of the motor. The speed setpoint and actual value, torque setpoint and actual value
and also the relative position change remain unchanged.
The rotational direction change can be identified as a result of the phase voltage. Similarly,
when the rotational direction changes, the absolute position reference is also lost.

Overview of important parameters (see SINAMICS S110 List Manual)

● r0069 Phase current, actual value
● p1821 Rotational direction
● p1959[0...n] Rotating measurement configuration
● p2507 LR absolute encoder adjustment status

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7.3 Function modules

7.3.1 Function modules - Definition and commissioning

Description
A function module is a functional expansion of a drive object that can be activated during
commissioning.
Examples of function modules:
● Technology controller
● Setpoint Channel
● Extended brake control
A function module generally has separate parameters and, in some cases, separate faults
and warnings too. These parameters and messages are only displayed when the function
module is active. An active function module also generally requires additional processing
time, which must be taken into account during configuration.

Commissioning with STARTER

In the STARTER commissioning screens, you can activate the function modules directly
(e.g. technology controller) or indirectly (activating the basic positioner automatically
activates position control, for example).

Commissioning via parameter (only with BOP20)

The function modules can be activated/de-activated using parameter p0108 of the Control
Unit (CU). The READY LED on the main component of the drive object can be made to flash
by means of parameter p0124 (CU).

Overview of important parameters (refer to the SINAMICS S110 List Manual)

● p0108 Drive objects, function module
● p0124 Identifying the main components using LEDs

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7.3.2 Technology controller

7.3.2.1 Features
Simple control functions can be implemented with the technology controller, e.g.:
● Level control
● Dancer position/tension control
● Pressure control
● Flow control
● Simple closed-loop control without higher-level controller
The technology controller features:
● Separate fixed values
● Integrated motorized potentiometer
● Technology controller with:
– Two scalable setpoints
– Ramp-function generator in setpoint channel
– Filter for actual value and setpoint channel
– Two modes for derivative component injection
– Pre-control
– Output ramp with limits
– Scalable output signal

7.3.2.2 Description

Motorized potentiometer
This function is used to simulate an electromechanical potentiometer for setpoint input.
Separate binector inputs for higher (p2235) and lower (p2236) are used to adjust the input
setpoint: The potentiometer limits are defined within maximum (p2237) and minimum
(p2238) values. The setpoint input is routed to an internal ramp-function generator, for which
both a ramp-up (p2247) and a ramp-down (p2248) time, as well as an initial value (p2240)
can be defined. Initial rounding can be activated to fine-tune the setpoint, whereby the
acceleration of the setpoint is calculated as follows:
a = 0.0001· MAX[p2237; |p2238|] · 0.132
The connector output of the motorized potentiometer (r2250) can, for example, be used as a
setpoint for the technology controller. The motorized potentiometer requires the OFF1
enable for operation.

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Technology controller
Two scalable setpoints (p2255/ p2256) can be specified via two connector inputs (p2253/
p2254). A ramp-function generator in the setpoint channel can be used to define a ramp by
means of the ramp-up and ramp-down times (p2257/p2258). Both the setpoint and actual
value channels have access to a filter element with configurable time constants (p2261 and
p2265).
The proportional gain (p2280), integral time (p2285) and derivative-action time (p2274) can
be set in the following technology controller. The controller itself has access to two controller
type modes dependent upon p2263:
● PI controller with derivative component in actual value channel (p2263 = 0; factory
setting)
With this type of controller, changes to actual values caused by a change in the
disturbance variable will generate a stronger reaction from the final controlling element
(on account of the derivative component) . The effect of abrupt changes to setpoints (no
ramp) on the control process is tempered by the reaction of the final controlling element
(thereby reducing the load on the final controlling element). The derivative component
can also be used to compensate the delay generated by the upstream smoothing of a
noisy actual value signal.

Figure 7-35 Controller structure of the PI controller with derivative component in the actual value
channel

● Technology controller (p2263 = 1)

Here, the derivative component is generated from the system deviation; as such, a
setpoint change will generate an abrupt change in the final controlling element. Changes
to disturbance variables are also compensated more quickly due to the action of the
derivative component.

Figure 7-36 Controller structure of the PID technology controller when p2263 = 1

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Please note that the controller structure of the technology controller differs from the standard
technology controller structure described below, which is standard in some sources. To
enable comparison, the corresponding conversions have been specified:

Figure 7-37 Technology controller structure with parallel components

where

Other controller variants are also possible:

● PI controller by switching-out the derivative component (rate time TV: p2274 = 0)
● PD controller by switching-out the integral component (integral time TN: p2285 = 0)
● Proportional controller by switching-out the integral and derivative components (p2274 =
0; p2285 = 0)
Note:
In the factory setting (p2252.1 = 1), the integral component is not dependent upon the
proportional gain (p2280). In this case p2285 is the integration time constant TI. If p2252.1 =
0, p2285 will become the integral time TN, with the result that the following applies for the
integral component:

A further connector input (p2289) is available at the controller output for pre-control or
switching in fault values. The signal is then routed via a limit (p2291/2).
The technology controller has a dedicated enable binector input (p2200). To avoid abrupt
changes in the output signal, an output ram can be defined by means of a ramp-up/ramp-
down time (p2293).
Note:
In the factory setting p2252.2 = 1, the output will be set to 0 immediately when the enable is
lost (p2200 = 0). In order for the output signal to be fed back via the output ramp, p2252.2 =
0 must be set.
The output signal (r2294) can then be scaled via the connector input p2295 before being
made available as a connector output for downstream connection.

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7.3.2.3 Integration
The technology controller function is integrated in the system as follows.

Function diagrams (see SINAMICS S110 List Manual)

● 7950 Fixed values (r0108.16 = 1)
● 7954 Motorized potentiometer (r0108.16 = 1)
● 7958 Closed-loop control (r0108.16 = 1)

Overview of important parameters (see SINAMICS S110 List Manual)

Fixed setpoints
● p2201[0...n] CO: Technology controller, fixed value 1
● ...
● p2215[0...n] CO: Technology controller, fixed value 15
● p2220[0...n] BI: Technology controller fixed value selection bit 0
● p2221[0...n] BI: Technology controller fixed value selection bit 1
● p2222[0...n] BI: Technology controller fixed value selection bit 2
● p2223[0...n] BI: Technology controller fixed value selection bit 3

Motorized potentiometer
● p2230[0...n] Technology controller motorized potentiometer configuration
● p2235[0...n] BI: Technology controller motorized potentiometer, raise setpoint
● p2236[0...n] BI: Technology controller motorized potentiometer, lower setpoint
● p2237[0...n] Technology controller motorized potentiometer, maximum value
● p2238[0...n] Technology controller motorized potentiometer, minimum value
● p2240[0...n] Technology controller motorized potentiometer, start value
● r2245 CO: Technology controller motorized potentiometer, setpoint before RFG
● p2247[0...n] Technology controller motorized potentiometer, ramp-up time
● p2248[0...n] Technology controller motorized potentiometer, ramp-down time
● r2250 CO: Technology controller motorized potentiometer, setpoint after RFG

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Closed-loop control
● p2200 BI: Technology controller enable
● p2253[0...n] CI: Technology controller setpoint 1
● p2254 [0...n] CI: Technology controller setpoint 2
● p2255 Technology controller setpoint 1 scaling
● p2256 Technology controller setpoint 2 scaling
● p2257 Technology controller ramp-up time
● p2258 Technology controller ramp-down time
● p2261 Technology controller setpoint filter time constant
● p2263 Technology controller type
● p2264[0...n] CI: Technology controller actual value
● p2265 Technology controller actual value filter time constant
● p2280 Technology controller proportional gain
● p2285 Technology controller integral action time
● p2289[0...n] CI: Technology controller pre-control signal
● p2295 Technology controller output scaling

7.3.2.4 Commissioning with STARTER

The "technology controller" function module can be activated via the commissioning Wizard.
You can check the actual configuration in parameter r0108.16.
Dedicated screens are available for parameterization.

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7.3.3 Extended monitoring functions

7.3.3.1 Description
When the extension is activated, the monitoring functions are extended as follows:
● Speed setpoint monitoring: |n_setp| ≤ p2161
● Speed setpoint monitoring: n_set > 0
● Load monitoring

Description of load monitoring

This function monitors power transmission between the motor and the working machine.
Typical applications include V-belts, flat belts, or chains that loop around the belt pulleys or
cog wheels for drive and outgoing shafts and transfer the peripheral speeds and forces.
Load monitoring can be used here to identify blockages in the working machine and
interruptions to the power transmission.
During load monitoring, the current speed/torque curve is compared with the programmed
speed/torque curve (p2182 to p2190). If the current value is outside the programmed
tolerance bandwidth, a fault or alarm is triggered depending on parameter p2181. The fault
or alarm message can be delayed by means of parameter p2192 to prevent false messages
caused by brief transitional states.

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7.3 Function modules

Commissioning
The extended monitoring functions are activated while the commissioning wizard is running.
Parameter r0108.17 indicates whether it has been activated.

Function diagrams (see SINAMICS S110 List Manual)

● 8010 Speed signals
● 8013 Load monitoring

Overview of important parameters (see SINAMICS S110 List Manual)

Load monitoring
● p2181[D] Load monitoring response
● p2182[D] Load monitoring speed threshold 1
● p2183[D] Load monitoring speed threshold 2
● p2184[D] Load monitoring speed threshold 3
● p2185[D] Load torque monitoring torque threshold 1 upper
● ...
● p2190[D] Load torque monitoring torque threshold 3 lower
● p2192[D] Load monitoring delay time

Speed setpoint monitoring

● p2150[D] Hysteresis speed 3
● p2151[C] CI: Speed setpoint
● p2161[D] Speed threshold value 3
● r2198.4 BO: Status word monitoring 2, |n_setp| ≤ p2161
● r2198.5 BO: Status word monitoring 2, n_setp < 0

7.3.3.2 Integration
The extended monitoring functions are integrated as follows in the system.

Function diagrams (see SINAMICS S110 List Manual)

● 8010 Speed signals
● 8013 Load monitoring

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Overview of important parameters (see SINAMICS S110 List Manual)

Load monitoring
● p2181[D] Load monitoring response
● p2182[D] Load monitoring speed threshold 1
● p2183[D] Load monitoring speed threshold 2
● p2184[D] Load monitoring speed threshold 3
● p2185[D] Load torque monitoring torque threshold 1 upper
● ...
● p2190[D] Load torque monitoring torque threshold 3 lower
● p2192[D] Load monitoring delay time

Speed setpoint monitoring

● p2150[D] Hysteresis speed 3
● p2151[C] CI: Speed setpoint
● p2161[D] Speed threshold value 3
● r2198.4 BO: Status word monitoring 2, |n_setp| ≤ p2161
● r2198.5 BO: Status word monitoring 2, n_setp < 0

7.3.3.3 Commissioning
The extended monitoring functions are activated while the commissioning Wizard is running.
Parameter r0108.17 indicates whether it has been activated.

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7.3.4 Extended brake control

7.3.4.1 Features
The extended brake control function has the following features:
● Forced brake release (p0855, p1215)
● Close the brake for a 1 signal "unconditionally close holding brake" (p0858)
● Binector inputs for releasing/applying the brake (p1218, p1219)
● Connector input for threshold value for releasing/applying the brake (p1220)
● OR/AND block, each with two inputs (p1279, r1229.10, p1229.11)
● Holding and operational brakes can be activated.
● Function for monitoring brake feedback signals (r1229.4, r1229.5)
● Configurable responses (A7931, A7932)
● Application of brake after "Enable speed controller" signal has been removed (p0856)

7.3.4.2 Integration
The extended brake control function is integrated in the system as follows.

Function diagrams (see SINAMICS S110 List Manual)

● 2704 Zero speed detection (r0108.14 = 1)
● 2707 Release and apply brake (r0108.14 = 1)
● 2711 Signal outputs (r0108.14 = 1)

Overview of important parameters (see SINAMICS S110 List Manual)

● r0108.14 Extended brake control
● r0899 CO/BO: Status word sequence control
Standstill (zero-speed) monitoring
● r0060 CO: Speed setpoint before the setpoint filter
● r0063 CO: Actual speed value after actual value smoothing
● p1225 CI: Standstill detection, threshold value
● p1226 Threshold for zero speed detection
● p1227 Zero speed detection monitoring time
● p1228 Zero speed detection, delay time
● p1224[0...3] BI: Close motor holding brake at standstill
● p1276 Motor holding brake standstill detection bypass

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Release and apply the brake

● p0855 BI: Unconditionally release holding brake
● p0858 BI: Unconditionally close holding brake
● p1216 Holding brake release time
● p1217 Holding brake application time
● p1218[0...1] BI: Open motor holding brake
● p1219[0...3 ] BI: Immediately close motor holding brake
● p1220 CI: Open motor holding brake, signal source, threshold
● p1221 Open motor holding brake threshold
● p1277 Motor holding brake delay braking threshold exceeded

Free blocks
● p1279 BI: Motor holding brake, OR/AND logic operation

Brake monitoring functions

● p1222 BI: Motor holding brake, feedback signal, brake closed
● p1223 BI: Motor holding brake, feedback signal, brake open

Configuration, control/status words

● p1215 Motor holding brake configuration
● r1229 CO/BO: Motor holding brake status word
● p1278 Motor holding brake type

Control and status messages for extended brake control

Table 7- 20 Control: Extended brake control

Signal name Binector input Control word sequence control /

interconnection parameters
Enable speed setpoint p1142 BI: Enable speed setpoint STWA.6
Enable setpoint 2 p1152 BI: Setpoint 2 enable p1152 = r899.15
Unconditionally release holding brake p0855 BI: Unconditionally release STWA.7
holding brake
Enable speed controller p0856 BI: Enable speed controller STWA.12
Unconditionally close holding brake p0858 BI: Unconditionally close holding STWA.14
brake

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7.3 Function modules

Table 7- 21 Status message: Extended brake control

Signal name Parameter Brake status word

Command, open brake (continuous r1229.1 B_ZSW.1
signal)
Pulse enable, extended brake control r1229.3 B_ZSW.3
Brake does not open r1229.4 B_ZSW.4
Brake does not close r1229.5 B_ZSW.5
Brake threshold exceeded r1229.6 B_ZSW.6
Value below brake threshold r1229.7 B_ZSW.7
Brake monitoring time expired r1229.8 B_ZSW.8
Request, pulse enable missing/n_ctrl r1229.9 B_ZSW.9
inhibited
Brake OR logic operation result r1229.10 B_ZSW.10
Brake AND logic operation result r1229.11 B_ZSW.11

7.3.4.3 Description
The "Extended brake control" function allows complex braking control for motor holding
brakes and operational brakes.
The brake is controlled as follows (the sequence reflects the priority):
● Via parameter p1215
● Via binectors p1219[0...3] and p0855
● Via zero speed detection
● Via a connector interconnection threshold value
For an AC drive with "Safe Brake Relay," the "Safe Brake Control" safety function requires
that the type of the brake control be set in parameter p1278, to "Brake control with diagnostic
evaluation" (p1278 = 0).

7.3.4.4 Examples

Starting against applied brake

When the device is switched on, the setpoint is enabled immediately (if other enable signals
are issued), even if the brake has not yet been released (p1152 = 1). The factory setting
p1152 = r0899.15 must be disconnected here. The drive first generates torque against the
applied brake. The brake is not released until the motor torque or motor current (p1220) has
exceeded braking threshold 1 (p1221).
This configuration is used, for example, when the drive is connected to a belt that is under
tension (loop accumulator in the steel industry).

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Emergency brake
If emergency braking is required, electrical and mechanical braking is to take place
simultaneously. This can be achieved if OFF3 is used as a tripping signal for emergency
braking:
p1219[0] = r0898.2 (OFF3 to "apply brake immediately").
The OFF3 ramp (p1135) should be set to 0 seconds so that the converter does not work
against the brakes. Regenerative energy may accumulate, and this must be either fed back
into the supply system or converted into heat using a braking resistor.
This is often used, for example, in calendar stacks, cutting tools, running gears, and presses.

Operating brake for crane drives

For cranes with a manual control, it is important that the drive immediately response when
the control lever is moved (master switch). The drive is powered-up using the on command
(p0840) (the pulses are enabled). Speed setpoint (p1142) and speed controller (p0856) are
inhibited. The motor is magnetized. The magnetization time generally applicable for three-
phase motors (1-2 seconds) is therefore eliminated.
Now, there is only the brake opening time that is applicable as delay between moving the
master switch and the motor rotating. If the master switch is moved (deflected), then there is
a "setpoint enable from the control" (bit interconnected with p1142, p1229.2, p1224.0). The
speed controller is immediately enabled - the speed setpoint is enabled after the brake
opening time (p1216). When the master switch is in the zero position, the speed setpoint is
inhibited - the drive is ramp-down using the ramp function generator. The brake closes once
the standstill limit (p1226) has been fallen below. After the brake closing time (p1217), the
speed controller is inhibited (the motor is no longer generating any force). The extended
brake control is used with the modifications described below.

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7.3 Function modules

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7.3.4.5 Commissioning
The extended brake control function can be activated while the commissioning Wizard is
running. Parameter r0108.14 indicates whether the function module has been activated.
Unless you change the default settings, the extended brake control function behaves in
exactly the same way as the simple brake control function.
Brake control can be activated via a parameter (p1215 = 3).
When braking with a feedback signal (p1222), the inverted signal must be connected to the
BICO input for the second (p1223) feedback signal. The response times of the brakes can
be set in p1216 and p1217.

Note
If p1215 = 0 (no brake available) is set when a brake is present, the drive runs with applied
brake. This can damage the brake beyond repair.

CAUTION
Brake control monitoring may only be activated for Blocksize power units with Safe Brake
Relay (p1278 = 0).

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7.3.5 Closed-loop position control

7.3.5.1 General features

The position controller essentially comprises the following parts:
● Position actual value conditioning (including the lower-level measuring probe evaluation
and reference mark search)
● Position controller (including limits, adaptation and the pre-control calculation)
● Monitoring functions (including standstill, positioning, dynamic following error monitoring
and cam signals)
● There is still no position actual value conditioning for distance-coded measuring systems.
● Position tracking of the load gear (motor encoder), using absolute encoders for rotary
axes (modulo) as for linear axes.

7.3.5.2 Position actual value conditioning

Features
● Correction value (p2512, p2513)
● Setting value (p2514, p2515)
● Position offset (p2516)
● Position actual value (r2521)
● Velocity actual value (r2522)
● Motor revolutions (p2504)
● Load revolutions (p2505)
● Spindle pitch (p2506)
● Position tracking (p2720ff)

Description
The position actual value conditioning implements the conditioning of the position actual
value in a neutral position unit LU (LENGTH UNIT). To do this, the function block uses the
encoder evaluation/motor control with the available encoder interfaces Gn_XIST1,
Gn_XIST2, Gn_STW and Gn_ZSW. These just provide position information in encoder
pulses and fine resolution (increments).
The position actual value is conditioned immediately after the system has booted, regardless
of whether the position controller is enabled, as soon as valid values are received via the
encoder interface.
Parameter p2502 (encoder assignment) is used to define from which encoder (1 or 2), the
position actual value is sensed.

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Figure 7-40 Position actual value sensing with rotary encoders

The link between the physical variables and the neutral length unit LU is established via
parameter p2506 (LU per load revolution) for rotary encoders. Parameter p2506 mirrors,
together with p2504, p2505, the interrelationship between encoder increments and the
neutral position unit LU.
Example:
Rotary encoder, ball screw with a pitch of 10 mm/revolution. 10 mm should have a resolution
of 1 µm (i.e. 1 LU = 1 µm).
-> One load revolution corresponds to 10000 LU
-> p2506 = 10000

Note
The effective actual value resolution is obtained from the product of the encoder pulses
(p0408) and the fine resolution (p0418) and a measuring gear that may be being used
(p0432, p0433).

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Figure 7-41 Position actual value sensing with linear encoders

For linear encoders, the interrelationship between the physical quantity and the neutral
length unit LU is configured using parameter p2503 (LU/10 mm).
Example:
Linear encoder, 10 mm should have a resolution of 1 µm (i.e. 1 LU = 1 µm).
-> p2503 = 10000

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Figure 7-42 Position actual value conditioning

A correction can be made using connector input p2513 (correction value, position actual
value conditioning) and a positive edge at binector input p2512 (activates the correction
value). When the "basic positioning" function module is activated, p2513 is automatically
interconnected with r2685 (EPOS correction value) and p2512 with r2684.7 (activate
correction). This interconnection enables modulo offset by EPOS, for example.
p2516 can be used to switch in position offset. Using EPOS, p2516 is automatically
interconnected to r2667. Backlash compensation is implemented using this interconnection.
Using the connector input p2515 (position setting value) and a "1" signal at binector input
p2514 (set position actual value), a position setting value can be entered.

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WARNING
When the actual position value is set (p2514 = "1" signal), the actual position value of the
position controller is kept at the value of connector p2515 as standard.
Incoming encoder increments are not evaluated. A difference in position cannot be
compensated for in this situation.

An inversion of the actual position value resulting from the encoder is undertaken using
parameter p0410. An inversion of the axis motion can be entered using a negative value in
p2505.

Load gear position tracking

Features
● Configuration via p2720
● Virtual multiturn via p2721
● Tolerance window for monitoring the position at switching on p2722
● Input of the load gear via p2504 and p2505
● Display via r2723

Prerequisite
● Absolute encoder

Description
Position tracking enables reproduction of the position of the load when gears are used. It can
also be used to extend the position area.
Position tracking is activated via parameter p2720.0 = 1. The position tracking of the load
gear, however, is only relevant for the motor encoder (encoder 1). The load gear ratio is
entered via parameters p2504 and p2505. Position tracking can be activated with rotary axes
(modulo).
Position tracking for the load gear can only be activated once for each motor data set MDS.
The load position actual value in r2723 (must be requested via GnSTW.13, see section
"Control and status words for encoders") comprises the following information:
● Encoder pulses per revolution (p0408)
● Fine resolution per revolution (p0419)
● Virtual number of stored revolutions of a rotary absolute encoder (p2721)
● Load gear ratio (p2504/p2505)

Note
The sum of p0408, p0419 and p2721 is limited to 32 bits.

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Example of position area extension

With absolute encoders without position tracking, it must be ensured that the traversing
range is 0 smaller than half the encoder range, because beyond this range, no unique
reference remains after switching on and off (see description on parameter p2507). This
traversing range can be extended using the virtual multiturn (p2721).
The following diagram illustrates an absolute encoder that can represent 8 encoder
revolutions (p0421 = 8).

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Figure 7-43 Position tracking (p2721 = 24), setting p2504 = p2505 =1 (gear factor = 1)

In this example, this means:

Without position tracking, the position for +/- 4 encoder revolutions about r2521 = 0 LU can
be reproduced.
With position tracking, the position for +/- 12 encoder revolutions (+/- 12 load revolutions with
load gear) can be reproduced (p2721 = 24).
Practical example:
For a linear axis, the value for p2721 is set to 262144 for an encoder with p0421 = 4096.
That means, +/- 131072 encoder revolutions or load revolutions can be reproduced in this
way.
For a rotary axis, a value for p2721 = p0421 is set for an encoder.

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Configuration of the load gear (p2720).

The following points can be set by configuring this parameter:
● p2720.0: Activation of position tracking
● p2720.1: Setting the axis type (linear or rotary axis)
Here, a rotary axis refers to a modulo axis (modulo offset can be activated through
higher-level control or EPOS). With a linear axis, position tracking is mainly used to
extend the position area (see section: Virtual multiturn encoder (p2721)).
● p2720.2: Reset position
The position values stored in non-volatile memory are reset in response to the following
events:
– When encoder replacement is detected.
– When the configuration of the encoder data set (EDS) is modified.
– When the absolute encoder is adjusted again.

Note
If position tracking of the load gear is activated with parameter p2720[0]=1 (position gear
load tracking) after the encoder is adjusted (p2507=3), the adjustment will be reset.
If the encoder is adjusted again when load position tracking is active, the load gear position
will be reset (overflows).
The permissible position tracking range is mapped onto the reproducible encoder range of
EPOS.

Virtual multiturn encoder (p2721)

The virtual multiturn resolution is used to set the number of resolvable motor rotations for a
rotary absolute encoder with activated position tracking. It can be edited only for rotary axes.
With a rotary absolute encoder (p0404.1 = 1) with activated position tracking (p2720.0 = 1),
p2721 can be used to enter a virtual multiturn resolution.

Note
If the gear factor is not equal to 1, then p2721 always refers to the load side. The virtual
resolution, which is required for the load, is then set here.

For rotary axes, the virtual multiturn resolution (p2721) is preset to the value of the multiturn
resolution of the encoder (p0421) but may be changed.
Example: Singleturn encoder
Parameter p0421 is preset to p0421 = 1. However, parameter p2721 can be altered
subsequently, e.g. the user can program p2721 = 5. As a result, the encoder evaluation
initiates 5 load rotations before the same absolute value is achieved again.
For linear axes, the virtual multiturn resolution (p2721) is preset to the multiturn resolution of
the encoder (p0421) extended by 6 bits (max. overflows 32 positive/negative)
The value for p2721 cannot be edited again afterwards.

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Example: Multiturn encoder

For a linear axis, the value for p2721 is set to 262144 for an encoder with p0421 = 4096.
That means, +/- 131072 encoder revolutions or load revolutions can be reproduced in this
way.
If, as a result of extension of the multiturn information, the displayable area of r2723 (32 bits)
is exceeded, the fine resolution (p0419) must be reduced accordingly.

Tolerance window (p2722)

After switching on, the difference between the stored position and the actual position is
ascertained and, depending on the result, the following is triggered:
Difference within the tolerance window -> the position is reproduced based on the current
actual encoder value.
Difference outside the tolerance window -> an appropriate message (F07449) is output.
The tolerance window is preset to quarter of the encoder range and can be changed.

CAUTION
The position can only be reproduced if, in the powered-down state, the encoder was moved
through less than half of the range that it can represent. For the standard EQN1325
encoder, this is 2048 revolutions or half a revolution for singleturn encoders.

Note
The ratio stamped on the gear rating plate is often just a rounded-off value (e.g.1:7.34). If, for
a rotary axis, it is not permissible to have any long-term drift, then the actual ratio of the
gearbox teeth must be requested from the gearbox manufacturer.

Multiple drive data sets

Position tracking of the load gear can be activated in multiple drive data sets.
● The load gear is DDS-dependent.
● Load gear position tracking is computed only for the active drive data set and is EDS-
dependent.
● For position tracking to be continued in different drive data sets under the same
mechanical conditions and with the same encoder data sets, it must be activated
explicitly in all the relevant drive data sets. Possible applications of drive data set
switchover with continuation of position tracking:
– Star/delta switchover
– Different ramp-up times / controller settings
● When the switchover between drive data sets involves a change in gear unit, the position
tracking function starts from the beginning again, i.e. it behaves on switchover as if a
POWER ON had occurred.
● For identical mechanical relationships and the same encoder data set, DDS changeover
has no effect on the calibration status and reference point status.

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Restrictions
● Position tracking cannot be activated for an encoder data set which is used in different
drive data sets as encoder1 for different gears. If an attempt is still made to activate
position tracking, fault "F07555 (Drive encoder: Configuration position tracking" will be
displayed with fault value 03 hex.
A check is generally performed to determine whether the load gear is the same in all DDS
in which the relevant encoder data set is used.
In this case, the settings in each of the load gear parameters p2504[D], p2505[D],
p2720[D], p2721[D] and p2722[D] must be identical.
● If an encoder data set is used in one DDS as a motor encoder with position tracking and
in another DDS as an external encoder, the position tracking starts from the beginning
again, i.e. it behaves in the same way as it would do after a POWER ON.
● If position tracking is reset in one drive data set, it is also reset in all other drive data sets
which contain the relevant encoder data set.
● An axis in an inactive drive data set may move by a maximum of half an encoder range
(see p2722: tolerance window).

Commissioning position tracking load gear using STARTER

The position tracking function can be configured in the "Mechanical system" screen for
"Position control" in STARTER.
The "Mechanical system" screen for "Position control" is not made accessible unless the
function module "Basic positioner" is activated (r0108.4 = 1) which means that the function
module "Position control" (r0108.3 = 1) is automatically activated as well.
The "basic positioner" function module can be activated via the commissioning wizard or the
drive configuration (configure DDS) (configuration "Closed-loop control structure" - checkbox
"Basic positioner").

Configuring the position tracking load gear function

The "Position tracking load gear" function can be configured in the following STARTER
screens:
1. In the "Mechanical system configuration" screen in the commissioning wizard.
2. In the project navigator under Drive -> "Technology" -> "Position control" in the
"Mechanical system" screen.

Integration

Function diagrams (see SINAMICS S110 List Manual)

● 4010 Position actual value conditioning
● 4704 Position and temperature sensing, encoders 1...2
● 4710 Actual speed value and rotor pos. meas., motor enc. (encoder 1)

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Overview of important parameters (see SINAMICS S110 List Manual)

● p2502[0...n] LR encoder assignment
● p2503[0...n] LR length unit LU per 10 mm
● p2504[0...n] LR motor/load motor revolutions
● p2505[0...n] LR motor/load load revolutions
● p2506[0...n] LR length unit LU per load revolution
● r2520[0...n] CO: LR position actual value conditioning encoder control word
● r2521[0...n] CO: LR actual position value
● r2522[0...n] CO: LR actual velocity value
● r2523[0...n] CO: LR measured value
● r2524[0...n] CO: LR LU/revolutions
● r2525[0...n] CO: LR encoder adjustment offset
● r2526[0...n] CO/BO: LR status word
● p2720[0...n] Load gear configuration
● p2721[0...n] Load gear absolute encoder rotary revolutions virtual
● p2722[0...n] Load gear position tracking tolerance window
● r2723[0...n] CO: Load gea absolute value
● r2724[0...n] CO: Load gear position difference

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7.3.5.3 Position controller

Features
● Symmetrization (p2535, p2536)
● Limiting (p2540, p2541)
● Pre-control (p2534)
● Adaptation (p2537, p2538)

Note
We only recommend that experts use the position controller functions without using the
basic positioner.

Description
The position controller is a PI controller. The P gain can be adapted using the product of
connector input p2537 (position controller adaptation) and parameter p2538 (Kp).
Using connector input p2541 (limit), the speed setpoint of the position controller can be
limited without pre-control. This connector input is pre-interconnected with connector output
p2540.
The position controller is enabled by an AND link of the binector inputs p2549 (position
controller 1 enable) and p2550 (position controller 2 enable).
The position setpoint filter (p2533 time constant position setpoint filter) is a PT1 element, the
symmetrizing filter as deadtime element (p2535 symmetrizing filter speed pre-control
(deadtime) and PT1 element (p2536 symmetrizing filter speed pre-control (PT1)). The speed
pre-control p2534 (factor, speed pre-control) can be disabled via the value 0.

Function diagrams (see SINAMICS S110 List Manual)

● 4015 Position controller

Overview of important parameters (see SINAMICS S110 List Manual)

● p2533 LR position setpoint filter, time constant
● p2534 LR speed pre-control factor
● p2535 LR speed pre-control symmetrizing filter dead time
● p2536 LR speed pre-control symmetrizing filter PT1
● p2537 CI: LR position controller adaptation
● p2538 LR proportional gain
● p2539 LR integral action time
● p2540 CO: LR position controller output speed limit
● p2541 CI: LR position controller output speed limit signal source

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7.3.5.4 Monitoring functions

Features
● Standstill monitoring (p2542, p2543)
● Positioning monitoring (p2544, p2545)
● Dynamic following error monitoring (p2546, r2563)
● Cam controllers (p2547, p2548, p2683.8, p2683.9)

Description

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Figure 7-44 Zero-speed monitoring, positioning window

The position controller monitors the standstill, positioning and following error.
Zero-speed monitoring is activated by binector inputs p2551 (setpoint stationary) and p2542
(zero-speed window). If the zero-speed window is not reached once the monitoring time
(p2543) has lapsed, fault F07450 is triggered.
Positioning monitoring is activated via binector inputs p2551 (setpoint stationary), p2554 =
"0" (travel command not active) and p2544 (positioning window). Once the monitoring time
(p2545) has elapsed, the positioning window is checked once. If this is not reached, fault
F07451 is triggered.
The standstill monitoring and the positioning monitoring can be de-activated using the value
"0" in p2542 and p2544. The standstill window should be greater than or equal to the
positioning window (p2542 ≥ p2544). The standstill monitoring time should be less than or
equal to the positioning monitoring time (p2543 ≤ p2545).

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Figure 7-45 Following error monitoring

Following error monitoring is activated via p2546 (following error tolerance). If the absolute
value of the dynamic following error (r2563) is greater than p2546, fault F07452 is output and
bit r2648.8 is reset.

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Figure 7-46 Cam controllers

The position controller has two cam controllers. If cam position p2547 or p2548 is passed in
the positive direction (p2521 > p2547 or 2548), then cam signals r2683.8 and r2683.9 are
reset.

Function diagrams (see SINAMICS S110 List Manual)

● 4020 Zero-speed / positioning monitoring
● 4025 Dynamic following error monitoring, cam controllers

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Overview of important parameters (see SINAMICS S110 List Manual)

● p2530 CI: LR setpoint position
● p2532 CI: LR actual position value
● p2542 LR standstill window
● p2543 LR standstill monitoring time
● p2544 LR positioning window
● p2545 LR positioning monitoring time
● p2546 LR dynamic following error monitoring tolerance
● p2547 LR cam switching position 1
● p2548 LR cam switching position 2
● p2551 BI: LR setpoint message present
● p2554 BI: LR travel command message active
● r2563 CO: LR latest following error
● r2683.8 Actual position value <= cam switching position 1
● r2683.9 Actual position value <= cam switching position 2
● r2684 CO/BO: EPOS status word 2

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7.3.5.5 Measuring probe evaluation and reference mark search

Description
The "Reference mark search" and "Measuring probe evaluation" functions can be initiated
and carried-out via binector input p2508 (activate reference mark search) and p2509
(activate measuring probe evaluation). Binector inputs p2510 (measurement probe selection)
and p2511 (measurement probe edge evaluation) define the mode for measurement probe
evaluation.
The probe signals are recorded via the encoder encoder status and control word. To speed
up signal processing, direct measuring probe evaluation can be activated by selecting the
input terminals for probes 1/2 via p2517 and p2518. Measuring probe evaluation is carried
out in the position controller cycle, whereby the set send clock cycle of the controller
(r2064[1]) must be an integer multiple of the position controller cycle.
The system outputs a message if the same probe input is already being used (see also
p0488, p0489 and p0580).
The appropriate function is started using a 0/1 edge at the appropriate input p2508 (activate
reference mark search) or p2509 (activate measuring probe evaluation) via the encoder
control word. Status bit r2526.1 (reference function) signals that the function is active
(feedback from the encoder status word). Status bit r2526.2 (measurement value valid)
shows the presence of the measurement required r2523 (position for reference mark or
measurement probe).
Once the function is complete (position determined for reference mark or measurement
probe), r2526.1 (reference function active) and r2526.2 (measurement valid) continue to
remain active and the measurement is provided by r2523 (reference measurement) until the
corresponding input p2508 (activate reference mark searches) or p2509 (activate
measurement probe evaluation) is reset (0 signal).
If the function (reference mark search or measuring probe evaluation) has still not been
completed and the corresponding input p2508 or p2509 is reset, then the function is
interrupted via the encoder control word and status bit r2526.1 (reference function active) is
reset via the encoder status word.
If both binector inputs p2508 and p2509 are simultaneously set, this causes the active
function to be interrupted and no function is started. This is indicated using alarm A07495
"reference function interrupted" and remains until the signals at the binector inputs are reset.
The alarm is also generated if, during an activated function (reference mark search or
measuring probe evaluation) a fault is signaled using the encoder status word.
If the "position control" function module is selected, these parameters (p2508 to p2511) are
preassigned with "0". If the "basic positioner" function module is selected, the functions
"reference mark search" (for the function reference point search) and "measuring probe
evaluation" (for the function flying referencing) are initiated by the function module basic
positioner and the feedback signal (r2526, r2523) is fed back to this (see also: section
"Control and status words for encoders").

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Function diagrams (see SINAMICS S110 List Manual)

● 4010 Position actual value conditioning
● 4720 Encoder interface, receive signals, encoder 1 ... 2
● 4730 Encoder interface, send signals, encoder 1 ... 2

Overview of important parameters (see SINAMICS S110 List Manual)

● p2508 BI: LR activate reference mark search
● p2509 BI: LR activate measuring probe evaluation
● p2510 BI: LR measuring probe evaluation, selection
● p2511 BI: LR measuring probe evaluation edge
● p2517 LR direct probe 1 input terminal
● p2518 LR direct probe 2 input terminal
● r2523 CO: LR measured value
● r2526 CO/BO: LR status word

7.3.5.6 Integration
The "positon control" function module is integrated in the system as follows:

Commissioning
The configuration screen for "Position control" in STARTER is not made accessible unless
the function module "Basic positioner" is activated (r0108.4 = 1) which means that the
function module "Position control" (r0108.3 = 1) is automatically activated as well.
The "basic positioner" function module can be activated via the commissioning wizard, drive
configuration ("configure DDS"); (configuration "Closed-loop control structure" - checkbox
"basic positioner").
To ensure correct, error-free operation of the basic positioner, it is absolutely essential that
the "Position control" function module is activated and the position control correctly
configured.
If the "position control" function module is active, and to optimize the speed controller, a
function generator signal is interconnected to the speed controller input p1160, then the
position controller monitoring functions respond. To prevent this from happening, the position
controller must be disabled (p2550 = 0) and switch to tracking mode (p2655 = 1, for control
using PROFIdrive telegram 110 PosSTW.0 = 1). In this way, the monitoring functions are
switched off and the position setpoint is tracked.

Function diagrams (see SINAMICS S110 List Manual)

● 4010 Position actual value conditioning
● 4015 Position controller
● 4020 Zero-speed / positioning monitoring
● 4025 Dynamic following error monitoring, cam controllers

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7.3.6 Basic Positioner

General description
The basic positioner is used to position linear and rotary axes (modulo) in absolute/relative
terms with motor encoder (indirect measuring system) or machine encoder (direct measuring
system).
User-friendly configuration, commissioning, and diagnostic functions are also available in
STARTER for the basic positioner functionality (graphic navigation). In STARTER, there is a
control panel for the basic positioner and speed-controlled operation; using this control
panel, the functionality can be started from a PC/PG to commission the system or carry out
diagnostics.
When the basic positioner is activated (r0108.4 = 1), then the position control (r0108.3 = 1)
should also be activated. This is realized automatically when activating the basic positioner
via the STARTER commissioning wizard. Further, the necessary "internal interconnections"
(BICO technology) are automatically established.

CAUTION
The basic positioner requires the position controller functions. The BICO interconnections
established by the basic positioner must be changed by experienced users only.

This means that naturally the position control functions are also available (e.g. standstill
monitoring, positioning monitoring, dynamic following error monitoring, cam controllers,
modulo function, measuring probe evaluation). Also refer to the section "Position control".
In addition, the following functions can be carried out using the basic positioner:
● Mechanical system
– Backlash compensation
– Modulo offset
– Position tracking of the load gear (motor encoder) with absolute encoders
● Limits
– Traversing profile limits
– Traversing range limits
– Jerk limitation

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● Referencing or adjusting
– Set reference point (for an axis at standstill that has reached its target position)
– Reference point approach
(autonomous mode including reversing cam functionality, automatic direction of
rotation reversal, referencing to "cams and encoder zero mark" or only "encoder zero
mark" or "external equivalent zero mark (BERO)")
– Flying referencing
(during the "normal" traversing motion, it is possible to reference, superimposed, using
the measuring probe evaluation; generally, evaluating e.g. a BERO. Higher-level
(superimposed) function for the modes "jog", direct setpoint input/MDI and "traversing
blocks")
– Referencing with incremental measuring systems
– Absolute encoder adjustment
● Traversing blocks operating mode
– Positioning using traversing blocks that can be saved in the drive unit including block
change enable conditions and specific tasks for an axis that was previously referenced
– Traversing block editor using STARTER
– A traversing block contains the following information:
traversing block number
job (e.g. positioning, wait, GOTO block step, setting of binary outputs)
motion parameters (target position, velocity override for acceleration and deceleration)
mode (e.g: Skip block, block change enable conditions such as "Continue_with_stop"
and "Continue_flying")
Task parameters (e.g. delay time, block step conditions)
● Direct setpoint input (MDI) mode
– Positioning (absolute, relative) and setting-up (endless closed-loop position control)
using direct setpoint inputs (e.g. via the PLC or process data)
– It is always possible to influence the motion parameters during traversing (on-the-fly
setpoint acceptance) as well as on-the-fly change between the Setup and Positioning
modes.
● Jog mode
– Closed-loop position controlled traversing of the axis with the "endless position
controlled" or "jog incremental" modes that can be toggled between (traverse through
a "step width")
● Standard PROFIdrive positioning telegrams are available (telegrams 7, 9, 110 and 111).
When these are selected, the internal "connection" to the basic positioner is established
automatically.
● Control using PROFIdrive telegrams 7 and 110.

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7.3 Function modules

7.3.6.1 Mechanical system

Features
● Backlash compensation (p2583)
● Modulo offset (p2577)

Description

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Figure 7-47 Backlash compensation

When mechanical force is transferred between a machine part and its drive, generally
backlash occurs. If the mechanical system was to be adjusted/designed so that there was
absolutely no play, this would result in high wear. Thus, backlash (play) can occur between
the machine component and the encoder. For axes with indirect position sensing,
mechanical backlash results in a falsification of the traversing distance, as, at direction
reversal, the axis travels either too far or not far enough corresponding to the absolute value
of the backlash.

Note
The backlash compensation is active, after
• the axis has been referenced for incremental measuring systems
• the axis has been adjusted for absolute measuring systems

In order to compensate the backlash, the determined backlash must be specified in p2583
with the correct polarity. At each direction of rotation reversal, the axis actual value is
corrected dependent on the actual traversing direction and displayed in r2667. This value is
taken into account in the position actual value using p2516 (position offset).
If a stationary axis is referenced by setting the reference point or an adjusted axis is
powered-up with an absolute encoder, then the setting of parameter p2604 (reference point
approach, starting direction) is relevant for switching-in the compensation value.

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Table 7- 22 The compensation value is switched in as a function of p2604

p2604 Traversing direction Switch in compensation value

0 positive none
negative immediately
1 positive immediately
negative none

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Figure 7-48 Modulo offset

A modulo axis has an unrestricted traversing range. The value range of the position repeats
itself after a specific value that can be parameterized (the modulo range or axis cycle), e.g.
after one revolution: 360° -> 0°. The modulo range is set in parameter p2576, the offset is
activated with parameter p2577. The modulo offset is undertaken at the setpoint end. This is
provided with the correct sign via connector output r2685 (correction value) to appropriately
correct the position actual value. EPOS initiates the activation of the correction via a rising
edge of binector output r2684.7 (activate correction) (r2685 (correction value) and r2684.7
(activate correction) are already connected as standard with the corresponding
binector/connector input of the position actual value conditioning). Absolute positioning
details (e.g. in a traversing task) must always be within the modulo range. Modulo offset can
be activated for linear and rotary length units. The traversing range cannot be limited by a
software limit switch.
With active modulo offset and the application of absolute encoders, as a result of potential
encoder overflows, it must be ensured that there is an integer ratio v between the multiturn
resolution and the modulo range.
The ratio v can be calculated as follows:
● 1. Motor encoder without position tracking:
v = p0421 * p2506 * p0433 * p2505 / (p0432 * p2504 * p2576)
● 2. Motor encoder with position tracking for the load gear:
v = p2721 * p2506 * p0433 / (p0432 * p2576)
● 3. Motor encoder with position tracking for the load and measuring gear:
v = p2721 * p2506 / p2576
● 4. Direct encoder without position tracking:
v = p0421 * p2506 * p0433 / (p0432 * p2576)
With position tracking it is recommended to change p2721.

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Function diagrams (see SINAMICS S110 List Manual)

● 3635 Interpolator
● 4010 Position actual value conditioning

Overview of important parameters (see SINAMICS S110 List Manual)

● p2576 EPOS modulo offset, modulo range
● p2577 BI: EPOS modulo offset activation
● p2583 EPOS backlash compensation
● r2684 CO/BO: EPOS status word 2
● r2685 CO: EPOS correction value

Commissioning with STARTER

In STARTER, the mechanical system screen form can be found under position control.

7.3.6.2 Limits

Description
The velocity, acceleration and deceleration can be limited and the software limit switches
and STOP cams set.

Features
● Traversing profile limits
– Maximum velocity (p2571)
– Maximum acceleration (p2572) / maximum deceleration (p2573)
● Traversing range limits
– Software limit switch (p2578, p2579, p2580, p2581, p2582)
– STOP cams (p2568, p2569, p2570)
● Jerk limitation
– Jerk limitation (p2574)
– Activation of jerk limitation (p2575)

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Maximum velocity
The maximum velocity of an axis is defined using parameter p2571. The velocity should not
be set to be greater than the maximum speeds in r1084 and r1087.
The drive is limited to this velocity if a higher velocity is specified or programmed via the
override (p2646) for the reference point approach or is programmed in the traversing block.
Parameter p2571 (maximum velocity) defines the maximum traversing velocity in units
1000 LU/min. If the maximum velocity is changed, then this limits the velocity of a traversing
task that is presently being executed.
This limit is only effective in the positioning mode for:
● Jog mode
● Processing traversing blocks
● Direct setpoint input/MDI for positioning/setting-up
● Reference point approach

Maximum acceleration/deceleration
Parameter p2572 (maximum acceleration) and p2573 (maximum deceleration) define the
maximum acceleration and the maximum deceleration. In both cases, the units are 1000
LU/s2.
Both values are relevant for:
● Jog mode
● Processing traversing blocks
● Direct setpoint input/MDI for positioning and setting-up
● Reference point approach
The parameters do not have any effect when faults occur with the fault responses OFF1 /
OFF2 / OFF3.
In the traversing blocks mode, the acceleration and deceleration can be set in multiple
integer steps (1 %, 2 % ... 100 %) of the maximum acceleration and deceleration. In “direct
setpoint input/MDI for positioning and setting up” operating mode, the acceleration/delay
override (assignment of 4000 hex = 100%) is specified

Note
A maximum acceleration and/or delay dependent on current velocity (zigzag acceleration) is
not supported.

Note
When using the PROFIdrive message frame 110, the velocity override is already connected
and has to be supplied by the message frame.

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Software limit switches

The connector inputs p2578 (software limit switch minus) and p2579 (software limit switch
plus) limit the position setpoint if the following prerequisites are fulfilled:
● The software limit switches are activated (p2582 = "1")
● The reference point is set (r2684.11 = 1)
● The modulo correction is not active (p2577 = "0")
The connector inputs are, in the factory setting, linked to the connector output p2580
(software limit switch minus) and p2581 (software limit switch plus).

STOP cam
A traversing range can, on one hand, be limited per software using the software limit
switches and on the other hand, the traversing range can be limited per hardware. In this
case, the functionality of the STOP cam (hardware limit switch) is used. The function of the
STOP cams is activated by the 1 signal on the binector input p2568 (activation of STOP
cams).
Once enabled, the activity of binector inputs p2569 (STOP cam, minus) and p2570 (STOP
cam, plus) is checked. These are low active; this means if a 0 signal is present at binector
input p2569 or p2570, then these are active.
When a STOP cam (p2569 or p2570) is active, the current motion is halted with the
maximum deceleration (p2573) and the appropriate status bit r2684.13 (STOP cam minus
active) or r2684.14 (STOP cam plus active) is set.
When an axis has approached a STOP cam, only motion that allows the axis to move away
from the cam is permitted (if both STOP cams are actuated, then no motion is possible).
When the STOP cam is exited, this is identified by the 0/1 edge in the permitted traversing
direction which means that the corresponding status bits (r2684.13 or r2684.14) are reset.

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Jerk limitation
Acceleration and deceleration can change suddenly if jerk limiting has not been activated.
The diagram below shows the traversing profile when jerk limitation has not been activated.
The diagram shows that maximum acceleration (amax) and deceleration (dmax) are effective
immediately. The drive accelerates until the target speed (vtarget) is reached and then
switches to the constant velocity phase.

 

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Figure 7-49 Without jerk limitation

Jerk limitation can be used to achieve a ramp-like change of both variables, which ensures
"smooth" acceleration and braking as shown in the diagram below. Ideally, acceleration and
deceleration should be linear.

 

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Figure 7-50 Activated jerk limitation

The maximum inclination (rk) can be set in parameter p2574 ("Jerk limitation") in the unit
LU/s3 for both acceleration and braking. The resolution is 1000 LU/s3. To activate limiting
permanently, set parameter p2575 ("Active jerk limitation") to 1. In this case, limitation
cannot be activated or deactivated in traversing block mode by means of the command
"JERK" as this would require parameter p2575 ("Activate jerk limitation") to be set to zero.
The status signal r2684.6 ("Jerk limitation active") indicates whether or not jerk limitation is
active.

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Limitation is effective:
● In jog mode
● When traversing blocks are processed
● When setpoints are defined directly/MDI for positioning and setup
● during referencing
● During stop responses due to alarms
Jerk limitation is not active when messages are generated with stop responses OFF1 / OFF2 /
OFF3.

Function diagrams (see SINAMICS S110 List Manual)

● 3630 Traversing range limits

Overview of important parameters (see SINAMICS S110 List Manual)

● p2571 EPOS maximum velocity
● p2572 EPOS maximum acceleration
● p2573 EPOS maximum deceleration
● p2646 CI: EPOS velocity override

Software limit switches

● p2578 CI: EPOS software limit switch, minus signal source
● p2579 CI: EPOS software limit switch, plus signal source
● p2580 CO: EPOS software limit switch, minus
● p2581 CO: EPOS software limit switch, plus
● p2582 BI: EPOS software limit switch activation
● r2683 CO/BO: EPOS status word 1

STOP cam
● p2568 BI: EPOS STOP cam activation
● p2569 BI: EPOS STOP cam, minus
● p2570 BI: EPOS STOP cam, plus
● r2684 CO/BO: EPOS status word 2

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7.3.6.3 Referencing

Features
● Reference point offset (p2600)
● Reversing cams (p2613, p2614)
● Reference cam (p2612)
● Binector input start (p2595)
● Binector input setting (p2596)
● Velocity override (p2646)
● Reference point coordinate (p2598, p2599)
● Selecting the referencing type (p2597)
● Absolute encoder adjustment (p2507)

NOTICE
Referencing distance-coded zero marks is not supported.

Description
After a machine has been powered-up, for positioning, the absolute dimension reference
must be established to the machine zero. This operation is known as referencing.
The following referencing types are possible:
● Setting the reference point (all encoder types)
● Incremental encoder
Active referencing (reference point approach (p2597 = 0)):
– Reference cams and encoder zero mark (p2607 = 1)
– Encoder zero mark (p0495 = 0)
– External zero mark (p0495 ≠ 0)
● Flying referencing (passive (p2597 = 1))
● Absolute encoder
– Absolute encoder adjustment
– Flying referencing (passive (p2597 = 1))
A connector input is provided for all referencing types to input the reference point coordinate;
this allows, e.g. the change/input via the higher-level control. However, to permanently enter
the reference point coordinate, an adjustable parameter for this quantity is also required. As
standard, this adjustable parameter p2599 is interconnected to connector input p2598.

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Set reference point

The reference point can be set using a 0/1 edge at binector input p2596 (set reference point)
if no traversing commands are active and the actual position value is valid (p2658 = 1
signal).
A reference point can also be set in conjunction with an intermediate stop.
The current actual position of the drive is set here as the reference point using the
coordinates specified by connector input p2598 (reference point coordinates). The setpoint
(r2665) is adjusted accordingly.
This function also uses actual position value correction for the position controller (p2512 and
p2513). Connector input p2598 is connected to adjustable parameter p2599 as standard.
The binector input is not effective for the traversing task being presently executed.

Absolute encoder adjustment

Absolute encoders must be adjusted while commissioning. After the machine has been
powered-down the position information of the encoder is kept.
When p2507 = 2 is entered, using the reference point coordinate in p2599, an offset value
(p2525) is determined. This is used to calculate the position actual value (r2521). Parameter
p2507 signals the adjustment with a "3" - in addition bit r2684.11 (reference point set) is set
to "1".
The offset of the encoder adjustment (p2525) should be saved in a non-volatile fashion
(RAM to ROM) to permanently save it.

Note
If an adjustment is lost on an already adjusted axis, the axis will remain unadjusted even
when the drive unit is switched OFF/ON. The axis needs to be adjusted again in such cases.

CAUTION
During adjustment with the rotary absolute encoder, a range is aligned symmetrically
around the zero point with half the encoder range within which the position is restored after
switch off/on. If position tracking is deactivated (2720.0 = 0), only one encoder overflow is
permitted to occur in this range (further details are given in chapter Position controller ->
Position actual value conditioning). Once adjustment has been carried out, the range must
not be exited because a unique reference between the actual encoder value and the
mechanical components cannot be established outside the range.
If the reference point p2599 is in the encoder range, the actual position value is set in line
with the reference point during adjustment. Otherwise, it is set to a corrected value in the
encoder range.
No overflow occurs with linear absolute encoders, which means that the position can be
restored within the entire traversing range after switch on/off once adjustment has been
carried out. During adjustment, the actual position value is set in line with the reference
point.

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Reference point approach for incremental measurement systems

When the reference point approach (in the case of an incremental measuring system), the
drive is moved to its reference point. In so doing, the drive itself controls and monitors the
complete referencing cycle.
Incremental measuring systems require that after the machine has been powered-up, the
absolute dimension reference is established to the machine zero point. When powering-up
the position actual value x0 in the non-referenced state is set to x0 = 0. Using the reference
point approach, the drive can be reproducibly moved to its reference point. The geometry
with a positive starting direction (p2604 = "0") is shown in the following.

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Figure 7-51 Example: reference point approach with reference cam

The signal on binector input p2595 (start referencing) is used to trigger travel to the
reference cam (p2607 = 1) if search for reference is selected at the same time (0 signal at
binector input p2597 (referencing type selection). The signal in binector input p2595 (start
referencing) must be set during the entire referencing process otherwise the process is
aborted. Once started, the status signal r2684.11 (reference point set) is reset.
The software limit switch monitoring is inactive during the complete reference point
approach; only the maximum traversing range is checked. The SW limit switch monitoring is,
if required, re-activated after completion.
The velocity override set is only effective during the search for the reference cam (step 1).
This ensures that the "cam end" and "zero mark" positions are always overrun at the same
speed. If signal propagation delays arise during switching processes, this ensures that the
offset caused during establishment of position is the same in each referencing process.
Axes that only have one zero mark over their complete traversing or modulo range are
designated with parameter p2607 = 0 (no reference cam present). After starting the
referencing process, synchronization to the reference zero marks is started straight away
(see step 2) for these axes.

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Search for reference, step 1: travel to reference cam

If there is no reference cam present (p2607 = 0), go to step 2.
When the referencing process is started, the drive accelerates at maximum acceleration
(p2572) to the reference cam approach velocity (p2605). The direction of the approach is
determined by the signal of binector input p2604 (search for reference start direction).
When the reference cam is reached, this is communicated to the drive using the signal at
binector input p2612 (reference cam); the drive then brakes down to standstill with the
maximum deceleration (p2573).
If a signal at binector input p2613 (reversing cam, MINUS) or at binector input p2614
(reversing cam, PLUS) is detected during reference point approach, the search direction is
reversed.
If the minus reversing cam is approached in the positive direction of travel or the plus
reversing cam in the negative direction of travel, fault message F07499 "EPOS: Reversing
cam approached from the wrong direction" is generated. In this case, the reversing cam
connections must be checked (BI: p2613, BI: p2614) or the direction of approach to the
reversing cam.
The reversing cams are low active. If both reversing cams are active (p2613 = "0" and p2614
= "0"), the drive remains stationary. As soon as the reference cam is found, then
synchronization to the reference zero mark is immediately started (refer to step 2).
If the axis leaves its start position and travels the distance defined in parameter p2606 (max.
distance to reference cam) heading towards the reference cam without actually reaching the
reference cam, the drive remains stationary and fault F07458 (reference cam not found) is
issued.
If the axis is already located at the cam, when referencing is started, then traversing to the
reference cam is not executed, but synchronization to the reference zero mark is
immediately started (refer to step 2).

Note
The velocity override is effective during the search for the cam. By changing the encoder
data set, status signal r2684.11 (reference point set) is reset.
The cam switch must be able to delivery both a rising and a falling edge. For a reference
point approach with evaluation of the encoder zero mark, for increasing position actual
values the 0/1 edge is evaluated and for decreasing position actual values, the 1/0 edge.
Inversion of the edge evaluation is not possible at the sensor zero mark.
If the length measuring system has several zero marks which repeat at cyclic intervals (e.g.
incremental, rotary measuring system), you must ensure that the cam is adjusted so that the
same zero mark is always evaluated.
The following factors may impact the behavior of the "reference cam" control signal:
• Switching accuracy and time delay of reference cam switch
• Position controller cycle of drive
• Interpolation cycle of drive
• Temperature sensitivity of machine’s mechanical system

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Search for reference, step 2: Synchronizing to the reference zero mark

(encoder zero mark or external zero mark)
Reference cam available (p2607 = 1):
In step 2, the drive accelerates to the velocity, specified in p2608 (zero mark approach
velocity) in the direction opposite to that specified using binector input p2604 (reference point
approach start direction). The zero mark is expected at distance p2609 (max. distance to
zero mark). The search for the zero mark is active (status bit r2684.0 = "1" (search for
reference active)) as soon as the drive leaves the cam (p2612 = "0") and is within the
tolerance band for evaluation (p2609 - p2610). If the position of the zero mark is known
(encoder evaluation), the actual position of the drive can be synchronized using the zero
mark. The drive starts the search for reference (see step 3). The distance moved between
the end of the cam and the zero mark is displayed in diagnostics parameter r2680
(difference between the cam - zero mark).
Encoder zero mark available (p0495 = 0), no reference cam (p2607 = 0):
Synchronization to the reference zero mark begins as soon as the signal at binector input
p2595 (start referencing) is detected. The drive accelerates to the velocity, specified in
parameter p2608 (zero mark approach velocity) in the direction specified by the signal of
binector input p2604 (reference point approach start direction).
The drive synchronizes to the first zero mark and then starts to travel towards the reference
point (see step 3).

Note
In this case the direction of approach to the reference zero mark is the opposite to the axes
with reference cams!

External zero mark present (p0495 ≠ 0), no reference cam (p2607 = 0):
Synchronization to an external zero mark begins as soon as the signal at binector input
p2595 (start referencing) is detected. The drive accelerates to the velocity, specified in
parameter p2608 (zero mark approach velocity) in the direction specified by the signal of
binector input p2604 (reference point approach start direction). The drive synchronizes to the
first external zero mark (p0495). The drive continues to travel with the same velocity and
travel is started to the reference point (refer to step 3).

Note
The velocity override is inoperative during this process.
An equivalent zero mark can be set using parameter p0495 (equivalent zero mark input
terminal) and the corresponding digital input selected. As standard, for increasing actual
position values, the 0/1 edge is evaluated and for decreasing position actual values, the 1/0
edge. For the equivalent zero mark, this can be inverted using parameter p0490 (invert
measuring probe or equivalent zero mark).

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Search for reference, step 3: Travel to reference point

Travel to the reference point is started when the drive has successfully synchronized to the
reference zero mark (see step 2). Once the reference zero mark has been detected, the
drive accelerates on-the-fly to the reference point approach velocity set in parameter p2611.
The reference point offset (p2600), the distance between the zero mark and reference point,
is extended.
If the axis has reached the reference point, then the position actual value and setpoint are
set to the value specified using connector input p2598 (reference point coordinate) (as
standard, connector input p2598 is connected with adjustable parameter p2599). The axis is
then homed and the status signal r2684.11 (reference point set) set.

Note
The velocity override is inoperative during this process.
If the braking distance is longer than the reference point offset or a direction reversal is
required as a result of the selected reference point offset, then after detecting the reference
zero mark, the drive initially brakes to standstill and then travels back.

Flying referencing
The mode "flying referencing" (also known as post-referencing, positioning monitoring),
which is selected using a "1" signal at binector input p2597 (select referencing type), can be
used in every mode (jog, traversing block and direct setpoint input for positioning/setting-up)
and is superimposed on the currently active mode. Flying referencing can be selected both
with incremental and absolute measuring systems.
When "flying referencing" during incremental positioning (relative) you can select whether
the offset value is to be taken into account for the travel path or not (p2603).
The "flying referencing" is activated by a 0/1 edge at binector input p2595 (start referencing).
The signal in binector input p2595 (start referencing) must be set during the entire
referencing process otherwise the process is aborted.
Status bit r2684.1 (passive/flying referencing active) is linked with binector input p2509
(activate measurement probe evaluation). It activates measurement probe evaluation.
Binector inputs p2510 (measurement probe selection) and p2511 (measurement probe edge
evaluation) can be used to set which measurement probe (1 or 2) and which measurement
edge (0/1 or 1/0) is to be used.
The measurement probe pulse is used to supply connector input p2660 (home measurement
value) with the measurement via parameter r2523. The validity of the measurement is
reported to binector input p2661 (measurement valid feedback) via r2526.2.

Note
The following must always apply to the "Flying referencing mode" windows:
p2602 (outer window) > p2601 (inner window).
See function diagram 3614 for more information on the "Flying referencing mode" function.

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The following then happens:

● If the drive has not yet been homed, status bit r2684.11 (reference point set) is set to "1".
● If the drive has already been homed, status bit r2684.11 (reference point set) is not reset
when starting flying referencing.
● If the drive has already been homed and the position difference is less than the inner
window (p2601), the old actual position value is retained.
● If the drive has already been homed and the position difference is more than the outer
window (p2602), warning A07489 (reference point offset outside window 2) is output and
the status bit r2684.3 (pressure mark outside window 2) set. No offset to the actual
position value is undertaken.
● If the drive has already been referenced and the absolute value of the position difference
is greater than the inner window (p2601) and less the outer window (p2602), then the
position actual value is corrected.

Note
Flying referencing is not an active operating mode. It is superimposed by an active operating
mode.
In contrast to searches for reference, flying referencing can be carried out superimposed by
the machine process.
As standard, for flying referencing, measuring probe evaluation is used; when enabled, the
measuring probe is selected (p2510) and the edge evaluation (p2511) (in the factory setting,
measuring probe 1 is always the measuring probe, flank evaluation in the factory setting is
always the 0/1 edge).

Instructions for switching data sets

In the following cases, when a DDS switch takes place, the current actual position value
becomes invalid (p2521 = 0) and the reference point (r2684.11 = 0) is reset.
● The EDS that is effective for the position control changes.
● The encoder assignment changes (p2502).
● The mechanical relationships change (p2503...p2506)
With absolute encoders, the status of the adjustment (p2507) is also reset, if the same
absolute encoder is selected for the position control although the mechanical relationships
have changed (p2503 ... p2506).
In operating mode, a fault message (F07494) is also generated.

Function diagrams (see SINAMICS S110 List Manual)

● 3612 Referencing
● 3614 Flying referencing

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Overview of important parameters (see SINAMICS S110 List Manual)

● p2596 BI: EPOS set reference point
● p2597 BI: EPOS referencing type selection
● p2598 CI: EPOS reference point coordinate, signal source
● p2599 CO: EPOS reference point coordinate value
● p2600 EPOS reference point approach, reference point offset

7.3.6.4 Traversing blocks

Description
Up to 16 different traversing blocks can be saved. The maximum number is set using
parameter p2615 (maximum number of traversing tasks). All parameters which describe a
traversing order are effective during a block change, i.e. if:
● The appropriate traversing block number is selected using binector inputs p2625 to
p2630 (block selection, bits 0...5) and started using the signal at binector input p2531
(activate traversing task).
● A block change is made in a sequence of traversing tasks.
● An external block change p2632 "External block change" is triggered.
Traversing blocks are parameterized using parameter sets that have a fixed structure:
● Traversing block number (p2616[0...63])
Every traversing block must be assigned a traversing block number (in STARTER "No.").
The traversing blocks are executed in the sequence of the traversing block numbers.
Numbers containing the value "-1" are ignored so that the space can be reserved for
subsequent traversing blocks, for example.
You can use traversing block numbers in the range from 0 ... 63, regardless of the
maximum number of traversing blocks (= 16).
● Task (p2621[0...9])
1: POSITIONING
2: FIXED ENDSTOP
3: ENDLESS_POS
4: ENDLESS_NEG
5: WAIT
6: GOTO
7: SET_O
8: RESET_O
9: JERK
● Motion parameters
– Target position or traversing distance (p2617[0...63])
– Velocity (p2618[0...63])
– Acceleration override (p2619[0...63])
– Deceleration override (p2620[0...63])
● Task mode (p2623[0...63])
The execution of a traversing task can be influenced by parameter p2623 (task mode).

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This is automatically written by programming the traversing blocks in STARTER.

Value = 0000 cccc bbbb aaaa
– aaaa: Display/hide
0000: Block is not hidden
0001: Block is hidden
A hidden block cannot be selected binary-coded via binector inputs p2625 to p2630.
An alarm is output if you attempt to do so.
– bbbb: Continuation condition
0000, END: 0/1 edge at p2631
0001, CONTINUE_WITH_STOP:
The exact position parameterized in the block is approached (brake to standstill and
positioning window monitoring) before block processing can continue.
0010, CONTINUE_ON-THE-FLY:
The system switches to the next traversing block "on the fly" when the braking point
for the current block is reached (if the direction needs to be changed, this does not
occur until the drive stops within the positioning window).
0011, CONTINUE_EXTERNAL:
Same as "CONTINUE_ON-THE-FLY", except that an instant block change can be
triggered up to the braking point by a 0/1 edge. The 0/1 edge can be connected to
parameter r2526.2 of the "position control" function module, via the binector input
p2633 with p2632 = 1, or via the measuring input p2661 with p2632 = 0. Position
detection via the measuring input can be used as an accurate starting position for
relative positioning. If an external block change is not triggered, a block change is
triggered at the braking point.
0100, CONTINUE_EXTERNAL_WAIT
Control signal "External block change" can be used to trigger a flying changeover to
the next task at any time during the traveling phase. If "External block change" is not
triggered, the axis remains in the parameterized target position until the signal is
issued. The difference here is that with CONTINUE_EXTERNAL, a flying changeover
is carried out at the braking point if "External block change" has not been triggered,
while here the drive waits for the signal in the target position.
0101, CONTINUE_EXTERNAL_ALARM
This is the same as CONTINUE_EXTERNAL_WAIT, except that alarm A07463
"External traversing block change in traversing block x not requested" is output when
"External block change" is not triggered by the time the drive comes to a standstill.
The alarm can be converted to a fault with a stop response so that block processing
can be aborted if the control signal is not issued.
– cccc: positioning mode
With the POSITON task (p2621 = 1), defines how the position specified in the
traversing task is to be approached.
0000, ABSOLUTE:
The position specified in p2617 is approached.
0001, RELATIVE:
The axis is traveled along the value specified in p2617.
0010, ABS_POS:
For rotary axes with modulo offset only. The position specified in p2617 is approached
in a positive direction.
0011, ABS_NEG:
For rotary axes with modulo offset only. The position specified in p2617 is approached
in a negative direction.
● Task parameter (command-dependent significance) (p2622[0...63])

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Intermediate stop and reject traversing task

The intermediate stop is activated by a 0 signal at p2640. After activation, the system brakes
with the parameterized deceleration value (p2620 or p2645).
The current traversing task can be rejected by a 0 signal at p2641. After activation, the
system brakes with the maximum deceleration (p2573).
The "intermediate stop" and "reject traversing task" functions are only effective in "traversing
blocks" and "direct setpoint input/MDI" modes.

POSITIONING
The POSITIONING task initiates motion. The following parameters are evaluated:
● p2616[x] Block number
● p2617[x] Position
● p2618[x] Velocity
● p2619[x] Acceleration override
● p2620[x] Acceleration override
● p2623[x] Task mode
The task is executed until the target position is reached. If, when the task is activated, the
drive is already located at the target position, then for the block change enable
(CONTINUE_ON-THE-FLY or CONTINUE_EXTERNAL, the text task is selected in the same
interpolation clock cycle. For CONTINUE_WITH_STOP, the next block is activated in the
next interpolation clock cycle. CONTINUE_EXTERNAL_ALARM causes a message to be
output immediately.

FIXED STOP
The FIXED STOP task triggers a traversing movement with reduced torque to fixed stop.
The following parameters are relevant:
● p2616[x] Block number
● p2617[x] Position
● p2618[x] Velocity
● p2619[x] Acceleration override
● p2620[x] Acceleration override
● p2623[x] Task mode
● p2622[x] Clamping torque [0.01 Nm] task parameter for rotary motors.
Possible continuation conditions include END, CONTINUE_WITH_STOP,
CONTINUE_EXTERNAL, CONTINUE_EXTERNAL_WAIT.

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ENDLESS POS, ENDLESS NEG

Using these tasks, the axis is accelerated to the specified velocity and is moved, until:
● A software limit switch is reached.
● A STOP cam signal has been issued.
● The traversing range limit is reached.
● Motion is interrupted by the control signal "no intermediate stop/intermediate stop
(p2640).
● Motion is interrupted by the control signal "do not reject traversing task/reject traversing
task" (p2641).
● An external block change is triggered (with the appropriate continuation condition).
The following parameters are relevant:
● p2616[x] Block number
● p2618[x] Velocity
● p2619[x] Acceleration override
● p2623[x] Task mode
All continuation conditions are possible.

JERK
Jerk limitation can be activated (command parameter = 1) or deactivated (task parameter =
0) by means of the JERK task. The signal at the binector input p2575 "Active jerk limitation"
must be set to zero. The value parameterized in "jerk limit" p2574 is the jerk limit.
A precise stop is always carried out here regardless of the parameterized continuation
condition of the task preceding the JERK task.
The following parameters are relevant:
● p2616[x] Block number
● p2622[x] Task parameter = 0 or 1
All continuation conditions are possible.

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WAITING
The WAIT order can be used to set a waiting period, which should expire before the
following order is processed.
The following parameters are relevant:
● p2616[x] Block number
● p2622[x]Task parameter = delay time in milliseconds ≥ 0 ms
● p2623[x] Task mode
The delay time is entered in milliseconds - but is rounded-off to a multiple of the interpolator
clock cycle p0112[5]. The minimum delay time is one interpolation clock cycle; this means
that if a delay time is parameterized which is less than an interpolation clock cycle, then the
system waits for one interpolation clock cycle.
Example:
Wait time: 9 ms
Interpolation clock cycle: 4 ms
Active delay time: 12 ms
A precise stop is always carried out here before the wait time, regardless of the
parameterized continuation condition of the order preceding the WAIT order. The WAIT task
can be executed by an external block change.
Possible continuation conditions include END, CONTINUE_WITH_STOP,
CONTINUE_EXTERNAL, CONTINUE_EXTERNAL_WAIT, and
CONTINUE_EXTERNAL_ALARM. The fault message is triggered when "External block
change" has still not been issued after the delay time has elapsed.

GOTO
Using the GOTO task, jumps can be executed within a sequence of traversing tasks. The
block number which is to be jumped to must be specified as task parameter. A continuation
condition is not permissible. If there is a block with this number, then alarm A07468 (jump
destination does not exist in traversing block x) is output and the block is designated as
being inconsistent.
The following parameters are relevant:
● p2616[x] Block number
● p2622[x] Task parameter = Next traversing block number
Any two of the SET_O, RESET_O and GOTO orders can be processed in an interpolation
cycle and a subsequent POSITION and WAIT order can be started.

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SET_O, RESET_O
Tasks SET_O and RESET_O allow up to two binary signals (output 1 or 2) to be
simultaneously set or reset. The number of the output (1 or 2) is specified bit-coded in the
task parameter.
The following parameters are relevant:
● p2616[x] Block number
● p2622[x] Task parameter = bit-coded output:
0x1: Output 1
0x2: Output 2
0x3: Output 1 + 2
Possible continuation conditions are END, CONTINUE_ON-THE-FLY and
CONTINUE_WITH_STOP, and CONTINUE_EXTERNAL_WAIT.
The binary signals (r2683.10 (output 1) (or r2683.11 (output 2)) can be assigned to digital
outputs. The assignment in STARTER is made using the button "configuration digital output".
Any two of the SET_O, RESET_O and GOTO orders can be processed in an interpolation
cycle and a subsequent POSITION and WAIT order can be started.

Function diagrams (see SINAMICS S110 List Manual)

● 3616 Traversing blocks operating mode

Overview of important parameters (see SINAMICS S110 List Manual)

● p2616 EPOS traversing block, block number
● p2617 EPOS traversing block, position
● p2618 EPOS traversing block, velocity
● p2619 EPOS traversing block, acceleration override
● p2620 EPOS traversing block, deceleration override
● p2621 EPOS traversing block, task
● p2622 EPOS traversing block, task parameter
● p2623 EPOS traversing block, task mode
● p2625...p2630 BI: EPOS block selection bits 0 ... 5

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7.3.6.5 Travel to fixed stop

Description
The "Travel to fixed stop" function can be used, for example, to traverse sleeves to a fixed
stop against the workpiece with a predefined torque. In this way, the workpiece can be
securely clamped. The clamping torque can be parameterized in the traversing task (p2622).
An adjustable monitoring window for travek to fixed stop prevents the drive from traveling
beyond the window if the fixed stop should break away.
In positioning mode, travel to fixed stop is started when a traversing block is processed with
the FIXED STOP command. In this traversing block, in addition to the specification of the
dynamic parameterized position, speed, acceleration override and delay override, the
required clamping torque can be specified as task parameter p2622. From the start position
onwards, the target position is approached with the parameterized speed. The fixed stop (the
workpiece) must be between the start position and the braking point of the axis; that is, the
target position is placed inside the workpiece. The preset torque limit is effective from the
start, i.e. travel to fixed stop also occurs with a reduced torque. The preset acceleration and
delay overrides and the current speed override are also effective. Dynamic following error
monitoring (p2546) in the position controller is not effective when traveling to the fixed stop.
As long as the drive travels to the fixed stop or is in fixed stop, the "Travel to fixed stop
active" status bit r2683.14 is active.

Fixed stop is reached

As soon as the axis comes into contact with the mechanical fixed stop, the closedloop
control in the drive raises the torque so that the axis can move on. The torque increases up
to the value specified in the task and then remains constant. Depending on the binector input
p2637 (fixed stop reached), the "fixed stop reached" status bit r2683.12 is set if:
● the following error exceeds the value set in parameter p2634 (fixed stop: maximum
following error) (p2637 = r2526.4)
● external status via the signal at binector input p2637 (fixed stop reached), if this p2637 ≠
r2526.4)
In travel to fixed stop, the clamping torque or clamping force in the traversing block is
configured via the task parameter. This is specified in units of 0.01 Nm (rotary motor). The
function module is coupled to the torque limit of the basic system via the connector output
r2686[0] (torque limit upper) or r2686[1] (torque limit lower), which are connected to the
connector input p1528 (torque limit upper scaling) or p1529 (torque limit lower scaling). The
connector outputs r2686[0] (torque limit upper) and r2686[1] (torque limit lower) are set to
100% when fixed stop is not active. During active fixed stop, r2686[0] (torque limit upper) or
r2686[1] (torque limit lower) are evaluated as a percentage of p1522/p1523 in such a way
that the specified clamping torque or clamping force is limited.
When the fixed stop is acknowledged (p2637), the "Speed setpoint total" (p2562) is frozen,
as long as the binector input p2553 (fixed stop reached message) is set. The speed control
holds the setpoint torque due to the applied speed setpoint. The setpoint torque is output for
diagnosis via the connector output r2687 (torque setpoint).
If the parameterized clamping torque is reached at the fixed stop, the status bit r2683.13
"Fixed stop clamping torque reached" is set.

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Once the "Fixed stop reached" status has been detected, the traversing task "Travel to fixed
stop" is ended. The program advances to the next block depending on the task
parameterization. The drive remains in fixed stop until the next positioning task is processed
or the system is switched to jog mode. The clamping torque is therefore also applied during
subsequent waiting tasks. The continuation condition CONTINUE_EXTERNAL_WAIT can be
used to specify that the drive must remain at the fixed stop until a step enabling signal is
applied externally.
As long as the drive remains in fixed stop, the position setpoint is adjusted to the actual
position value (position setpoint = actual position value). Fixed stop monitoring and controller
enable are active.

Note
If the drive is in fixed stop, it can be referenced using the control signal "Set reference point."

If the axis leaves the position that it had at detection of the fixed stop by more than the
selected monitoring window for the fixed stop p2635, then the status bit r2683.12 is reset. At
the same time, the speed setpoint is set to zero, and fault F07484 "Fixed stop outside of the
monitoring window" is triggered with the reaction OFF3 (quick stop). The monitoring window
can be set using the parameter p2635 ("Fixed stop monitoring window"). It applies to both
positive and negative traversing directions and must be selected such that it will only be
triggered if the axis breaks away from the fixed stop.

Fixed stop is not reached

If the brake application point is reached without the "fixed stop reached" status being
detected, then the fault F07485 "Fixed stop is not reached" is output with fault reaction
OFF1, the torque limit is canceled and the drive cancels the traversing block.

Note
• The fault can be changed into an alarm (see section "Message configuration"), which
means that the drive program will advance to the next specified block.
• The target point must be sufficiently far inside the workpiece.

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Interruption to "Travel to fixed stop"

The "travel to fixed stop" traversing task can be interrupted and continued using the
"intermediate stop" signal at the binector input p2640. The block is canceled using the
binector input signal p2641 "Reject traversing task" or by removing the controller enable. In
all of these cases, the drive is correspondingly braked. Measures are taken to prevent any
risk of damage if the block is canceled when an axis has almost reached the fixed stop
(setpoint already beyond the fixed stop, but still within the threshold for fixed stop detection).
For this purpose, the position setpoint is made to follow the actual position value after
standstill. As soon as the fixed stop is reached, the drive remains in fixed stop even after
cancelation. It can be moved away from the fixed stop using jog or by selecting a new
traversing task.

Note
The fixed stop monitoring window (p2635) is only activated when the drive is at the fixed stop
and remains active until the fixed stop is exited.

Vertical axis

Note
In servo mode, a torque limit offset (p1532) can be entered for vertical axes (see also
chapter: Servo control -> Vertical axis).

With asymmetrical torque limits p1522 and p1523, the net weight is taken into account for
travel to fixed stop in parameters r2686 and r2687.
If, for example, with a suspended load, p1522 is set to +1000 Nm and p1523 to -200 Nm,
then a net weight of 400 Nm (p1522 - p1523) is assumed. If the clamping torque is now
configured as 400 Nm, then r2686[0] is preset to 80%, r2686[1] to 0% and r2687 to 800 Nm
when travel to fixed stop is activated.

Function diagrams (see SINAMICS S110 List Manual)

● 3616 Traversing blocks mode (r0108.4 = 1)
● 3617 Travel to fixed stop (r0108.4 = 1)
● 4025 Dynamic following error monitoring, cam controllers (r0108.3 = 1)
Overview of important parameters (see SINAMICS S110 List Manual)
● p1528 CI: Torque limit, upper/motoring, scaling
● p1529 CI: Torque limit, lower/regenerative scaling
● p1545 BI: Activate travel to fixed stop
● r2526 CO/BO: LR status word
● p2622 EPOS traversing block, task parameter
● p2634 EPOS Fixed stop maximum permissible following error
● p2635 EPOS Fixed stop monitoring window
● p2637 BI: EPOS Fixed stop reached
● p2638 BI: EPOS Fixed stop outside monitoring window

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● r2683 CO/BO: EPOS status word 1

● r2686 CO: EPOS Torque limit effective

7.3.6.6 Direct setpoint input (MDI)

Features
● Select direct setpoint input (p2647)
● Select positioning type (p2648)
● Direction selection (p2651, p2652)
● Setting-up (p2653)
● Fixed setpoints
– CO: Position setpoint (p2690)
– CO: Velocity setpoint (p2691)
– CO: Acceleration override (p2692)
– CO: Deceleration override (p2693)
● Connector inputs
– CI: MDI position setpoint (p2642)
– CI: MDI velocity setpoint (p2643)
– CI: MDI acceleration override (p2644)
– CI: MDI deceleration override (p2645)
– CI: Velocity override (p2646)
● Accept (p2649, p2650)

Description
The direct setpoint input function allows for positioning (absolute, relative) and setup
(endless position-controlled) by means of direct setpoint input (e.g. via the PLC using
process data).
During traversing, the motion parameters can also be influenced (on-the-fly setpoint
acceptance) and an on-the-fly change can be undertaken between the Setup and Positioning
modes. The "direct setpoint input" mode (MDI) can also be used if the axis is not referenced
in the "setup" or "relative positioning" modes, which means that "flying referencing" (see the
separate section), flying synchronization, and post-referencing are possible.
The direct setpoint input function is activated by p2647 = 1. A distinction is made between
two modes: positioning mode (p2653 = 0) and setup mode (p2653 = 1).
In "positioning" mode, the parameters (position, velocity, acceleration and deceleration) can
be used to carry out absolute (p2648 = 1) or relative (p2648 = 0) positioning with the
parameter p2690 (fixed setpoint position).
In the setting-up mode, using parameters (velocity, acceleration and deceleration) "endless"
closed-loop position control behavior can be carried out.

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It is possible to make a flying changeover between the two modes.

If continuous acceptance (p2649 = 1) is activated, changes to the MDI parameters are
accepted immediately. Otherwise the values are only accepted when there is a positive edge
at binector input p2650 (setpoint acceptance edge).

Note
Continuous acceptance p2649 = 1 can only be set with free telegram configuration
p0922 = 999. No relative positioning is allowed with continuous acceptance.

The direction of positioning can be specified using p2651 (positive direction specification)
and p2652 (negative direction specification). If both inputs have the same status, the
shortest distance is traveled during absolute positioning (p2648 = "1") of modulo axes
(p2577 = "1").
To use the positioning function, the drive must be in operating mode (r0002 = 0). The
following options are available for starting positioning:
● p2649 is "1" and positive edge on p2647
● p2649 is "0" and p2647 is "1"
– positive edge on p2650 or
– positive edge on p2649

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MDI mode with the use of PROFIdrive telegram 110.

If the connector input p2654 is preset with a connector input <> 0 (e.g. with PROFIdrive
telegram 110 with r2059[11]), then it will internally manage the control signals "Select

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positioning type", "Positive direction selection" and "Negative direction selection". The
following characteristics are evaluated from the value of the connector input:
● xx0x = absolute -> p2648
● xx1x = relative -> p2648
● xx2x = ABS_POS -> p2648, p2651
● xx3x = ABS_NEG -> p2648, p2652

Intermediate stop and reject traversing task

The intermediate stop is activated by a 0 signal at p2640. After activation, the system brakes
with the parameterized deceleration value (p2620 or p2645).
The current traversing task can be rejected by a 0 signal at p2641. After activation, the
system brakes with the maximum deceleration (p2573).
The "intermediate stop" and "reject traversing task" functions are only effective in "traversing
blocks" and "direct setpoint input/MDI" modes.

Function diagrams (see SINAMICS S110 List Manual)

● 3618 EPOS - direct setpoint input mode/MDI, dynamic values
● 3620 EPOS - direct setpoint input mode/MDI

Overview of important parameters (see SINAMICS S110 List Manual)

● p2577 BI: EPOS modulo offset activation
● p2642 CI: EPOS direct setpoint input/MDI, position setpoint
● p2643 CI: EPOS direct setpoint input/MDI, velocity setpoint
● p2644 CI: EPOS direct setpoint input/MDI, acceleration override
● p2645 CI: EPOS direct setpoint input/MDI, delay override
● p2648 BI: EPOS direct setpoint input/MDI, positioning type
● p2649 BI: EPOS direct setpoint input/MDI, acceptance type
● p2650 BI: EPOS direct setpoint input/MDI, setpoint acceptance edge
● p2651 BI: EPOS direct setpoint input/MDI, positive direction selection
● p2652 BI: EPOS direct setpoint input/MDI, negative direction selection
● p2653 BI: EPOS direct setpoint input/MDI, setup selection
● p2654 CI: EPOS direct setpoint input/MDI, mode adaptation
● p2690 CO: EPOS position, fixed setpoint
● p2691 CO: EPOS velocity, fixed setpoint
● p2692 CO: EPOS acceleration override, fixed setpoint
● p2693 CO: EPOS delay override, fixed setpoint

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7.3.6.7 Jog

Features
● Jog signals (p2589, p2590)
● Velocity (p2585, p2586)
● Incremental (p2587, p2588, p2591)

Description
Using parameter p2591 it is possible to change over between jog incremental and jog
velocity.
The traversing distances p2587 and p2588 and velocities p2585 and p2586 are entered
using the jog signals p2589 and p2590. The traversing distances are only effective for a "1"
signal at p2591 (jog, incremental). For p2591 = "0" then the axis moves to the start of the
traversing range or the end of the traversing range with the specified velocity.

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Function diagrams (see SINAMICS S110 List Manual)

● 3610 EPOS - jog mode

Overview of important parameters (see SINAMICS S110 List Manual)

● p2585 EPOS jog 1 setpoint velocity
● p2586 EPOS jog 2 setpoint velocity
● p2587 EPOS jog 1 traversing distance
● p2588 EPOS jog 2 traversing distance
● p2589 BI: EPOS jog 1 signal source
● p2590 BI: EPOS jog 2 signal source
● p2591 BI: EPOS jog incremental

7.3.6.8 Status signals

The status signals relevant to positioning mode are described below.

Tracking mode active (r2683.0)

The "Follow-up active mode" status signal shows that follow-up mode has been activated
which can be done by binector input p2655 (follow-up mode) or by a fault. In this status, the
position setpoint follows the actual position value, i.e. position setpoint = actual position
value.

Setpoint static (r2683.2)

The status signal "setpoint static" indicates that the setpoint velocity has a value of 0. The
actual velocity can deviate from zero due to a following error. While the status word has a
value of 0, a traversing task is being processed.

Traversing command active (r2684.15)

The status signal "traversing command active" indicates that a traversing command is active.
A motion command should be understood to comprise all motions (including jog, setup etc.).
Contrary to the status signal "setpoint static", the status signal remains active - e.g. if a
traversing command was stopped by a velocity override or intermediate stop.

SW limit switch + reached (r2683.7)

SW limit switch - reached (r2683.6)
These status signals indicate that the parameterized negative p2578/p2580 or positive
p2579/p2581 traversing range limit was reached or passed. If both status signals are 0, the
drive is located within the traversing limits.

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Stop cam minus active (r2684.13)

Stop cam plus active (r2684.14)
These status signals indicate that the STOP cam minus p2569 or STOP cam plus p2570 has
been reached or passed. The signals are reset if the cams are left in a directly opposing the
approach direction.

Axis moves forwards (r2683.4)

Axis moves backwards (r2683.5)
Axis accelerates (r2684.4)
Drive decelerates (r2684.5)
Drive stationary (zero speed) (r2199.0)
These signals display the current motion status. If the actual absolute speed is less or equal
to p2161, then the status signal "drive stationary" is set - otherwise it is deleted. The signals
are appropriately set if jog mode, reference point approach or a traversing task is active.

Cam switching signal 1 (r2683.8)

Cam switching signal 2 (r2683.9)
The electronic cam function can be implemented using these signals. Cam switching signal 1
is 0 if the actual position is greater than p2547 - otherwise 1. Cam switching signal 2 is 0 if
the actual position is greater than p2548 - otherwise 1. This means that the signal is deleted
if the drive is located behind (after) the cam switching position. The position controller
initiates these signals.

Direct output 1 (r2683.10)

Direct output 2 (r2683.11)
If a digital output is parameterized, the function "direct output 1" or "direct output 2", then it
can be set by a corresponding command in the traversing task (SET_O) or reset
(RESET_O).

Following error in tolerance (r2684.8)

When the axis is traversed, closed-loop position controlled, using a model, the permissible
following error is determined from the instantaneous velocity and the selected Kv factor.
Parameter p2546 defines a dynamic following error window that defines the permissible
deviation from the calculated value. The status signal indicates as to whether the following
error is within the window (status 1).

Target position reached (r2684.10)

The status signal "target position reached" indicates that the drive has reached its target
position at the end of a traversing command. This signal is set as soon as the actual drive
position is within the positioning window p2544 and is reset, if it leaves this window.
The status signal is not set, if
● Signal level 1 at binector input p2554 "signal traversing command active".
● Signal level 0 at binector input p2551 "signal setpoint static".
The status signal remains set, until
● Signal level 1 at binector input p2551 "signal setpoint static".

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Reference point set (r2684.11)

The signal is set as soon as referencing has been successfully completed. It is deleted as
soon as no reference is there or at the start of the reference point approach.

Acknowledgement, traversing block activated (r2684.12)

A positive edge is used to acknowledge that in the mode "traversing blocks" a new traversing
task or setpoint was transferred (the same signal level as binector input p2631 activate
traversing task). In the mode "direct setpoint input / MDI for setting-up/positioning" a positive
edge is used to acknowledge that a new traversing task or setpoint was transferred (the
same signal level as binector input p2650 "edge setpoint transfer", if the transfer type was
selected using a signal edge (binector input p2649 "0" signal)).

Velocity limiting active (r2683.1)

If the actual setpoint velocity exceeds the maximum velocity p2571 - taking into account the
velocity override - it is limited and the control signal is set.

7.3.7 Extended setpoint channel

Description
In the servo operating mode, the extended setpoint channel is deactivated by default. If an
extended setpoint channel is required, it has to be activated.

Properties of servo mode without the "extended setpoint channel" function module
● The setpoint is directly interconnected to p1155[D] (e.g. from a higher-level control or
technology controller)
● Dynamic Servo Control (DSC) only
When using DSC, the "extended setpoint channel" is not used. This unnecessarily uses
the computation time of the Control Unit and, for servo, can be de-activated.
● Deceleration ramp OFF1 via p1121[D]
● Deceleration ramp OFF3 via p1135[D]
● For PROFIdrive telegrams 2 to 103 and 999 only (free assignment)
● STW 1 bit 5 (freeze ramp-function generator), no function

7.3.7.1 Activation of the "extended setpoint channel" function module

The "extended setpoint channel" function module can be activated via the commissioning
Wizard or the drive configuration (configure DDS).
You can check the current configuration in parameter r0108.8. Once you have set the
configuration, you must download it to the Control Unit where it is stored in a non-volatile
memory.

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7.3 Function modules

7.3.7.2 Description
In the extended setpoint channel, setpoints from the setpoint source are conditioned for
motor control.
The setpoint for motor control can also originate from the technology controller (see
"Technology controller").

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Properties of the extended setpoint channel

● Main/supplementary setpoint, setpoint scaling
● Direction of rotation limiting and direction of rotation changeover
● Suppression bandwidths and setpoint limitation
● Ramp-function generator

Setpoint sources
The closed-loop control setpoint can be interconnected from various sources using BICO
technology (e.g. to p1070 CI: main setpoint (see function diagram 3030)).
There are various options for setpoint input:
● Fixed speed setpoints
● Motorized potentiometer

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7.3 Function modules

● Jog
● Field bus
– Setpoint via PROFIBUS, for example
● About the analog input AI of the CU 305

7.3.7.3 Jog

Description
This function can be selected via digital inputs or via a field bus (e.g. PROFIBUS). The
setpoint is, therefore, predefined via p1058[D] and p1059[D].
When a jog signal is present, the motor is accelerated to the jog setpoint with the
acceleration ramp of the ramp-function generator (referred to the maximum speed p1082;
see diagram "Function chart: jog 1 and jog 2"). After the jog signal has been deselected, the
motor is decelerated via the set ramp of the ramp-function generator.

CAUTION
The "Jog" function is not PROFIdrive-compliant!

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7.3 Function modules


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Jog properties
● If both jog signals are issued at the same time, the current speed is maintained (constant
velocity phase).
● Jog setpoints are approached and exited via the ramp-function generator.
● The jog function can be activated from the "ready for switching on" status and from the
OFF1 deceleration ramp.
● If ON/OFF1 = "1" and jog are selected simultaneously, ON/OFF1 has priority.
● OFF2 and OFF3 have priority over jog.
● In jog mode, the main speed setpoints (r1078) and the supplementary setpoints 1 and 2
(p1155 and p1160) are inhibited.
● The suppression bandwidths (p1091 ... p1094) and the minimum limit (p1080) in the
setpoint channel are also active in jog mode.
● In jog mode, ZSWA.02 (operation enabled) is set to "0" because the speed setpoint has
not been enabled for control.
● The ramp-function generator cannot be frozen (via p1141) in jog mode (r0046.31 = 1).

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7.3 Function modules

Jog sequence

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7.3 Function modules

Control and status messages

Table 7- 23 Jog control

Signal name Internal control word Binector input PROFIdrive/Siemens

telegram 1 ... 111
0 = OFF1 STWA.0 p0840 ON/OFF1 STW1.0
0 = OFF2 STWA.1 p0844 1. OFF2 STW1.1
p0845 2. OFF2
0 = OFF3 STWA.2 p0848 1. OFF3 STW1.2
p0849 2. OFF3
Enable operation STWA.3 p0852 Enable operation STW1.3
Jog 1 STWA.8 p1055 Jog bit 0 STW1.8
Jog 2 STWA.9 p1056 Jog bit 1 STW1.9

Table 7- 24 Jog status message

Signal name Internal status word Parameter PROFIdrive/Siemens

telegram 1 ... 111
Ready to start ZSWA.0 r0899.0 ZSW1.0
Ready for operation ZSWA.1 r0899.1 ZSW1.1
Operation enabled ZSWA.2 r0899.2 ZSW1.2
Switching on inhibited ZSWA.6 r0899.6 ZSW1.6
Pulses enabled ZSWA.11 r0899.11 ZSW1.11

Function diagrams (see SINAMICS S110 List Manual)

● 2610 Sequence control - sequencer
● 3030 Setpoint addition, setpoint scaling, jog

Overview of important parameters (see SINAMICS S110 List Manual)

● p1055[C] BI: Jog bit 0
● p1056[C] BI: Jog bit 1
● p1058[D] Jog 1 speed setpoint
● p1059[D] Jog 2 speed setpoint
● p1082[D] Maximum speed
● p1120[D] Ramp-function generator ramp-up time
● p1121[D] Ramp-function generator ramp-down time

Parameterization with STARTER

The "Speed setpoint jog" parameter screen is selected with the icon in the toolbar of the
STARTER commissioning tool:

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7.3 Function modules

7.3.7.4 Fixed speed setpoints

Description
This function can be used to specify preset speed setpoints. The fixed setpoints are defined
in parameters and selected via binector inputs. Both the individual fixed setpoints and the
effective fixed setpoint are available for further interconnection via a connector output (e.g. to
connector input p1070 - CI: main setpoint).

Properties
● Number of fixed setpoints: Fixed setpoint 1 to 15
● Selection of fixed setpoints: Binector input bits 0 to 3
– Binector input bits 0, 1, 2 and 3 = 0 -> setpoint = 0 active
– Unused binector inputs have the same effect as a "0" signal

Function diagrams (see SINAMICS S110 List Manual)

● 1550 Overviews - setpoint channel
● 3010 Fixed speed setpoints

Overview of important parameters (see SINAMICS S110 List Manual)

Adjustable parameters
● p1001[D] CO: Fixed speed setpoint 1
● ...
● p1004[D] CO: Fixed speed setpoint 4
● p1020[C] BI: Fixed speed setpoint selection Bit 0
● p1021[C] BI: Fixed speed setpoint selection Bit 1

Display parameters
● r1024 CO: Fixed speed setpoint effective
● r1197 Fixed speed setpoint current number

Parameterization with STARTER

In the STARTER commissioning tool, the "Fixed setpoints" parameter screen in the project
navigator under the relevant drive is activated by double-clicking Setpoint channel -> Fixed
setpoints.

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7.3 Function modules

7.3.7.5 Motorized potentiometer

Description
This function is used to simulate an electromechanical potentiometer for setpoint input.
You can switch between manual and automatic mode for setpoint input. The specified
setpoint is routed to an internal ramp-function generator. Setting values, start values and
braking with OFF1 do not require the ramp-function generator of the motorized
potentiometer.
The output of the ramp-function generator for the motorized potentiometer is available for
further interconnection via a connector output (e.g. interconnection to connector input p1070
- CI: main setpoint, an additional ramp-function generator is then active).

Properties for manual mode (p1041 = "0")

● Separate binector inputs for Raise and Lower are used to adjust the input setpoint:
– p1035 BI: Motorized potentiometer, setpoint, raise
– p1036 BI: Motorized potentiometer, setpoint, lower
● Invert setpoint (p1039)
● Configurable ramp-function generator, e.g.:
– Ramp-up/ramp-down time (p1047/p1048) referred to p1082
– Setting value (p1043/p1044)
– Initial rounding active/not active (p1030.2)
● Non-volatile storage via p1030.3
● Configurable setpoint for Power ON (p1030.0)
– Starting value is the value in p1040 (p1030.0 = 0)
– Starting value is the stored value (p1030.0 = 1)

Properties for automatic mode (p1041 = "1")

● The input setpoint is specified via a connector input (p1042).
● The motorized potentiometer acts like a "normal" ramp-function generator.
● Configurable ramp-function generator, e.g.:
– Switch on/off (p1030.1)
– Ramp-up/ramp-down time (p1047/p1048)
– Setting value (p1043/p1044)
– Initial rounding active/not active (p1030.2)
● Non-volatile storage of the setpoints via p1030.3
● Configurable setpoint for Power ON (p1030.0)
– Starting value is the value in p1040 (p1030.0 = 0)
– Starting value is the stored value (p1030.0 = 1)

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Function diagrams (see SINAMICS S110 List Manual)

● 1550 Setpoint channel
● 2501 Control word sequence control
● 3020 Motorized potentiometer

Overview of important parameters (see SINAMICS S110 List Manual)

● p1030[D] Motorized potentiometer, configuration
● p1035[C] BI: Motorized potentiometer, setpoint, raise
● p1036[C] BI: Motorized potentiometer, setpoint, lower
● p1037[D] Motorized potentiometer, maximum speed
● p1038[D] Motorized potentiometer, minimum speed
● p1039[C] BI: Motorized potentiometer, inversion
● p1040[D] Motorized potentiometer, starting value
● p1041[C] BI: Motorized potentiometer, manual/automatic
● p1042[C] CI: Motorized potentiometer, automatic setpoint
● p1043[C] BI: Motorized potentiometer, accept setpoint
● p1044[C] CI: Motorized potentiometer, setting value
● r1045 CO: Motorized potentiometer, speed setpoint in front of the ramp-function
generator
● p1047[D] Motorized potentiometer, ramp-up time
● p1048[D] Motorized potentiometer, ramp-down time
● r1050 CO: Motorized potentiometer, setpoint after the ramp-function generator
● p1082[D] Maximum speed

Parameterization with STARTER

In the STARTER commissioning tool, the "Motorized potentiometer" parameter screen in the
project navigator under the relevant drive is activated by double-clicking Setpoint channel ->
Motorized potentiometer.

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7.3 Function modules

7.3.7.6 Main/supplementary setpoint and setpoint modification

Description
The supplementary setpoint can be used to incorporate correction values from lower-level
controllers. This can be easily carried out using the addition point for the
main/supplementary setpoint in the setpoint channel. Both variables are imported
simultaneously via two separate or one setpoint source and added in the setpoint channel.

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Function diagrams (see SINAMICS S110 List Manual)

● 1550 Setpoint channel
● 3030 Main/supplementary setpoint, setpoint scaling, jog

Overview of important parameters (see SINAMICS S110 List Manual)

Adjustable parameters
● p1070[C] CI: Main setpoint
● p1071[C] CI: Main setpoint scaling
● p1075[C] CI: Supplementary setpoint
● p1076[C] CI: Supplementary setpoint scaling
Display parameters
● r1073[C] CO: Main setpoint effective
● r1077[C] CO: Supplementary setpoint effective
● r1078[C] CO: Total setpoint effective

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7.3 Function modules

Parameterization with STARTER

The "Speed setpoint" parameter screen is selected with the icon in the toolbar of the
STARTER commissioning tool:

7.3.7.7 Direction limitation and setpoint inversion

Description
A reverse operation involves a direction reversal. Selecting setpoint inversion p1113[C] can
reverse the direction in the setpoint channel.
Parameter p1110[C] or p1111[C] can be set respectively to prevent input of a negative or
positive setpoint via the setpoint channel. However, the following settings for minimum speed
(p1080) in the setpoint channel are still operative. With the minimum speed, the motor can
turn in a negative direction, although p1110 = 1 is set.

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Function diagrams (see SINAMICS S110 List Manual)

● 1550 Setpoint channel
● 3040 Direction limitation and direction reversal

Overview of important parameters (see SINAMICS S110 List Manual)

Adjustable parameters
● p1110[C] BI: Inhibit negative direction
● p1111[C] BI: Inhibit positive direction
● p1113[C] BI: Setpoint inversion

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7.3 Function modules

Parameterization with STARTER

The "Speed setpoint" parameter screen is selected with the icon in the toolbar of the
STARTER commissioning tool:

7.3.7.8 Suppression bandwidths and setpoint limits

Description
In the range 0 U/min to setpoint speed, a drive train (e.g. motor, coupling, shaft, machine)
can have one or more points of resonance, which can result in vibrations. The suppression
bandwidths can be used to prevent operation in the resonance frequency range.
The limit speeds can be set via p1080[D] and p1082[D]. These limits can also be changed
during operation with the connectors p1085[C] and p1088[C].

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Function diagrams (see SINAMICS S110 List Manual)

● 1550 Setpoint channel
● 3050 Suppression bandwidth and speed limiting

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Overview of important parameters (see SINAMICS S110 List Manual)

Setpoint limitation
● p1080[D] Minimum speed
● p1082[D] Maximum speed
● p1083[D] CO: Speed limit in positive direction of rotation
● r1084 Speed limit positive effective
● p1085[C] CI: Speed limit in positive direction of rotation
● p1086[D] CO: Speed limit negative direction of rotation
● r1087 Speed limit negative effective
● p1088[C] DI: Speed limit negative direction of rotation
● r1119 Ramp-function generator setpoint at the input

Suppression bandwidths
● p1091[D] Suppression speed 1
● ...
● p1094[D] Suppression speed 4
● p1101[D] Suppression speed bandwidth

Parameterization with STARTER

The "speed limitation" parameter screen is selected by activating the following icon in toolbar
of the STARTER commissioning tool:

Figure 7-61 STARTER icon for "speed limitation"

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7.3 Function modules

7.3.7.9 Ramp-function generator

Description
The ramp-function generator is used to limit acceleration in the event of abrupt setpoint
changes, which helps prevent load surges throughout the drive train. The ramp-up time
p1120[D] and ramp-down time p1121[D] can be used to set mutually independent
acceleration and deceleration ramps. This allows a controlled transition to be made in the
event of setpoint changes.
The maximum speed p1082[D] is used as a reference value for calculating the ramps from
the ramp-up and ramp-down times. A special adjustable ramp can be set via p1135 for quick
stop (OFF3), e.g. for rapid controlled deceleration when an emergency OFF button is
pressed.
There are two types of ramp-function generator:
● Basic ramp-function generator with
– Acceleration and deceleration ramps
– Ramp for quick stop (OFF3)
– Tracking can be selected via a binector input
– Setting values for the ramp-function generator
● Extended ramp-function generator also has
– Initial and final rounding off

Note
The ramp-function generator cannot be frozen (via p1141) in jog mode (r0046.31 = 1).

Properties of the basic ramp-function generator

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● RFG ramp-up time Tup p1120[D]

● RFG ramp-down time Tdn p1121[D]

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7.3 Function modules

● OFF3 deceleration ramp

– OFF3 ramp-down time p1135[D]
● Set ramp-function generator
– Ramp-function generator setting value p1144[C]
– Set ramp-function generator signal p1143[C]
● Freezing of the ramp-function generator using p1141 (not in jog mode r0046.31 = 0)

Properties of the extended ramp-function generator

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● RFG ramp-up time Tup p1120[D]

● RFG ramp-down time Tdn p1121[D]
● Initial rounding IR p1130[D]
● Final rounding FR p1131[D]
● Rounding type p1134[D]
● Effective ramp-up time
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● Effective ramp-down time
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● OFF3 deceleration ramp
OFF3 ramp-down time p1135[D]
OFF3 initial rounding p1136[D]
OFF3 final rounding p1137[D]

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7.3 Function modules

● Set ramp-function generator

– Ramp-function generator setting value p1144[C]
– Set ramp-function generator signal p1143[C]
● Select ramp-function generator rounding type p1134[D]
– p1134 = "0": continuous smoothing rounding is always active. Overshoots may occur.
If the setpoint changes, final rounding is carried out and then the direction of the new
setpoint is adopted.
– p1134 = "1": non-continuous smoothing changes immediately to the direction of the
new setpoint when the setpoint is changed.
● Configure ramp-function generator, deactivate rounding at zero crossing p1151[D]
● Freezing of the ramp-function generator using p1141 (not in jog mode r0046.31 = 0)

Ramp-function generator tracking

If the drive is in the area of the torque limits, the actual speed value is removed from the
speed setpoint. The ramp-function generator tracking updates the speed setpoint in line with
the actual speed value and so levels the ramp. p1145 can be used to deactivate ramp-
function generator tracking (p1145 = 0) or set the permissible following error (p1145 > 1). If
the permissible following error is reached, then the speed setpoint at the ramp-function
generator output will only be further increased in the same proportion as the actual speed
value.
Ramp-function generator tracking can be activated for the basic and the extended ramp-
function generators.

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Without ramp-function generator tracking

● p1145 = 0
● Drive accelerates until t2 although setpoint < actual value

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7.3 Function modules

With ramp-function generator tracking

● At p1145 > 1 (values between 0 and 1 are not applicable), ramp-function generator
tracking is activated when the torque limit is approached. The ramp-function generator
output thereby only exceeds the actual speed value by a deviation value that can be
defined in p1145.
● t1 and t2 almost identical

Function diagrams (see SINAMICS S110 List Manual)

● 1550 Setpoint channel
● 3060 Basic ramp-function generator
● 3070 Extended ramp-function generator
● 3080 Ramp-function generator selection, status word, tracking

Signal overview (see SINAMICS S110 List Manual)

● Control signal STW1.2 OFF3
● Control signal STW1.4 Enable ramp-function generator
● Control signal STW1.5 Start/stop ramp-function generator
● Control signal STW1.6 Enable setpoint
● Control signal STW2.1 Bypass ramp-function generator

Parameterization with STARTER

The "ramp-function generator" parameter screen is selected via the following icon in the
toolbar of the STARTER commissioning tool:

Figure 7-65 STARTER icon for "ramp-function generator"

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7.3 Function modules

Overview of important parameters (see SINAMICS S110 List Manual)

Adjustable parameters
● p1115 Ramp-function generator selection
● p1120[D] Ramp-function generator ramp-up time
● p1121[D] Ramp-function generator ramp-down time
● p1122[C] BI: Bypass ramp-function generator
● p1130[D] Ramp-function generator initial rounding time
● p1131[D] Ramp-function generator final rounding time
● p1134[D] Ramp-function generator rounding type
● p1135[D] OFF3 ramp-down time
● p1136[D] OFF3 initial rounding time
● p1137[D] OFF3 final rounding time
● p1140[C] BI: Enable ramp-function generator
● p1141[C] BI: Start ramp-function generator
● p1143[C] BI: Ramp-function generator, accept setting value
● p1144[C] CI: Ramp-function generator setting value
● p1145[D] Ramp-function generator tracking
● p1148 [D] Ramp-function generator tolerance for ramp-up and ramp-down active
● p1151 [D] Ramp-function generator configuration

Display parameters
● r1119 CO: Ramp-function generator setpoint at the input
● p1149 Ramp-function generator acceleration
● r1150 CO: Ramp-function generator speed setpoint at the output

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8.1 Standards and regulations

8.1.1 General information

8.1.1.1 Aims
Manufacturers and operating companies of equipment, machines, and products are
responsible for ensuring the required level of safety. This means that plants, machines, and
other equipment must be designed to be as safe as possible in accordance with the current
state of the art. To ensure this, companies describe in the various standards the current
state of the art covering all aspects relevant to safety. When the relevant Standards are
observed, this ensures that state-of-the-art technology has been utilized and, in turn, the
erector/builder of a plant or a manufacturer of a machine or a piece of equipment has fulfilled
his appropriate responsibility.
Safety systems are designed to minimize potential hazards for both people and the
environment by means of suitable technical equipment, without restricting industrial
production and the use of machines more than is necessary. The protection of man and
environment must be assigned equal importance in all countries, which is it is important that
rules and regulations that have been internationally harmonized are applied. This is also
designed to avoid distortions in the competition due to different safety requirements in
different countries.
There are different concepts and requirements in the various regions and countries of the
world when it comes to ensuring the appropriate degree of safety. The legislation and the
requirements of how and when proof is to be given and whether there is an adequate level of
safety are just as different as the assignment of responsibilities.
The most important thing for manufacturers of machines and companies that set up plants
and systems is that the legislation and regulations in the country where the machine or plant
is being operated apply. For example, the control system for a machine that is to be used in
the US must fulfill local US requirements even if the machinery construction company (OEM)
is based in the European Economic Area (EEA).

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8.1.1.2 Functional safety

Safety, from the perspective of the object to be protected, cannot be split-up. The causes of
hazards and, in turn, the technical measures to avoid them can vary significantly. This is why
a differentiation is made between different types of safety (e.g. by specifying the cause of
possible hazards). "Functional safety" is involved if safety depends on the correct function.
To ensure the functional safety of a machine or plant, the safety-related parts of the
protection and control devices must function correctly. In addition, the systems must behave
in such a way that either the plant remains in a safe state or it is brought into a safe state if a
fault occurs. In this case, it is necessary to use specially qualified technology that fulfills the
requirements described in the associated Standards. The requirements to achieve functional
safety are based on the following basic goals:
● Avoiding systematic faults
● Controlling systematic faults
● Controlling random faults or failures
Benchmarks for establishing whether or not a sufficient level of functional safety has been
achieved include the probability of hazardous failures, the fault tolerance, and the quality that
is to be ensured by minimizing systematic faults. This is expressed in the Standards using
different terms. In IEC/EN 61508, IEC/EN 62061, IEC/EN 61800-5-2: "Safety Integrity Level"
(SIL), in EN 954-1: " Categories" and EN ISO 13849-1 "Performance Level" (PL).

8.1.2 Safety of machinery in Europe

The EU Directives that apply to the implementation of products are based on Article 95 of the
EU contract, which regulates the free exchange of goods. These are based on a new global
concept ("new approach", "global approach"):
● EU Directives only specify general safety goals and define basic safety requirements.
● Technical details can be defined by means of standards by Standards Associations that
have the appropriate mandate from the commission of the European Parliament and
Council (CEN, CENELEC). These standards are harmonized in line with a specific
directive and listed in the official journal of the commission of the European Parliament
and Council. Legislation does not specify that certain standards have to be observed.
When the harmonized Standards are observed, it can be assumed that the safety
requirements and specifications of the Directives involved have been fulfilled.
● EU Directives specify that the Member States must mutually recognize domestic
regulations.
The EU Directives are equal. This means that if several Directives apply for a specific piece
of equipment or device, the requirements of all of the relevant Directives apply (e.g. for a
machine with electrical equipment, the Machinery Directive and the Low-Voltage Directive
apply).

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8.1.2.1 Machinery Directive (98/37/EC)

When the European common market was launched, a decision was made that the domestic
Standards and regulations of all of the EU Member States relating to the technical
implementation of machines would be harmonized. This meant that, as an internal market
Directive, the content of the Machinery Directive had to be implemented by the individual
member states as national legislation. For the Machinery Directive, this was realized with the
aim of achieving standard protective goals and, in turn, removing technical trade barriers. In
accordance with the definition of a machine ("an assembly of linked parts or components, at
least one of which moves"), this Directive is extremely extensive. The range of applications
was subsequently expanded to include "safety-related components" and "exchangeable
equipment" in the form of revision Directives.
The Machinery Directive involves the implementation of machines. It has 14 Articles and 7
Annexes. The basic safety and health requirements specified in Annex I of the Directive
must be fulfilled for the safety of machines. The manufacturer must carefully observe the
following principles when it comes to integrating safety (Annex I, Paragraph 1.1.2):
● "Machinery must be constructed in such a way that it can be operated, set up, and
maintained as part of its proper use without endangering personnel."
"The measures must exclude the risk of accidents."
● "When selecting the most appropriate methods, the manufacturer must apply the
following principles (in the order specified):
– Eliminate or minimize hazards (by integrating the safety concept into the development
and construction of the machine);
– Apply and use the necessary protective measures to protect against dangers that
cannot be avoided;
– Inform the user about the residual dangers due to the fact that the safety measures
applied are not completely effective."
The protective goals must be implemented responsibly to ensure compliance with the
Directive.
Manufacturers of a machine must verify that their machine complies with the basic
requirements. This verification is facilitated by means of harmonized standards.

8.1.2.2 Harmonized European Standards

The two Standards Organizations CEN (Comité Européen de Normalisation) and CENELEC
(Comité Européen de Normalisation Électrotechnique), which are mandated by the EU
Commission, have elaborated harmonized European Standards in order to detail the
requirements of the EU Directives for a specific product. These standards (EN standards)
are published in the official journal of the commission of the European Parliament and
Council and must be included without revision in domestic standards. They are designed to
fulfill basic health and safety requirements as well as the protective goals specified in Annex
I of the Machinery Directive.
When the harmonized standards are observed, it is "automatically assumed" that the
Directive is fulfilled. As such, manufacturers can assume that they have observed the safety
aspects of the Directive under the assumption that these are also covered in this standard.
However, not every European Standard is harmonized in this sense. Key here is the listing in
the official journal of the commission of the European Parliament and Council.

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The European standards regarding the safety of machines are structured in a hierarchical
manner as follows:
● A standards (basic standards)
● B standards (group standards)
● C standards (product standards)

Type A standards/basic standards

A standards include basic terminology and definitions relating to all types of machine. This
includes EN ISO 12100 (previously EN 292) "Safety of Machines, Basic Terminology,
General Design Principles."
A standards are aimed primarily at the bodies responsible for setting the B and C standards.
The measures specified here for minimizing risk, however, may also be useful for
manufacturers if no applicable C standards have been defined.
Type B standards/group standards
B standards cover all safety-related standards for various different machine types. B
standards are aimed primarily at the bodies responsible for setting C standards. They can
also be useful for manufacturers during the machine design and construction phases,
however, if no applicable C standards have been defined.
A further sub-division has been made for B standards:
● Type B1 standards for higher-level safety aspects (e.g. ergonomic principles, safety
clearances from sources of danger, minimum clearances to prevent parts of the body
from being crushed).
● Type B2 standards for protective safety devices are defined for different machine types
(e.g. EMERGENCY STOP devices, two-hand operating circuits, interlocking elements,
contactless protective devices, safety-related parts of controls).

Type C standards/product standards

C standards are product-specific standards (e.g. for machine tools, woodworking machines,
elevators, packaging machines, printing machines etc.). Product standards cover machine-
specific requirements. In some cases, the requirements may differ from the basic and group
standards. Type C/product standards have the highest priority for machine manufacturers
who can assume that it fulfills the basic requirements of Annex I of the Machinery Directive
(automatic presumption of compliance). If no product standard has been defined for a
particular machine, type B standards can be applied when the machine is constructed.
A complete list of the standards specified and the mandated draft standards are available on
the Internet at the following address:
http://www.newapproach.org/
Recommendation: Due to the rapid pace of technical development and the associated
changes in machine concepts, the standards (and C standards in particular) should be
checked to ensure that they are up to date. Where appropriate, note that the application of a
particular standard may not be mandatory provided that all the safety requirements of the
applicable EU directive are fulfilled.

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8.1.2.3 Standards for implementing safety-related controllers

If the functional safety of a machine depends on various control functions, the controller must
be implemented in such a way that the probability of the safety functions failing is sufficiently
minimized. The standards EN ISO 13849-1 (previously EN 954-1) and EN 62061 define
guidelines for implementing safety-related machine controllers which, when properly applied,
ensure that all the safety requirements of the EC Machinery Directive are fulfilled. These
standards ensure that the relevant safety requirements of the Machinery Directive are
fulfilled.

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The application areas of EN ISO 13849-1, EN 62061, and EN 61508 are very similar. To
help users make an appropriate decision, the IEC and ISO associations have specified the
application areas of both standards in a joint table in the introduction to the standards. Either
EN ISO 13849-1 or EN 62061 are applied depending on the technology (mechanical,
hydraulic, pneumatic, electrical, electronic, programmable electronic), risk classification, or
architecture.

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Systems for executing safety-related control EN ISO 13849-1 EN 62061

functions
A Non-electrical (e.g. hydraulic, pneumatic) X Not covered
B Electromechanical (e.g. relay and/or basic Restricted to the designated All architectures and max. up to
electronics) architectures (see comment 1) SIL 3
and max. up to PL = e
C Complex electronics (e.g. programmable Restricted to the designated All architectures and max. up to
electronics) architectures (see comment 1) SIL 3
and max. up to PL = d
D A combined with B Restricted to the designated X
architectures (see comment 1) See comment 3
and max. up to PL = e

E C combined with B Restricted to the designated All architectures and max.

architectures (see comment 1) up to SIL 3
and max. up to PL = d
F C combined with A or X X
C combined with A and B See comment 2 See comment 3
"X" indicates that the point is covered by this standard.
Comment 1:
Designated architectures are described in Annex B of EN ISO 13849-1 and provide a simplified basis for the quantification.
Comment 2:
For complex electronics: Use of designated architectures in compliance with EN ISO 13849-1 to
PL = d, or every architecture in compliance with EN 62061.
Comment 3:
For non-electrical systems: Use components that comply with EN ISO 13849-1 as sub-systems.

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8.1.2.4 EN ISO 13849-1 (previously EN 954-1)

A qualitative analysis (to EN 954-1) is not sufficient for modern controllers due to their
technology. Among other things, EN 954-1 does not take into account time behavior (e.g.
test interval and/or cyclic test, lifetime). This led to in the probability-based approach of EN
ISO 13849-1 (probability of failure per unit time).
EN ISO 13849-1 is based on the known categories of EN 954-1. It now also takes into
account complete safety functions and all the devices required to execute these. In addition
to the qualitative approach of EN 954-1, EN ISO 13849-1 now includes a quantitative
analysis of the safety functions. Performance levels (PL), which are based on the categories,
are used. The following safety-related characteristic quantities are required for
devices/equipment:
● Category (structural requirement)
● PL: Performance level
● MTTFd: Mean time to dangerous failure

● DC: Diagnostic coverage

● CCF:
Common cause failure

The standard describes how the performance level (PL) is calculated for safety-related
components of the controller on the basis of designated architectures. In the event of any
deviations from this, EN ISO 13849-1 refers to EN 61508.
When combining several safety-related parts to form a complete system, the Standard
explains how to determine the resulting PL.

Note
Since May 2007, EN ISO 13849-1 has been harmonized as part of the Machinery Directive.
EN 954-1 will still apply until November 30, 2009.

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8.1 Standards and regulations

8.1.2.5 EN 62061
EN 62061 (identical to IEC 62061) is a sector-specific standard subordinate to IEC/EN
61508. It describes the implementation of safety-related electrical machine control systems
and looks at the complete lifecycle, from the conceptual phase to decommissioning. The
standard is based on the quantitative and qualitative analyses of safety functions,
whereby it systematically applies a top-down approach to implementing complex control
systems (known as "functional decomposition"). The safety functions derived from the risk
analysis are sub-divided into sub-safety functions, which are then assigned to real devices,
sub-systems, and sub-system elements. Both the hardware and software are covered. EN
62061 also describes requirements regarding the implementation of application programs.
A safety-related control systems comprises different sub-systems. From a safety
perspective, the sub-systems are described by means of the characteristic quantities (SIL
claim limit and PFHD).
Programmable electronic devices (e.g. PLCs or variable-speed drives) must fulfill EN 61508.
They can then be integrated in the controller as sub-systems. The following safety-related
characteristic quantities must be specified by the manufacturers of these devices.
Safety-related characteristic quantities for subsystems:
● SIL CL: SIL claim limit

● PFHD:
Probability of dangerous failures per hour
● T1:
Lifetime
Simple sub-systems (e.g. sensors and actuators) in electromechanical components can, in
turn, comprise sub-system elements (devices) interconnected in different ways with the
characteristic quantities required for determining the relevant PFHD value of the sub-system.
Safety-related characteristic quantities for subsystem elements (devices):
● λ:
Failure rate
● B10 value: For elements that are subject to wear
● T1:
Lifetime
For electromechanical devices, a manufacturer specifies a failure rate λ with reference to the
number of operating cycles. The failure rate per unit time and the lifetime must be
determined using the switching frequency for the particular application.
Parameters for the sub-system, which comprises sub-system elements, that must be defined
during the design phase:
● T2:
Diagnostic test interval
● β:
Susceptibility to common cause failure
● DC:
Diagnostic coverage

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The PFHD value of the safety-related controller is determined by adding the individual PFHD
values for subsystems.
The user has the following options when setting up a safety-related controller:
● Use devices and sub-systems that already comply with EN 954-1 (or EN ISO13849-1),
IEC/EN 61508, or IEC/EN 62061. The standard provides information specifying how
qualified devices can be integrated when safety functions are implemented.
● Develop own subsystems.
– Programmable, electronic systems and complex systems: Application of EN 61508 or
EN 61800-5-2.
– Simple devices and subsystems: Application of EN 62061.

EN 62061 does not include information about non-electric systems. The standard provides
detailed information on implementing safety-related electrical, electronic, and programmable
electronic control systems. EN 954-1 / EN ISO 13849-1 must be applied for non-electrical
systems.

Note
Details of simple sub-systems that have been implemented and integrated are available as
functional examples.

Note
IEC 62061 has been ratified as EN 62061 in Europe and harmonized as part of the
Machinery Directive.

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8.1 Standards and regulations

8.1.2.6 Series of standards EN 61508 (VDE 0803)

This series of standards describes the current state of the art.
EN 61508 is not harmonized in line with any EU directives, which means that an automatic
presumption of conformity for fulfilling the protective requirements of a directive is not
implied. The manufacturer of a safety-related product, however, can also use EN 61508 to
fulfill basic requirements of European directives in accordance with the latest conceptual
design, for example, in the following cases:
● If no harmonized standard exists for the application in question. In this case, the
manufacturer can use EN 61508, although no presumption of conformity exists here.
● A harmonized European standard (e.g. EN 62061, EN 954 or EN ISO 13849, EN 60204-
1) references EN 61508. This ensures that the appropriate requirements of the directives
are fulfilled ("standard that is also applicable"). When manufacturers apply EN 61508
properly and responsibly in accordance with this reference, they can use the presumption
of conformity of the referencing standard.

EN 61508 covers all the aspects that must be taken into account when E/E/PES systems
(electrical, electronic, and programmable electronic System) are used in order to execute
safety functions and/or to ensure the appropriate level of functional safety. Other hazards
(e.g. electric shock) are, like EN 954, not part of the standard.
EN 61508 has recently been declared the "International Basic Safety Publication", which
makes it a framework for other, sector-specific standards (e.g. EN 62061). As a result, this
standard is now accepted worldwide, particularly in North America and in the automotive
industry. Today, many regulatory bodies already stipulate it (e.g. as a basis for NRTL listing).
Another recent development with respect to EN 61508 is its system approach, which extends
the technical requirements to include the entire safety installation from the sensor to the
actuator, the quantification of the probability of hazardous failure due to random hardware
failures, and the creation of documentation covering all phases of the safety-related lifecycle
of the E/E/PES.

8.1.2.7 Risk analysis/assessment

Risks are intrinsic in machines due to their design and functionality. For this reason, the
Machinery Directive requires that a risk assessment be performed for each machine and, if
necessary, the level of risk reduced until the residual risk is less than the tolerable risk. To
assess these risks, the following standards must be applied:
● EN ISO 12100-1 "Safety of Machinery - basic terminology, general principles for design"
● EN ISO 13849-1 (previously EN 954-1) "Safety of machinery"
● EN ISO 14121-1 (previously EN 1050, Paragraph 5) "Safety of machinery - Risk
assessment"
EN ISO 12100-1 focuses on the risks to be analyzed and the design principles for minimizing
risk. EN ISO 14121-1 describes the iterative process for assessing and minimizing risk to
achieve the required level of safety.
The risk assessment is a procedure that allows hazards resulting from machines to be
systematically investigated. Where necessary, the risk assessment is followed by a risk
reduction procedure. When the procedure is repeated, this is known as an iterative process.

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This can help eliminate hazards (as far as this is possible) and can act as a basis for
implementing suitable protective measures. The risk assessment involves the following:
● Risk analysis
– Determining the limits of the machine (EN ISO 12100-1, EN ISO 14121-1 Paragraph 5)
– Identifying the hazards (EN ISO 12100-1, EN ISO 14121-1 Paragraph 6)
– Estimating the level of risk (EN 1050 Paragraph 7)
● Risk assessment (EN ISO 14121-1 Paragraph 8)
As part of the iterative process to achieve the required level of safety, a risk assessment is
carried out after the risk estimation. A decision must be made here as to whether the
residual risk needs to be reduced. If the risk is to be further reduced, suitable protective
measures must be selected and applied. The risk assessment must then be repeated.

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Risks must be reduced by designing and implementing the machine accordingly (e.g. by
means of controllers or protective measures suitable for the safety-related functions).
If the protective measures involve the use of interlocking or control functions, these must be
designed in accordance with EN ISO 13849-1. For electrical and electronic controls, EN
62061 can be used as an alternative to EN ISO 13849-1. Electronic controls and bus
systems must also comply with IEC/EN 61508.

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8.1.2.8 Risk reduction

Risk reduction measures for a machine can be implemented by means of safety-related
control functions in addition to structural measures. To implement these control functions,
special requirements graded according to the magnitude of the risk must be taken into
account. These are described in EN 954-1 or EN ISO 13849-1 (previously EN 954-1) or, in
the case of electrical controllers (in particular, programmable electronics), in EN 61508 or EN
62061. The requirements regarding safety-related controller components are graded
according to the magnitude of the risk and the level to which the risk needs to be reduced.
EN 954-1 defines "categories" for this purpose. Annex B describes a method of selecting the
required category for designing and implementing the safety-related controller components.
EN ISO 13849-1 defines a risk graph, which can be used instead of the categories to create
hierarchical performance levels (PL).
IEC/EN 62061 uses "Safety Integrity Level" (SIL) for classification purposes. This is a
quantified measure of the safety-related performance of a controller. The required SIL is also
determined in accordance with the risk assessment principle to ISO 14121 (EN 1050). Annex
A of the standard describes a method for determining the required Safety Integrity Level
(SIL).
Regardless of which standard is applied, steps must be taken to ensure that all the machine
controller components required for executing the safety-related functions fulfill these
requirements.

8.1.2.9 Residual risk

In today's technologically advanced world, the concept of safety is relative. In practice, the
ability to ensure safety to the extent that risk is permanently excluded – "zero-risk guarantee"
– is impossible. The residual risk is the risk that remains once all the relevant protective
measures have been implemented in accordance with the latest state of the art.
Machine/plant documentation must always refer to the residual risk (user information to EN
ISO 12100-2).

8.1.3 Machine safety in the USA

A key difference in the legal requirements regarding safety at work between the USA and
Europe is that, in the USA, no legislation exists regarding machinery safety that is applicable
in all of the states and that defines the responsibility of the manufacturers/supplier. A general
requirement exists stating that employers must ensure a safe workplace.

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8.1.3.1 Minimum requirements of the OSHA

The Occupational Safety and Health Act (OSHA) from 1970 regulates the requirement that
employers must offer a safe place of work. The core requirements of OSHA are specified in
Section 5 "Duties".
The requirements of the OSH Act are managed by the Occupational Safety and Health
Administration (also known as OSHA). OSHA employs regional inspectors who check
whether or not workplaces comply with the applicable regulations.
The OSHA regulations are described in OSHA 29 CFR 1910.xxx ("OSHA Regulations (29
CFR) PART 1910 Occupational Safety and Health"). (CFR: Code of Federal Regulations.)
http://www.osha.gov
The application of standards is regulated in 29 CFR 1910.5 "Applicability of standards". The
concept is similar to that used in Europe. Product-specific standards have priority over
general standards insofar as they cover the relevant aspects. Once the standards are
fulfilled, employers can assume that they have fulfilled the core requirements of the OSH Act
with respect to the aspects covered by the standards.
In conjunction with certain applications, OSHA requires that all electrical equipment and
devices that are used to protect workers be authorized by an OSHA-certified, Nationally
Recognized Testing Laboratory (NRTL) for the specific application.
In addition to the OSHA regulations, the current standards defined by organizations such as
NFPA and ANSI must be carefully observed and the extensive product liability legislation
that exists in the US taken into account. Due to the product liability legislation, it is in the
interests of manufacturing and operating companies that they carefully maintain the
applicable regulations and are "forced" to fulfill the requirement to use state-of-the-art
technology.
Third-party insurance companies generally demand that their customers fulfill the applicable
standards of the standards organizations. Self-insured companies are not initially subject to
this requirement but, in the event of an accident, they must provide verification that they
have applied generally-recognized safety principles.

8.1.3.2 NRTL listing

To protect employees, all electrical equipment used in the USA must be certified for the
planned application by a "Nationally Recognized Testing Laboratory" (NRTL) certified by the
OSHA. NRTLs are authorized to certify equipment and material by means of listing, labeling,
or similar. Domestic standards (e.g. NFPA 79) and international standards (e.g. IEC/EN
61508 for E/E/PES systems) are the basis for testing.

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8.1.3.3 NFPA 79
NFPA 79 (Electrical Standard for Industrial Machinery) applies to the electrical equipment of
industrial machines with rated voltages of less than 600 V (a group of machines that operate
with one another in a coordinated fashion is also considered to be a machine).
NFPA 79 contains basic requirements for programmable electronics and communications
buses that specify that these devices must be listed if they are used for executing safety-
relevant functions. The devices must be listed. When these requirements are fulfilled,
electronic controllers and communications buses can also be used for EMERGENCY STOP
functions in stop categories 0 and 1 (see NFPA 79 9.2.5.4.1.4).
Like EN 60204-1, NFPA 79 no longer specifies that the electrical energy must be
disconnected by electromechanical means for EMERGENCY STOP functions.
The core requirements regarding programmable electronics and communication buses are:
system requirements (see NFPA 79 9.4.3)
1. Control systems that contain software-based controllers must:
– In the event of a single fault
(a) cause the system to switch to a safe shutdown mode
(b) prevent the system from restarting until the fault has been rectified
(c) prevent an unexpected restart
– Offer the same level of protection as hard-wired controllers
– Be implemented in accordance with a recognized standard that defines the
requirements for such systems.
2. The following suitable standards IEC 61508, IEC 62061, ISO 13849-1/-2, and IEC 61800-
5-2 are specified in a note.

Underwriter Laboratories (UL) has defined a special Category for "Programmable Safety
Controllers" for implementing this requirement (code NRGF). This category covers control
devices that contain software and are designed for use in safety-related functions.
A precise description of the category and a list of devices that fulfill this requirement can be
found on the Internet at the following address:
http://www.ul.com --> certifications directory --> UL Category code/ Guide information -->
search for category "NRGF"

TUV Rheinland of North America, Inc. is also an NRTL for these applications.

8.1.3.4 ANSI B11

ANSI B11 standards are joint standards that were developed by various committees, such as
the Association for Manufacturing Technology (AMT), and the Robotic Industries Association
(RIA).
The hazards of a machine are evaluated by means of a risk analysis/assessment. Risk
analysis is an important requirement in accordance with NFPA79, ANSI/RIA 15.06, ANSI
B11.TR-3 and SEMI S10 (semiconductors). The documented findings of a risk analysis can
be used to select a suitable safety system based on the safety class of the application in
question.

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8.1 Standards and regulations

8.1.4 Machine safety in Japan

The situation in Japan is different from that in Europe and the US. Legislation such as that
prescribed in Europe does not exist. Similarly, product liability does not play such an
important role as it does in the USA.
Instead of legal requirements to apply standards have been defined, an administrative
recommendation to apply JIS (Japanese Industrial Standard) is in place: Japan bases its
approach on the European concept and uses basic standards as national standards (see
table).

Table 8- 1 Japanese standards

ISO/IEC number JIS number Comments

ISO12100-1 JIS B 9700-1 Earlier designation TR B 0008
ISO12100-2 JIS B 9700-2 Earlier designation TR B 0009
ISO14121- 1 / EN1050 JIS B 9702
ISO13849-1 JIS B 9705-1
ISO13849-2 JIS B 9705-1
IEC60204-1 JIS B 9960-1 Without annex F or route map of the
European foreword
IEC61508-0 to -7 JIS C 0508
IEC 62061 JIS number not yet assigned

8.1.5 Equipment regulations

In addition to the requirements of the guidelines and standards, company-specific
requirements must be taken into account. Large corporations in particular (e.g. automobile
manufacturers) make stringent demands regarding automation components, which are often
listed in their own equipment specifications.
Safety-related issues (e.g. operating modes, operator actions with access to hazardous
areas, EMERGENCY STOP concepts, etc.) should be clarified with customers early on so
that they can be integrated in the risk assessment/risk reduction process.

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8.1 Standards and regulations

8.1.6 Other safety-related issues

8.1.6.1 Information sheets issued by the Employer's Liability Insurance Association

Safety-related measures to be implemented cannot always be derived from directives,
standards, or regulations. In this case, supplementary information and explanations are
required.
Some regulatory bodies issue publications on an extremely wide range of subjects.
Information sheets covering the following areas are available, for example:
● Process monitoring in production environments
● Axes subject to gravitational force
● Roller pressing machines
● Lathes and turning centers - purchasing/selling
These information sheets issued by specialist committees can be obtained by all interested
parties (e.g. to provide support in factories, or when regulations or safety-related measures
for plants and machines are defined). They provide support in machinery construction,
production systems, and steel construction.

The information sheets can be downloaded from the following Internet address:
http://www.bgmetallsued.de/downloads
Select the category of specialist information sheet you require.

8.1.6.2 Additional references

● Safety Integrated: The Safety System for Industry (5th Edition and supplement), order no.
6ZB5 000-0AA01-0BA1
● Safety Integrated - Terms and Standards - Machine Safety Terminology (Edition
04/2007), order no. E86060-T1813-A101-A1

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8.2 General information about SINAMICS Safety Integrated

8.2 General information about SINAMICS Safety Integrated

8.2.1 Supported functions

The functions mentioned here comply with IEC 61508, performance level d (PL d) to ISO
13849-1 (formerly EN 954-1), and IEC 61800-5-2.
The following Safety Integrated (SI) functions are available:
● Safety Integrated Basic Functions
These functions are part of the standard scope of the drive.
– Safe Torque Off (STO)
STO is a safety function that prevents the drive from restarting unexpectedly, in
accordance with EN 60204-1:2006 Section 5.4.
– Safe Stop 1 (SS1, time controlled)
Safe Stop 1 is based on the "Safe Torque Off" function. This means that a Category 1
stop in accordance with EN 60204-1:2006 can be implemented.
– Safe Brake Control (SBC)
The SBC function permits the safe control of a holding brake.
A Safe Brake Relay is needed in addition for these functions.
● Safety Integrated Extended Functions (including the Basic Functions)

Note
When a drive object for which Safety Integrated Extended Functions are enabled is
switched to "Park" mode, the Safety Integrated software responds by selecting STO
without generating a separate message.

– Safe Stop 1 (SS1, time and acceleration controlled)

The SS1 function is based on the “Safe Torque Off” function. This means that a
Category 1 stop in accordance with EN 60204-1:2006 can be implemented.
– Safe Stop 2 (SS2)
The SS2 function brakes the motor safely with a subsequent transition to "Safe
Operating Stop" (SOS).
– Safe Operating Stop (SOS)
"Safe Operating Stop" (SOS) protects against unintentional movements. The drive is
in closed-loop control mode and is not disconnected from the power supply.
– Safely Limited Speed (SLS)
The "Safely Limited Speed" (SLS) protects against excessively high drive speeds.
– Safe Speed Monitor (SSM)
The SSM function reliably monitors the speed limit and issues a safe output signal, but
without a response function.

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8.2 General information about SINAMICS Safety Integrated

Prerequisites for the Extended Functions

● Special license for Extended Functions
Unlike the Basic Functions, a special license is required for Safety Integrated Extended
Functions. The associated license key is entered in parameter p9920 in ASCII code. The
license key can be activated via parameter p9921=1. For information on how to generate
the license key for the product "SINAMICS Safety Integrated Extended Functions", read
the section "Licensing". An insufficient license is indicated via the following alarm and
LED:
– A13000 --> License not sufficient
– LED READY --> Flashes greed/red at 0.5 Hz
● Activation via PROFIsafe or safe on-board terminals

NOTICE
Per single Control Unit, either control via PROFIsafe or the safe on-board terminals is
permitted. Mixed operation is not permitted.

● Safe actual value acquisition (see chapter "Safe actual value acquisition")
● An activated speed controller in the drive
● Overview of hardware components that support the Extended Functions:
– CU305 Control Unit
– Power Modules blocksize PM340
– Sensor Modules SMC20, SME20/25
– Motors with DRIVE-CLiQ interface (not with resolver encoder)
– Safe Brake Relay (SBM)

8.2.2 Parameter, Checksum, Version, Password

Properties of Safety Integrated parameters

The following applies to Safety Integrated parameters:
● They are kept separate for each monitoring channel.
● During startup, checksum calculations (Cyclic Redundancy Check, CRC) are performed
on the safety parameter data and checked. The display parameters are not contained in
the CRC.
● Data storage: The parameters will be saved in the non-volatile memory.

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● Factory settings for safety parameters

A reset of the safety parameters to the factory setting on a drive-specific basis using
p0970 or p3900 and p0010 = 30 is only possible when the safety functions are not
enabled (p9301 = p9501 = p9601 = p9801 = 0).
A complete reset of all parameters to the factory settings (p0976 = 1 and p0009 = 30 on
the Control Unit) is possible even when the safety functions are enabled (p9301 = p9501
= p9601 = p9801 ≠ 0).
● They are password-protected against accidental or unauthorized changes.

NOTICE
The following safety parameters are not protected by the safety password:
• p9370 SI Motion acceptance test mode (Power Module)
• p9570 SI Motion acceptance test mode (Control Unit)
• p9533 SI Motion SLS Setpoint speed limitation
• p9705 BI: SI Motion Test stop signal source

Checking the checksum

For each monitoring channel, the safety parameters include one parameter for the actual
checksum for the safety parameters that have undergone a checksum check.
During commissioning, the actual checksum must be transferred to the corresponding
parameter for the reference checksum. This can be done for all checksums of a drive object
at the same time with parameter p9701.
Basic Functions
● r9798 SI actual checksum SI parameters (Control Unit)
● p9799 SI reference checksum SI parameters (Control Unit)
● r9898 SI actual checksum SI parameters (Power Module)
● p9899 SI reference checksum SI parameters (Power Module)
Extended Functions
● r9398[0...1] SI Motion actual checksum SI parameters (Power Module)
● r9399[0...1] SI Motion reference checksum SI parameters (Power Module)
● r9728[0...1] SI Motion actual checksum SI parameters
● p9729[0...1] SI Motion reference checksum SI parameters
During each ramp-up procedure, the actual checksum is calculated via the safety
parameters and then compared with the reference checksum.
If the actual and reference checksums are different, fault F01650/F30650 or F01680/F30680
is output and an acceptance test requested.

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8.2 General information about SINAMICS Safety Integrated

Safety Integrated versions

The safety firmware on the Control Unit has a different version ID to that on the Sensor
Module.
For the Basic Functions:
● r9770 SI version, drive-autonomous safety functions (Control Unit)
For the Extended Functions:
● r9590 SI Motion Version safe movement monitoring (Control Unit)
● r9890 SI version (Sensor Module)

Note
For detailed requirements regarding Safety Integrated firmware, see "Safety Integrated
firmware versions".

Password
The safety password protects the safety parameters against unintentional or unauthorized
access.
In commissioning mode for Safety Integrated (p0010 = 95), you cannot change safety
parameters until you have entered the valid safety password in p9761 for the drive.
● When Safety Integrated is commissioned for the first time, the following applies:
– Safety passwords = 0
– Default setting for p9761 = 0
In other words:
The safety password does not need to be set during first commissioning.
● In the case of a series commissioning of Safety or in the case of spare part installation,
the following applies:
– The safety password is retained on the memory card and in the STARTER project.
– No safety password is required in the case of spare part installation.
● Change password for the drive
– p0010 = 95 Commissioning mode
– p9761 = Enter "old safety password".
– p9762 = Enter "new password".
– p9763 = Confirm "new password".
– The new and confirmed safety password is valid immediately.
If you need to change safety parameters but you do not know the safety password, proceed
as follows:
1. Resetting the drive unit to factory settings.
2. Recommission the drive unit and drive.
3. Recommission Safety Integrated.
Or contact your regional Siemens office and ask for the password to be deleted (complete
drive project must be made available).

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Overview of important parameters for "Password" (see SINAMICS S110 List Manual)
● p9761 SI password input
● p9762 SI password new
● p9763 SI password acknowledgment

8.3 System features

8.3.1 Certification
The safety functions of the SINAMICS S drive system meet the following requirements:
● Category 3 to EN 954-1/ISO 13849-1
● Performance Level (PL) d to EN ISO 13849-1
● Safety integrity level 2 (SIL 2) to IEC 61508
In addition, most of the safety functions of the SINAMICS S have been certified by
independent institutes. An up-to-date list of certified components is available on request from
your local Siemens office.

8.3.2 Safety instructions

Note
Additional safety information and residual risks not specified in this section are included in
the relevant sections of this Function Manual.

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DANGER
Safety Integrated can be used to minimize the level of risk associated with machines and
plants.
Machines and plants can only be operated safely in conjunction with Safety Integrated,
however, when the machine manufacturer
• is familiar with and observes every aspect of this technical user documentation,
including the documented general conditions, safety information, and residual risks.
• Carefully constructs and configures the machine/plant. A careful and thorough
acceptance test must then be performed by qualified personnel and the results
documented.
• Implements and validates all the measures required in accordance with the
machine/plant risk analysis by means of the programmed and configured Safety
Integrated functions or by other means.
It should be noted that Safety Integrated does not replace the machine/plant risk
assessment carried out by the machine manufacturer as required by the EG Machinery
Directive.
In addition to Safety Integrated, further risk reduction measures must be implemented.

WARNING
The Safety Integrated functions cannot be activated until the startup is completed. System
startup is a critical operating state with increased risk. No personnel may be present in the
immediate danger zone in this phase.
The drives of vertical axes must be in torque state.
A complete forced dormant error detection cycle is required after power on (see chapter
"Forced dormant error detection").

WARNING
EN 60204-1:2006
The EMERGENCY STOP function must be used to bring the machine to a standstill in
accordance with stop category 0 or 1 (STO or SS1).
The machine must not restart automatically after EMERGENCY STOP.
When the safety functions (Basic and Extended functions) are deactivated, an automatic
restart is permitted under certain circumstances depending on the risk analysis (except
when EMERGENCY STOP is reset). An automatic start is permitted when a protective door
is closed, for example.

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WARNING
After hardware and/or software components have been modified or replaced, all protective
equipment must be closed prior to system startup and drive activation. Personnel shall not
be present within the danger zone.
It may be necessary to carry out a partial or complete acceptance test (see chapter
"Acceptance test") after having made certain changes or replacements.
Before allowing anybody to re-enter the danger zone, you should test steady control
response by briefly moving the drives in forward and reverse direction (+/–).
To observe during power on:
The safety functions can only be activated once system has booted up.

WARNING
• Encoder faults within a single-encoder system are detected by means of various HW
and SW monitoring functions. It is not allowed to disable these monitoring functions and
they must be parameterized carefully. Depending on the fault type and responding
monitoring function, stop function category 0 or 1 to EN 60204-1:2006 (fault response
functions STOP A or STOP B to Safety Integrated) is activated.
• Stop function category 0 to EN 60204-1:2006 (STO or STOP A to Safety Integrated)
means that the drives are not decelerate but instead coast to a standstill (the time
required to coast to standstill depends on the kinetic energy). This must be included in
the logic of the protective door lock, for example, by means of logic operation of SSM (
n<nx).
• Safety Integrated is not capable of detecting parameterization errors made by the
machine manufacturer. The required safety level can only be reached by by means of
an elaborate acceptance test.
• Power Modules or the motor must be replaced with a device of the same type, as the
parameter settings will otherwise lead to an incorrect Safety Integrated response. The
corresponding drive must be re-commissioned after an encoder was replaced.

WARNING
If an internal or external fault occurs, none or only some of the parameterized safety
functions are available during the STOP-F response triggered by the fault. This must be
taken into account when a delay time between STOP F and STOP B is parameterized. This
applies in particular to vertical axes.

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8.3.3 Probability of failure of the safety functions (PFH value)

Probability of failure
The probabilities of safety function failure must be specified in the form of a PHF value
(Probability of Failure per Hour) to IEC 61508, IEC 62061 and ISO 13849-1. The PFH value
of a safety function depends on the safety concept of the drive unit and its hardware
configuration, as well as on the PFH values of other components used for this safety
function.
Corresponding PFH values are provided for the SINAMICS S110 drive unit, depending on
the hardware configuration (control type, ...). The various integrated safety functions are not
differentiated.
The PHF values can be requested from your local sales office.

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8.3.4 Response times

Control signals by way of terminals on the Control Unit and Power Module.

Table 8- 2 Response times with control signals by way of terminals on the Control Unit and Power Module.

Function Standard Worst case

STO 2 x r9780 + 4 ms 4 x r9780 + 4 ms
SBC 4 x r9780 + 4 ms 8 x r9780 + 4 ms
SS1 (time controlled)
Call (until braking is initiated) 2 x r9780 + 4 ms + 2 ms 4 x r9780 + 4 ms + 2 ms

Control by way of PROFIsafe

Table 8- 3 Response times with control by way of PROFIsafe

Function Standard Worst case

STO 4 x p9500 + r9780 4 x p9500 + 3 x r9780
SBC 4 x p9500 + 2 x r9780 4 x p9500 + 6 x r9780
SS1 (time and acceleration controlled), SS2
Call 4 x p9500 + 2 ms 5 x p9500 + 2 ms
Speed limit violated 2 x p9500 + 2 ms 2.5 x p9500 + r9780 + p9511
SOS position tolerance violated 1.5 x p9500 + 2 ms 3 x p9500 + p9511+ 2 ms
SLS speed limit violated 1) 2 x p9500 + 2 ms 3.5 x p9500 + p9511+ 2 ms
SSM 4 x p9500 4.5 x p9500 + p9511

Activation via safe on-board terminals

Table 8- 4 Reaction times for activation via safe on-board terminals

Function Standard Worst case

STO 2.5 x p9500 + r9780 + 1.5 ms 3 x p9500 + 3 x r9780 + 2 ms
SBC 2.5 x p9500 + 2 x r9780 + 1 ms 3 x p9500 + 6 x r9780 + 2 ms
SS1 (time and acceleration controlled), SS2
Call 2.5 x p9500 + 3 ms 4 x p9500 + 4 ms
Speed limit violated 2 x p9500 + 2 ms 2.5 x p9500 + r9780 + p9511
SOS position tolerance violated 1.5 x p9500 + 2 ms 3 x p9500 + p9511+ 2 ms
SLS speed limit violated 1) 2 x p9500 + 2 ms 3.5 x p9500 + p9511+ 2 ms
SSM 3 x p9500 3.5 x p9500 + p9511
Information on the tables:
1) SLS: Specification of the response time required for initiation of a braking reaction in the

drive, or for the output of the "SOS selected" message to the motion control system.

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8.3.5 Residual risk

The fault analysis enables the machine manufacturer to determine the residual risk at his
machine with regard to the drive unit. The following residual risks are known:

WARNING
Due to the intrinsic potential of hardware faults, electrical systems are subject to additional
residual risk, which can be expressed by means of the PFH value.

WARNING
• Faults in the absolute track (C-D track), cyclic interchange of the drive phases (V-W-U
instead of U-V-W) and reversal of the control direction may cause acceleration of the
drive. Due to the fault, however, category 1 and 2 stop functions (to EN 60204-1:2006
(fault response functions stop B to D in accordance with Safety Integrated)) are not
activated.
Stop function category 0 (to EN 60204-1:2006 (fault response function stop A to Safety
Integrated)) is not triggered until after the transition or delay time set in the parameter
has elapsed. These faults are detected when SBR is selected (fault reaction functions
STOP B/C) and stop function category 0 to EN 60204-1:2006 (fault reaction function
STOP A in accordance with Safety Integrated) is triggered as early as possible
regardless of this delay. Electrical faults (defective components or similar) may also lead
to the response stated above.
• Simultaneous failure of two power transistors (one in the upper and the other offset in
the lower inverter bridge) in the inverter may cause brief movement of the drive,
depending on the number of poles of the motor.
Maximum value of this movement:
Synchronous rotary motors: Max. movement = 180° / no. of pole pairs

WARNING
• Violation of limits may briefly lead to a speed higher than the speed setpoint, or the axis
may pass the defined position to a certain extent, depending on the dynamic response
of the drive and on parameter settings.
• Mechanical forces greater than the maximum drive torque may force a drive currently
operated in position control mode out of Safe Operating Stop state (SOS) and trigger
stop function category 1 to EN 60204-1:2006 (fault reaction function STOP B).

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WARNING
Within a single-encoder system:
a) a single electrical fault in the encoder
(or loose encoder shaft coupling), or a loose encoder housing
will cause a static state of the encoder signals (that is, they no longer follow a movement
while still returning a correct level), and prevent fault detection while the drive is in stop
state (for example, drive in SOS state).
Generally, the drive is held by the active closed-loop control. Under the aspect of closed-
loop control it is conceivable that particularly vertical (suspended) drives move downward
and that this movement is not detected.
The risk of an electrical fault in the encoder as described under a) is only given for few
encoder types with specific function principle (for example, encoders with microprocessor
controlled signal generation such as the Heidenheim EQI, Hübner HEAG 159/160, or AMO
measuring systems with sin/cos signals).
The risk analysis of the machine manufacturer must include all of the faults described
above. Additional safety measures have to be taken at suspended/vertical drives or for
handling dragging loads in order to exclude faults as described in a). For example:
• Use of an encoder with analog signal generation
In order to exclude the fault described in b), for example:
• An FMEA regarding encoder shaft breakage (or slip of the encoder shaft coupling), and
a solution to prevent loose encoder housings, integration of a fault exclusion process to
CDV IEC 61800-5-2

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8.4 Basic Functions

8.4 Basic Functions

8.4.1 Safe Torque Off (STO)

General description
In conjunction with a machine function or in the event of a fault, the "Safe Torque Off" (STO)
function is used to safely disconnect the torque-generating motor power supply.
When the function is selected, the drive unit is in a "safe status". The switching on inhibited
function prevents the drive unit from being restarted.
The two-channel pulse suppression integrated in the Power Modules is the basis for this
function.

Functional features of "Safe Torque Off"

● This function is integrated in the drive; this means that a higher-level controller is not
required.
● The function is drive specific, that is, it must be commissioned individually on a drive-by-
drive basis.
● The function must be enabled via parameter.
● When the "Safe Torque Off" function is selected:
– The motor cannot be started accidentally.
– The pulse suppression safely disconnects the torque-generating motor power supply.
– The power unit and motor are not electrically isolated.

WARNING
Appropriate measures must be taken to ensure that the motor does not move once
the motor power supply has been disconnected ("coast down") (e.g. enable the "Safe
Brake Control" function with a vertical axis).

CAUTION
If two power transistors in the power unit (one in the upper and one offset in the
lower inverter bridge) break down at the same time, this can cause a limited
momentary movement.
The maximum movement for synchronous rotary motors can be = 180 ° / pole pair
number

● The status of the "Safe Torque Off" function is displayed using parameters.

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Enabling the "Safe Torque Off" (STO) function

The "Safe Torque Off" function is enabled via the following parameters:

NOTICE
It is not possible to activate the control via safety terminals and PROFIsafe at the same
time.

● STO via on-board terminals (F-DI 0, Basic Functions):

– p9601.0 = 1, p9801.0 = 1
– p9601.2 = 0, p9801.2 = 0
– p9601.3 = 0, p9801.3 = 0
● STO via on-board terminals (with "Extended Functions" option):
– p9601.0 = 0, p9801.0 = 0
– p9601.2 = 1, p9801.2 = 1
– p9601.3 = 0, p9801.3 = 0
● STO via PROFIsafe (with "Extended Functions" option):
– p9601.0 = 0, p9801.0 = 0
– p9601.2 = 1, p9801.2 = 1
– p9601.3 = 1, p9801.3 = 1
● STO via PROFIsafe or on-board terminals (F-DI 0) (with "Extended Functions" option):
– p9601.0 = 1, p9801.0 = 1
– p9601.2 = 1, p9801.2 = 1
– p9601.3 = 1, p9801.3 = 1

Selecting/deselecting "Safe Torque Off"

The following occurs when "Safe Torque Off" is selected:
● Each monitoring channel triggers safe pulse suppression via its switch-off signal path.
● A motor holding brake is applied (if connected and configured).
The following occurs when "Safe Torque Off" is de-selected:
● Each monitoring channel cancels safe pulse suppression via its switch-off signal path.
● The safety prompt "Apply motor holding brake" is canceled.
● Any pending STOP F or STOP A commands are canceled (see r9772/r9872).

Note
If "Safe Torque Off" is de-selected and selected again through one channel within the
time in p9650/p9850, the pulses are canceled but a signal is not output.
If you want a message to be displayed in this case, however, you have to reconfigure
N01620/N30620 via p2118 and p2119 as an alarm or fault.

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Restart after the "Safe Torque Off" function has been selected
1. Deselect the function in each monitoring channel via the input terminals.
2. Issue drive enable signals.
3. Cancel the "switching on inhibited" and switch the drive back on.
– 1/0 edge at input signal "ON/OFF1" (cancel "switching on inhibited")
– 0/1 edge at input signal "ON/OFF1" (switch on drive)
4. Run the drives again.

Status for "Safe Torque Off"

The status of the "Safe Torque Off" (STO) function is displayed using the following
parameters:

Parameter overview (see S110 List Manual)

● r9772 CO/BO: SI status (Control Unit)
● r9872 CO/BO: SI status (Power Module)
● r9773 CO/BO: SI status (Control Unit + Power Module)
● r9774 CO/BO: SI status (STO group)

Response time with the "Safe Torque Off" function

For the response times when the function is selected/deselected via input terminals, see the
table in "Response times".

Example
Assumption:
Safety monitoring clock cycle time CU (r9780) = 2 ms and
inputs/outputs sampling time = 4 ms
tR_typ = 2 x r9780 (2 ms) + 4 ms = 8 ms
tR_max = 4 x r9780 (2 ms) + 4 ms = 12 ms

Parameter overview (see S110 List Manual)

● r9780 SI monitoring clock cycle (Control Unit)
● r9880 SI monitoring clock cycle (Power Module)

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8.4.2 Safe Stop 1 (SS1, time controlled)

General description
A Category 1 stop in accordance with EN 60204-1:2006 can be implemented with function
"Safe Stop 1". The drive decelerates with the OFF3 ramp (p1135) once "Safe Stop 1" is
selected and switches to "Safe Torque Off" once the delay time set in p9652/p9852 has
elapsed.

CAUTION
Once the SS1 (time-controlled) function has been selected by parameterizing a delay in
p9652/p9852, STO can no longer be selected directly via terminals.

Functional features of "Safe Stop 1"

SS1 is selected by setting p9652 and p9852 (delay time) not equal to "0"
● The function can be selected only in conjunction with "Safe Torque Off".
● When SS1 is selected, the drive is braked along the OFF3 ramp (p1135) and STO/SBC is
automatically initiated after the delay time has expired (p9652/p9852).
As soon as the function is selected, the delay time will start to run down - even if the
function is deselected during this time. In this case, after the delay time has expired, the
STO/SBC function is selected and then again de-selected immediately.
● The selection is realized through two channels - however braking along the OFF3 ramp,
only through one channel.

Release of the SS1 function

The function is enabled by entering the delay time in p9652 and p9852.

Prerequisite
The "Safe Torque Off" function must be enabled.
In order that the drive can brake down to a standstill even when selected through one
channel, the time in p9652/p9852 must be shorter than the sum of the parameters for the
data cross-check (p9650/p9850 and p9658/p9858).
The time in p9652/p9852 must be dimensioned so that after selection, the drive brakes to a
standstill.

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8.4 Basic Functions

Status for "Safe Stop 1"

The status of the "Safe Stop 1" function is displayed using the following parameters:
● r9772 CO/BO: SI status (Control Unit)
● r9773 CO/BO: SI status (Control Unit + Power Module)
● r9774 CO/BO: SI status (STO group)
● r9872 CO/BO: SI status (Power Module)

Overview of important parameters (see SINAMICS S110 List Manual)

● see "Safe Torque Off" function
● p1135[0...n] OFF3 ramp-down time
● p9652 SI Safe Stop 1 delay time (Control Unit)
● p9852 SI Safe Stop 1 delay time (Power Module)

8.4.3 Safe Brake Control (SBC)

Description
Safe brake control is used to activate holding brakes that function according to the standby
current principle (e.g. motor holding brake).
The command for releasing or applying the brake is transmitted to the Safe Brake Relay via
the Power Module. The Safe Brake Relay then carries out the action and activates the
outputs for the brake accordingly.
Brake activation via the brake connection on the Safe Brake Relay is carried out using a
safe, two-channel method.

Note
To ensure that this function can be used for Blocksize Power Modules, a Safe Brake Relay
must be used (for more information, see the Equipment Manual).
When the Power Module is configured automatically, the Safe Brake Relay is detected and
the motor holding brake type is defaulted (p1278 = 0).

WARNING
"Safe Brake Control" does not detect faults in the brake itself, such as brake winding short-
circuit, worn brakes, etc.
If a cable breaks, this is only recognized by the "Safe Brake Control" function when the
status changes, i.e. when the brake is applied/released.

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Functional features of "Safe Brake Control" (SBC)

● When "Safe Torque Off" is selected or when safety monitors are triggered, "SBC" is
performed with safe pulse suppression.
● Unlike conventional brake control, SBC is executed via p1215 through two channels.
● SBC is executed regardless of the brake control or mode set in p1215. SBC is not
recommended, however, when 1215 = 0 or 3.
● The function must be enabled via parameter.
● Each time "Safe Torque Off" is selected, the holding brake is applied immediately with
forced dormant error detection.

Enabling the "Safe Brake Control (SBC)" function

The "Safe Brake Control" function is enabled via the following parameters:
● p9602 SI enable safe brake control (Control Unit)
● p9802 SI enable safe brake control (Power Module)
The "Safe Brake Control" function is not selected until at least one safety monitoring function
has been enabled (i.e. p9601 = p9801 ≠ 0).

Two-channel brake control

The function "Safe Brake Control" is carried out using a two-channel method, in which both
the plus-potential (24 V) leading and the ground-potential leading brake connection are
connected to the Safe Brake Relay.
The brake diagnosis can only reliably detect a malfunction in either of the switches in the
Safe Brake Relay when the status changes (when the brake is released or applied).
If the Safe Brake Relay or its controller detects a fault, the brake current is switched off and a
safe status is reached.

Response time with the "Safe Brake Control" function

For the response times when the function is selected/deselected via input terminals, see the
table in "Response times".

Example
Assumption:
Safety monitoring clock cycle time CU (r9780) = 2 ms and
inputs/outputs sampling time = 4 ms
tR_typ = 4 x r9780 (2 ms) + 4 ms = 12 ms
tR_max = 8 x r9780 (2 ms) + 4 ms = 20 ms

Parameter overview (see SINAMICS S110 List Manual)

● r9780 SI monitoring clock cycle (Control Unit)
● r9880 SI monitoring clock cycle (Power Module)

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Safety Integrated Functions
8.4 Basic Functions

8.4.4 Safety faults

The fault messages for Safety Basic Functions are stored in the standard message buffer
and can be read from there. In contrast, the fault messages for Safety Integrated Extended
Functions are stored in a separate safety message buffer (see section "Message buffer").
When faults associated with Safety Integrated Basic Functions occur, the following stop
responses can be initiated:

Table 8- 5 Stop responses to Safety Integrated Basic Functions

Stop response Triggered ... Action Effect

STOP A cannot be For all non- Trigger safe pulse The motor coasts to a
acknowledged acknowledgeable suppression via the standstill or is braked by the
safety faults with switch-off signal path for holding brake.
pulse suppression. the relevant monitoring
STOP A For all channel. During operation
acknowledgeable with SBC:
safety faults with apply motor holding
pulse suppression. brake.
As a follow-up
reaction of STOP F.
STOP A is identical to stop Category 0 to EN 60204-1:2006.
With STOP A, the motor is switched directly to zero torque via the "Safe Torque
Off (STO)" function.
A motor at standstill cannot be started again accidentally.
A moving motor coasts to standstill. This can be prevented by using external
braking mechanisms (e.g. armature short-circuiting, holding or operational
brake).
When STOP A is active, "Safe Torque Off" (STO) is effective.
STOP F If an error occurs in the Transition to STOP A. Follow-up reaction STOP A
data cross-check. with adjustable
delay (default setting without
delay) if one of the safety
functions is selected
STOP F is permanently assigned to the data cross-check (DCC). In this way,
errors are detected in the monitoring channels.
After STOP F, STOP A is triggered.
When STOP A is active, "Safe Torque Off" (STO) is effective.

WARNING
With a vertical axis or pulling load, there is a risk of uncontrolled axis movements when
STOP A/F is triggered. This can be prevented by using "Safe Brake Control (SBC)" and a
holding brake (not a safety brake!) with sufficient holding force.

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8.4 Basic Functions

Acknowledging the safety faults

Faults associated with Safety Integrated Basic Functions must be acknowledged as follows:
1. Remove the cause of the fault.
2. Deselect "Safe Torque Off" (STO).
3. Acknowledge the fault.
If safety commissioning mode is exited when the safety functions are switched off (p0010 ≠
95 when p9601 = p9801 = 0), all the safety faults can be acknowledged.
Once safety commissioning mode has been selected again (p0010 = 95), all the faults that
were previously present reappear.

NOTICE
Safety faults can also be acknowledged (as with all other faults) by switching the drive unit
off and then on again (POWER ON).
If this action has not eliminated the fault cause, the fault is displayed again immediately
after power up.

Acknowledgment via PROFIsafe

The higher-level controller sets the signal "Internal Event ACK" via the PROFIsafe telegram
(STW bit 7). A falling edge in this signal resets the status "Internal Event" and so
acknowledges the fault.
Acknowledgment via F-DI
If the signal "Internal Event ACK" is connected with an F-DI, a falling edge in this signal
resets the status "Internal Event" and so acknowledges the fault. For safety reasons, the
external signal on the F-DI with the "Internal Event ACK" function must not be set
continuously to the "1" level; for acknowledgment, it must first be set from the idle state "0" to
"1" and then back to "0" again.

Description of faults and alarms

Note
The faults and alarms for SINAMICS Safety Integrated are described in the following
documentation:
References: SINAMICS S110 List Manual

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Safety Integrated Functions
8.4 Basic Functions

8.4.5 Forced checking procedure

Forced dormant error detection or test for the switch-off signal paths
The forced dormant error detection function at the switch-off signal paths is used to detect
software/hardware faults at both monitoring channels in time and is automated by means of
activation/deactivation of the "Safe Torque Off" function.
To fulfill the requirements of EN 954-1 / ISO 13849-1 regarding timely error detection, the
two switch-off signal paths must be tested at least once within a defined time to ensure that
they are functioning properly. This functionality must be implemented by means of forced
dormant error detection function, triggered either in manual mode or by the automated
process.
A timer ensures that forced dormant error detection is carried out as quickly as possible.
● p9659 SI timer for the forced dormant error detection.
Forced dormant error detection must be carried out at least once during the time set in this
parameter.
Once this time has elapsed, an alarm is output and remains present until forced dormant
error detection is carried out.
The timer returns to the set value each time the STO function is deactivated.
When the appropriate safety devices are implemented (e.g. protective doors), it can be
assumed that running machinery will not pose any risk to personnel. For this reason, only an
alarm is output to inform the user that a forced dormant error detection run is due and to
request that this be carried out at the next available opportunity. This alarm does not affect
machine operation.
The user must set the time interval for carrying out forced dormant error detection to
between 0.00 and 9000.00 hours depending on the application (factory setting: 8.00 hours).
Examples of when to carry out forced dormant error detection:
● When the drives are at a standstill after the system has been switched on.
● When the protective door is opened.
● At defined intervals (e.g. every 8 hours).
● In automatic mode (time and event dependent)

NOTICE
The timer of the Basic Functions will be reset if the associated forced dormant error
detection is executed and the Extended Functions are used simultaneously. The
corresponding alarm of the Basic Functions is not triggered.
Discrepancy is not checked at the terminals used to select the Basic Functions as long
as STO is set by the Extended Functions. That is, the forced checking procedure of the
Basic Functions always has to be executed without simultaneous selection of STO or
SS1 by the Extended Functions. It is otherwise not possible to verify the correct control
through the terminals.

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 Safety Integrated Functions
8.5 Extended Functions

8.5 Extended Functions

8.5.1 Safe Stop 1 (SS1, time and acceleration controlled)

General description
The "Safe Stop 1" function can be implemented to stop the drive in accordance with IEC
60204-1, stop category 1. The drive brakes with the OFF3 ramp (p1135) once "Safe Stop 1"
is selected and switches to "Safe Torque Off" (STO) once the delay time has elapsed
(p9356/p9556) or when the shutdown speed is reached (p9360/p9560).

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Figure 8-3 Sequence with SS1 selection

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8.5 Extended Functions

Functional features of "Safe Stop 1"

● If SS1 is selected, the drive is brought to a stop along the OFF3 ramp (p1135) and
STO/SBC is automatically triggered on expiration of the delay time (p9356/p9556), or
after having reached the shutdown speed (p9360/p9560).
As soon as the function is selected, the delay time will start to run down - even if the
function is deselected during this time. In this case, after the delay time has expired, the
STO/SBC function is selected and then again de-selected immediately.
● The selection is realized through two channels - however braking along the OFF3 ramp,
only through one channel.
● The "Safe Acceleration Monitor" (SBR) function is selected during braking (see "Safe
Acceleration Monitor").

Note
If SS1 is selected, this can cause the device that governs the speed setpoint (PLC,
motion controller, EPOS) to interrupt the ramp function by triggering OFF2.
Cause: intrinsic fault response, which is triggered when OFF3 is activated unexpectedly.
Parameterization or wiring must be carried out in such a way that the device that governs
the speed setpoint can detect that SS1 has been triggered so that it can suppress the
OFF2 fault response.

Commissioning
The function is selected by entering the delay time in p9356 and p9556. The delay time until
the pulse is suppressed can be shortened by defining a shutdown speed in p9360 and
p9560.
To enable the drive to decelerate to standstill, the time set in p9356/p9556 must be sufficient
to allow the drive to decelerate to below the shutdown speed in p9360/p9560 with the OFF3
ramp (p1135).
The shutdown speed defined in p9360/p9560 must be set in such a way that personal safety
or the safety of the machine is not compromised as of this speed and as a result of
subsequent coasting by means of the pulse inhibit signal.

Responses
Speed limit violated (SBR):
● STOP A
● Safety message C01706/C30706
System errors:
1. STOP F with subsequent STOP A
2. Safety message C01711/C30711

Prerequisite
The time set in p9356/9556 must be dimensioned so that after selection, the drive brakes
down to a standstill.

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8.5 Extended Functions

Status for "Safe Stop 1"

The status of the "Safe Stop 1" function is displayed using the following parameters:
● r9722.1 CO/BO: SI motion status signals, SS1 active
● r9722.0 CO/BO: SI motion status signals, STO active (power removed)

Overview of important parameters (see SINAMICS S110 List Manual)

● p1135[0...n] OFF3 ramp-down time
● p9301 SI motion enable safety functions (Power Module)
● p9501 SI motion enable safety functions (Control Unit)
● p9348 SI motion SBR actual speed tolerance (Power Module)
● p9548 SI motion SBR actual speed tolerance (Control Unit)
● p9356 SI motion pulse suppression delay time (Power Module)
● p9556 SI motion pulse suppression delay time (Control Unit)
● p9360 SI motion pulse suppression shutdown speed (Power Module)
● p9560 SI motion pulse suppression shutdown speed (Control Unit)
● r9722 CO/BO: SI motion, status signals

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Safety Integrated Functions
8.5 Extended Functions

8.5.2 Safe Stop 2 (SS2)

Description
The "Safe Stop 2" (SS2) function is used to brake the motor safely on the OFF3 deceleration
ramp (p1135) with subsequent transition to the SOS state (see also "Safe Operating Stop")
after the delay time expires (p9352/p9552). The delay time set must allow for the drive to
brake down to a standstill within this time. The standstill tolerance (p9330/p9530) may not be
violated after this time.
After the braking operation is completed, the drives remain in speed control mode (speed
setpoint n = 0). The drive is not disconnected from hazardous voltage. The default setpoint
(e.g from the setpoint channel, or from a higher-level control) remains inhibited as long as
SS2 is selected. The "Safe Acceleration Monitor" (SBR) function is selected during braking.

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Figure 8-4 Sequence with SS2 selection

Note
If SS2 is selected, this can cause the device that governs the speed setpoint (PLC, motion
controller, EPOS) to interrupt the ramp function by triggering OFF2.
Cause: intrinsic fault response, which is triggered when OFF3 is activated unexpectedly.
Parameterization or wiring must be carried out in such a way that the device that governs the
speed setpoint can detect that SS2 has been triggered so that it can suppress the OFF2 fault
response.

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8.5 Extended Functions

Responses
Speed limit violated (SBR):
● STOP A
● Safety message C01706/C30706
Standstill tolerance violated in p9330/p9530 (SOS):
● STOP B with subsequent STOP A
● Safety message C01707/C30707
System errors:
● STOP F with subsequent STOP A
● Safety message C01711/C30711

Overview of important parameters (see SINAMICS S110 List Manual)

● p1135[0...n] OFF3 ramp-down time
● p9301 SI motion enable safety functions (Power Module)
● p9501 SI motion enable safety functions (Control Unit)
● p9330 SI motion standstill tolerance (Power Module)
● p9530 SI motion standstill tolerance (Control Unit)
● p9348 SI motion SBR actual speed tolerance (Power Module)
● p9548 SI motion SBR actual speed tolerance (Control Unit)
● p9352 SI motion transition time STOP C to SOS (Power Module)
● p9552 SI motion transition time STOP C to SOS (Control Unit)
● r9722.0...15 CO/BO: SI motion integrated drive status signals

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Safety Integrated Functions
8.5 Extended Functions

8.5.3 Safe Operating Stop (SOS)

Description
This function serves for failsafe monitoring of the standstill position of a drive.
Personnel can enter the protected machine areas without having to shut down the machine
as long as SOS is active.
Drive standstill is monitored by means of an SOS tolerance window (p9330 and p9530). The
SOS function is activated after SOS is selected and when the delay time set in p9351/p9551
expires. The drive must be braked to standstill within this delay time (e.g. by the controller).
Any delay time is cleared after SOS is canceled and the drive can start up immediately.

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Figure 8-5 Standstill tolerance

Responses
Standstill tolerance violated in p9330/p9530:
● STOP B with subsequent STOP A
● Safety message C01707/C30707
System errors:
● STOP F
● Safety message C01711/C30711

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8.5 Extended Functions

Features
● The drive remains in the closed-loop control mode.
● A programmable standstill tolerance window is available.
● STOP B is the stop response after SOS has responded

Note
The range of the tolerance window should be oriented on the default standstill monitoring
limit and be slightly higher than this limit.
Activation of the default monitoring functions may otherwise not be possible.
Note that safe position monitoring within a single-encoder system only works at a rough
resolution (4 x pulses per revolution) (see "Safe actual value acquisition".

Overview of important parameters (see SINAMICS S110 List Manual)

● p9301 SI motion enable safety functions (Power Module)
● p9501 SI motion enable safety functions (Control Unit)
● p9330 SI motion standstill tolerance (Power Module)
● p9530 SI motion standstill tolerance (Control Unit)
● p9351 SI motion SLS changeover delay time (Power Module)
● p9551 SI motion SLS(SG) changeover delay time (Control Unit)
● r9722.0...15 CO/BO: SI Motion integrated drive status signals

8.5.4 Safely Limited Speed (SLS)

Description
The "Safely Limited Speed" (SLS) function is used to protect a drive against unintentional
high speed. This is achieved by monitoring the current drive speed up to a switched speed
limit.
SLS is used to prevent any unintentional movements outside the valid high limit. Limits must
be specified based on results of the risk analysis. It is possible parameterize up to 4 different
speed values.
The speed limit is activated once SLS has been selected and after the delay time
(p9351/p9551) has elapsed. If a lower speed limit is selected, the drive must be decelerated
to a speed below the new limit (e.g. by the controller) within this delay time. A delay time is
not set if a higher speed limit is selected.

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8.5 Extended Functions

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A speed setpoint limit can be set as percentage in p9533. This value is used to calculate a
speed setpoint limit r9733, depending on the selected speed limit p9531[x].
By contrast to SI limit parameters, this parameter specifies limits on the motor side instead of
limits on the load side.
● r9733[0] = p9531[x] * p9533; x = selected SLS stage
● r9733[1] = - p9531[x] * p9533; x = selected SLS stage

Responses
Speed limit exceeded:
● Configured subsequent stop STOP A / B / C / D by means of p9363/p9563
● Safety message C01714/C30714
System errors:
● STOP F
● Safety messages C01711/C30711

Features
● 4 programmable limits p9331[0...3] and p9531[0...3]
● Programmable stop response by means of p9363/p9563

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8.5 Extended Functions

Changeover of speed limits

The changeover is controlled by means of binary signals from two F-DIs. The speed
selection status can be checked using the r9720.9/r9720.10 parameters. Parameters
r9722.9 and r9722.10 indicate the actual speed limit, bit r9722.4 must carry a "1" signal.

Table 8- 6 Changeover of speed limits:

F-DI for bit 0 (r9720.9) F-DI for bit 1 (r9720.10) Speed limit
0 0 p9331[0]/p9531[0]
0 1 p9331[1]/p9531[1]
1 0 p9331[2]/p9531[2]
1 1 p9331[3]/p9531[3]
The changeover from a lower to a higher speed limit takes effect without any delay.
The changeover from a higher to a lower limit triggers a delay time which can be set at the
corresponding parameter (p9351 and p9551).
To ensure that the drive reaches the reduced speed below the new speed limit value once
the delay time has elapsed, it must be decelerated accordingly within the delay time by
means of the higher-level motion control/setpoint channel. However, if the actual speed is
higher than the new limit value and the time has expired, an appropriate alarm with the
configured stop response will be generated.

Overview of important parameters (see SINAMICS S110 List Manual)

● p9301.0 SI motion enable safety functions (Power Module)
● p9501.0 SI motion enable safety functions (Control Unit)
● p9331[0...3] SI motion SLS limits (Power Module)
● p9531[0...3] SI motion SLS (SG) limits (Control Unit)
● p9533 SI motion speed setpoint limit (Control Unit)
● p9351 SI motion SLS changeover delay time (Power Module)
● p9551 SI motion SLS changeover delay time (Control Unit)
● p9363[0...3] SI motion SLS stop response (Power Module)
● p9563[0...3] SI motion SLS (SG)-specific stop response (Control Unit)
● r9720 CO/BO: SI motion integrated drive control signals
● r9722.0...15 CO/BO: SI motion integrated drive status signals
● r9733[0...1] CO: SI motion effective speed setpoint limiting

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8.5 Extended Functions

8.5.5 Safe Speed Monitor (SSM)

Description
The SSM function is used for reliably detecting when a speed limit value has been undershot
(p9346/p9546) (e.g. for standstill detection) in both directions. A failsafe output signal is
available for further processing.
The function is activated automatically as soon as the Extended Functions are enabled with
p9301.0 = p9501.0 = 1.

NOTICE
The speed limit of the SSM function (p9346/p9546) is also used as shutdown limit for the
SBR function (safe acceleration monitoring). The SBR is deactivated if the speed is below
this limit.
The effect of the SSM safety function is therefore heavily limited if a relatively high
SSM/SBR speed limit is set and the SS1 and SS2 stop functions are activated.

WARNING
STOP F (indicated by alarm C01711/C30711) only results in a follow-up response (STOP B
/ STOP A) if at least one of the safety-oriented functions (SOS or SLS) is active or has
been selected. If only the SSM function is active, a STOP F crosswise comparison error
does not result in a follow-up response (STOP B/STOP A).
If SSM is used as a safety function, therefore, at least one of the SOS or SLS functions
must be active/selected (e.g. by selecting a high SLS level).

The parameter p9346/p9546 "SI motion SSM (SGA n < nx) velocity limit n_x (CU)" is used to
set the velocity limit (in mm/min). The abbreviation "SGA n < nx" indicates the safety function
required for determining an output signal when a parameterizable velocity limit has been
undershot.
If the velocity limit for the "Safe Speed Monitor" feedback signal (n < n_x) for detecting
standstill is undershot, the "SSM feedback signal active" signal (SGA n < n_x) is set. When
the set threshold value has been undershot, the "Safe Acceleration Monitor" (SBR) function
is also deactivated.
The hysteresis for the SSM output signal is set in parameter p9347/p9547 "SI motion velocity
hysteresis (crosswise)". If the maximum permissible velocity tolerance is overshot (i.e. one
channel displays a velocity less than p9546 - p9547, while the other channel displays a
velocity greater than p9546), a Stop F is issued.
In addition, the output signal for SSM can be smoothed by means of a PT1 filter by setting a
filter time p9345/9545 "SI motion filter time nx".
During safe motion monitoring, both functions (hysteresis and filtering) can be activated or
deactivated jointly by means of an enabling bit (p9301.16 (Power Modules) and p9501.16
(CU)). In the default setting, the functions are deactivated (p9301.16/p9501.16 = 0).
The following diagram shows the characteristic of the safe output signal SSM when the
hysteresis is active:

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8.5 Extended Functions

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Figure 8-7 Safe output signal for SSM with hysteresis

Due to the hysteresis, the safe output signal for SSM can also lie above the parameterized
velocity limit at 1. This is a characteristic of the hysteresis.

Note
When the hysteresis and filter is activated with output signal SSM, the axes behave in a
time-delayed manner. This is a characteristic of the filter.

Features
● Safe monitoring of the speed limit specified in p9346 and p9546
● Parameterizable hysteresis via p9347 and p9547
● Variable PT1 filter via p9345 and p9545
● Failsafe output signal
● No stop response

Overview of important parameters (see SINAMICS S110 List Manual)

● p9345 SI motion filter time nx (Power Module)
● p9545 SI motion filter time nx (Control Unit)
● p9346 SI motion velocity limit n_x (Power Module)
● p9546 SI motion velocity limit n_x (Control Unit)
● p9347 SI motion velocity hysteresis (crosswise) (Power Module)
● p9547 SI motion velocity hysteresis (crosswise) (Control Unit)
● r9722.0...15 CO/BO: SI motion PROFIsafe status signals

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8.5 Extended Functions

8.5.6 Safe Acceleration Monitor (SBR)

Description
The "Safe Acceleration Monitor" (SBR) function is used for safe monitoring of acceleration.
This safety function is not autarkic and is part of the SS1 (time and acceleration controlled)
and SS2 (or STOP B and STOP C) safety functions. A STOP A is generated if any drive
acceleration within the ramp-down phase exceeds the tolerance defined in p9348/p9548.
The monitoring function is activated after SS1 (or STOP B) and SS2 (or STOP C) are set
and is deactivated after the speed drops below the value set in p9346/p9546.

NOTICE
The speed limit of the SSM function (p9346/p9546) is also used as shutdown limit for the
SBR function (safe acceleration monitoring). The SBR is deactivated if the speed is below
this limit.
The effect of the SSM safety function is therefore heavily limited if a relatively high
SSM/SBR speed limit is set and the SS1 and SS2 stop functions are activated.

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Figure 8-8 Characteristics of the shutdown limit for SBR

Calculating SBR tolerance of the actual speed

The following rules are valid for the parameterization of SBR tolerance:
The maximum speed increase after SS1 / SS2 is triggered is derived from the effective
acceleration (a) and the duration of the acceleration phase. The duration of the acceleration
phase is equivalent to one monitoring clock cycle (p9300/p9500) MC (delay from detecting
an SS1 / SS2 until nset = 0):
SBR tolerance
Actual speed SBR = acceleration * acceleration duration
The following setup rule is derived thereof:
At linear axes:
SBR tolerance [mm/min] = a [m/s2] * MC [s] * 1000 [mm/m] * 60 [s/min]

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 Safety Integrated Functions
8.5 Extended Functions

At rotary axes:
SBR tolerance [rev/min] = a [rev/s2] * MC [s] * 60 [s/min]
Recommendation:
The SBR tolerance value entered should be approx. 20% higher than the calculated value.

Responses
Speed limit violated (SBR):
● STOP A
● Safety message C01706/C30706
System errors:
● STOP F with subsequent STOP A
● Safety message C01711/C30711

Features
● Element of the SS1 (time and acceleration controlled) and SS2 functions
● Programmable minimum shutdown speed to be monitored

Overview of important parameters (see SINAMICS S110 List Manual)

● p9346 SI motion velocity limit n_x (Power Module)
● p9546 SI motion velocity limit n_x (Control Unit)
● p9348 SI motion SBR actual speed tolerance (Power Module)
● p9548 SI motion SBR actual speed tolerance (Control Unit)

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Safety Integrated Functions
8.5 Extended Functions

8.5.7 Safety faults

Stop responses
Faults with Safety Integrated Extended Functions and violation of limits can trigger the
following stop response:

Table 8- 7 Stop response overview

Stop Triggered ... Action Effect

response
STOP A For all acknowledgeable safety Immediate pulse suppression Drive coasts down
faults with pulse suppression.
As a follow-up reaction of STOP
F.
STOP B Examples: Immediate input of speed The drive brakes down along the
- standstill tolerance violated in setpoint = 0 and start of timer tB OFF3 ramp and then goes into STOP
p9330/p9530 (SOS). STOP A is triggered on A state
- Configured subsequent stop expiration of tB or if nact <
p9363/p9563 for SLS. nshutdown.
- When the SS2 function is
active
stop F results in
follow-up stop B.
STOP C Configured subsequent stop Immediate input of speed The drive brakes down along the
p9363/p9563 with SLS. setpoint = 0 and start of timer tC OFF3 ramp, SOS is then activated
When SLS is selected, the drive SOS is activated on expiration
is decelerated with Stop C. of tC.

STOP D Configured subsequent stop Timer tD starts The drive must be decelerated by the
p9363/p9563 with SLS. No drive-integrated response higher-level control (within the drive
group)!
SOS is activated on expiration
of tD. SOS is activated on expiration of the
time tD.
An automatic response is only
triggered if the standstill tolerance
window is violated in SOS.
STOP F If a fault occurs in the crosswise Timer tF1 (Basic Functions) or If a safety function (SOS, SLS) is
data comparison. tF2 (Extended Functions) active, transition to STOP A state on
Follow-up response STOP B. No drive response expiration of tF1 (Basic Functions), or
to STOP B state on expiration of tF2
(Extended Functions).

Note
A delay time between STOP F and STOP B should only be set if an additional response is
initiated during this time when the "Internal Event" (p9722.7) message signal is evaluated.
A monitoring function should also always be active even in automatic mode (e.g. SLS with a
high limit speed) when the delay time is used.

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8.5 Extended Functions

On delays at the stop response transitions

● tB: p9356/p9556
● tC: p9352/p9552
● tD: p9353/p9553
● tF1: p9658/p9858
● tF2: p9355/p9555
● nshutdown: p9360/p9560

Stop response priorities

Table 8- 8 Stop response priorities

Priority classes Stop response

Highest priority STOP A
..... STOP B
... STOP C
.. STOP D
Lowest priority STOP F

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Safety Integrated Functions
8.5 Extended Functions

Priorities of stop responses and Extended Functions

Table 8- 9 Priorities of stop responses and Extended Functions

Highest priority ... ... ... ... Lowest

Stop response / priority
extended function STOP A STOP B STOP C STOP D STOP E STOP F
Highest STO STOP A / STO STO STO STO STO STO
priority
... SS1 STOP A STOP B / SS1 SS1 SS1 SS1 SS1
Lowest SS2 STOP A STOP B STOP C / SS2 SS2 SS2 SS2 / STOP B 2)
priority
SOS STOP A1) STOP B1) SOS SOS SOS STOP B2)
SLS STOP A3) STOP B3) STOP C4) STOP D4) STOP E4) STOP B2)
1) The SOS monitoring function remains active, but the fault response in the event of a fault can no longer be triggered
because it is already present.
2) Stop B is the follow-up stop of Stop F, which is activated after a parameterizable time. Stop F alone does not have any
effect; the active safety function is still present.
3) The SLS monitoring function remains active, although the fault response in the event of a fault can no longer be
triggered because it is already present.
4) SLS remains active during the braking phase, after which the system switches to SOS.

The table above specifies which stop response / safety function is set when a stop is
triggered when a safety function is active. The stops are arranged here from left to right in
descending order of priority (stop A to F).
No overall priority is assigned in the individual safety functions. SOS remains active, for
example, even if STO is requested. The safety functions that cause the drive to decelerate
(STO, SS1, SS2) are specified from top to bottom in descending order of priority.
If a field contains two entries, the stop responses and safety functions have the same
priority. Explanation:
● Stop A is equivalent to STO
● Stop B is equivalent to SS1
● Stop C is equivalent to SS2
● When the SS2 function is active, stop F results in follow-up stop B. SS2 remains active.

Examples for illustrating the information in the table:

1. Safety function SS1 has just been selected. Stop A remains active; a stop B operation
that is currently in progress is not interrupted by this. The remaining stop functions (stops
C to F) are replaced by SS1.
2. The SLS safety function is selected. This does not alter the function of stops A to D. Stop
F now triggers a stop B because a safety function has been activated.
3. Stop response C is activated. If the STO or SS1 safety functions are active, this does not
have any effect. If SS2 is active, this braking ramp is retained. If SOS is active, SOS
remains effective, which is also the end status of stop C. When SLS is selected, the drive
is decelerated with Stop C.

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8.5 Extended Functions

Acknowledging the safety faults

General

NOTICE
Safety faults can also be acknowledged (as with all other faults) by switching the drive unit
off and then on again (POWER ON).
If this action has not eliminated the fault cause, the fault is displayed again after power up..

Acknowledgment via PROFIsafe

The higher-level controller sets the signal "Internal Event ACK" via the PROFIsafe telegram
(STW bit 7). A falling edge in this signal resets the status "Internal Event" and so
acknowledges the fault.
Acknowledgment via F-DI
If the signal "Internal Event ACK" is connected with an F-DI, a falling edge in this signal
resets the status "Internal Event" and so acknowledges the fault. For safety reasons, the
external signal on the F-DI with the function "Internal Event ACK" may not be kept
continuously on the "1" level or for acknowledgment it must first be set from the idle state "0"
to "1" and then set back to "0" once more.

Description of faults and alarms

Note
The faults and alarms for SINAMICS Safety Integrated are described in the following
documentation:
References: SINAMICS S110 List Manual

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Safety Integrated Functions
8.5 Extended Functions

8.5.8 Message buffer

In addition to the fault buffer for F... faults and the alarm buffer for A... alarms, a special
message buffer for C... safety messages is available for Safety Extended Functions.
The fault messages for the Safety Basic Functions are stored in the standard fault buffer
(see "Buffer for faults and alarms").
The message buffer for safety messages is similar to the fault buffer for fault messages. The
message buffer comprises the message code, message value, and message time
(received/resolved). The following diagram shows how the message buffer is structured:

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Figure 8-9 Structure of the message buffer

When a safety message is present, the bit 2139.5 = 1 ("Safety message present") is set. The
entry in the message buffer is delayed. For this reason, the message buffer should not be
read until a change in the buffer (r9744) has been detected after "Safety message present"
is output.
The messages must be acknowledged via the failsafe inputs F-DI or via PROFIsafe.

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8.5 Extended Functions

Properties of the message buffer:

● A new message case comprises one or more messages and is entered in the "Current
message case".
● The entries appear in the buffer according to the time at which they occurred.
● If a new message case occurs, the message buffer is reorganized accordingly. The
history is recorded in "Acknowledged message case" 1 to 7.
● If the cause of at least one message in "Current message case" is rectified and
acknowledged, the message buffer is reorganized accordingly. Messages that have not
been rectified remain in "Current message case".
● If "Current message case" contains eight messages and a new message is output, the
message in the parameters in index 7 is overwritten with the new message.
● r9744 is incremented each time the message buffer changes.
● A message value (r9749, r9753) can be output for a message. The message value is
used to diagnose the message more accurately (refer to the message description for
more details).

Deleting the message buffer:

The message buffer can be deleted as follows: p9752 = 0.
Parameter p9752 (SI message cases, counter) is also reset to 0 during POWER ON.

Overview of important parameters (see SINAMICS S110 List Manual)

● r2139.0...8 CO/BO: Status word, faults/alarms 1
● r9744 SI message buffer changes, counter
● p9752 SI message cases, counter
● r9747[0...63] SI message code
● r9748[0...63] SI message time received in milliseconds
● r9749[0...63] SI message value
● r9753[0...63] SI message value for float values
● r9754[0...63] SI message time received in days
● r9755[0...63] SI message time removed in milliseconds
● r9756[0...63] SI message time removed in days

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Safety Integrated Functions
8.5 Extended Functions

8.5.9 Safe actual value acquisition

Supported encoder systems

Safety functions used to monitor movements (e.g. SS2, SOS, SLS and SSM) require safe
actual value aquisition.
For safe speed/position sensing for SINAMICS S110, only a single-encoder system may be
used.

Single-encoder system
Encoders within single-encoder systems are used to generate the failsafe actual values of
the drive. This motor encoder must be appropriately qualified (see encoder types). The
safety-relevant actual values are generated either directly in the encoder or in the Sensor
Module and are transferred to the Control Unit by way of failsafe communication via DRIVE-
CLiQ.
For motors without a DRIVE-CLiQ interface, the connection is established by means of
additional Sensor Modules (SMC or SME).

NOTICE
When specifying the standstill tolerance window, observe that failsafe position monitoring
within a single-encoder system only works at a rough resolution with 4 pulses per
revolution.

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Figure 8-10 Example of a single-encoder system

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8.5 Extended Functions

Encoder types for single-encoder system

Incremental encoders or absolute encoders can be used for safe detection of the position
values on a drive.
Safe actual value acquisition relies on redundant evaluation of the incremental channels A/B
that supply sin/cos signals of 1 Vpp.
In single-encoder systems, encoders with photoelectric sampling only are permitted for safe
actual value acquisition. These optical encoders must supply sin/cos signals of 1 Vpp on the
incremental channels A/B.
The absolute position values can be transferred via the serial EnDat interface or an SSI
interface to the controller.

Note
Basic absolute encoders (e.g. ECI, EQI) that offer an EnDat interface with additional sin/cos
tracks, but operate according to an inductive measuring principle internally, are not permitted
for single-encoder systems.

Two read parameters are available for safe motion monitoring:

r9730: SI Motion maximum velocity
Displays the maximum velocity (load side) permissible due to the acquisition of actual values
for safe motion monitoring functions. The maximum velocity for actual value acquisition
depends on the actual value update clock cycle (p9311/p9511). Parameter p9311/p9511 can
be used to set the clock cycle of actual value acquisition for safe motion monitoring.
A slower clock cycle reduces the maximum permissible velocity, but also reduces the load
on the Control Unit for safe actual value acquisition.
The maximum permissible velocity which, if overshot, can trigger faults in safe actual value
acquisition, is displayed in parameter r9730.
With a default value of p9311/p9511 (0 ms), the isochronous PROFIBUS clock cycle is used
(or 1 ms in non-isochronous mode).

r9731: SI Motion safe position accuracy

Displays the maximum positioning accuracy (load side) that can be ensured due to the
acquisition of the actual value for the safe motion monitoring functions.
Both parameters r9730/r9731 depend on the relevant encoder type.

Overview of important parameters (see SINAMICS S110 List Manual)

● p9301.3 SI motion enable safety functions (Power Module), enable actual value
synchronization
● p9501.3 SI motion enable safety functions (Control Unit), actual value synchronization
● p9302 SI motion axis type (Power Module)
● p9502 SI motion axis type (Control Unit)
● p9311 SI motion clock cycle actual value sensing (Power Module)
● p9511 SI Motion clock cycle actual value sensing (Control Unit)

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Safety Integrated Functions
8.5 Extended Functions

● p9515 SI Motion encoder coarse position value configuration

● p9516 SI Motion motor encoder config., safety-relevant functions (CU)
● p9317 SI motion linear scale, grid division (Power Module)
● p9517 SI motion linear scale, grid division (Control Unit)
● p9318 SI motion encoder pulses per revolution (Power Module)
● p9518 SI motion encoder pulses per revolution (Control Unit)
● p9319 SI motion fine resolution Gn_XIST1
● p9519 SI motion fine resolution G1_XIST1 (Control Unit)
● p9320 SI motion spindle pitch
● p9520 SI motion spindle pitch (Control Unit)
● p9321[0...7] SI motion gearbox encoder/load denominator (Power Module)
● p9521[0...7] SI motion gearbox encoder/load denominator (Control Unit)
● p9322[0...7] SI motion gearbox encoder/load numerator (Power Module)
● p9522[0...7] SI motion gearbox encoder/load numerator (Control Unit)
● p9323 SI motion significant bits POS2 (Power Module)
● p9324 SI motion fine resolution POS2 (Power Module)
● p9325 SI motion relevant bits POS2 (Power Module)
● p9523 SI motion significant bits POS2 (Control Unit)
● p9524 SI motion fine resolution POS2 (Control Unit)
● p9525 SI motion relevant bits POS2 (Control Unit)
● p9342 SI motion actual value comparison tolerance (crosswise) (Power Module)
● p9542 SI motion actual value comparison tolerance (crosswise) (Control Unit)
● p9349 SI motion slip velocity tolerance (Power Module)
● p9549 SI motion slip velocity tolerance (Control Unit)
● r9713[0...2] SI motion diagnostics position actual value (MAKSIP)
● r9724 SI motion crosswise comparison clock cycle
● r9730 SI Motion maximum velocity
● r9731 SI Motion safe position accuracy

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 Safety Integrated Functions
8.5 Extended Functions

8.5.10 Forced dormant error detection

Forced dormant error detection and function test through test stop
To fulfill the requirements of EN 954-1/ ISO13849-1 PL d and IEC61508 with regard to timely
fault detection, the functions and shutdown paths must be tested at least once within a
defined period to ensure that they function properly.
The maximum permissible interval for forced dormant error detection with the Basic and
Extended Functions is 9000 hours or once a year.
This functionality must be implemented by means of test stop triggering either in cyclic
manual mode or by the automated process.
The test stop cycle is monitored. On expiration of the programmed timer, the alarm A01697:
"SI motion: Test of motion monitoring required" is generated and a status bit is set which can
be transferred to an output or to a PZD bit via BICO. This alarm does not affect machine
operation.
The test stop must be initiated application-specific and be executed at a time which suits
application requirements. This functionality is implemented by means of a single-channel
parameter p9705 which can be wired via BICO either to an input terminal on the drive unit
(CU), or to an IO-PZD in the drive telegram.
● p9559 SI Motion Forced dormant error detection timer (Control Unit)
● p9705 BI: SI Motion Test stop signal source
● r9723.0 CO/BO: SI motion PROFIsafe diagnostics signals, dynamic response required
A test stop does not require POWER ON. The acknowledgment is set by canceling the test
stop request.
When the appropriate safety devices are implemented (e.g. protective doors), it can be
assumed that running machinery will not pose any risk to personnel. For this reason, only an
alarm is output to inform the user that a forced dormant error detection run is due and to
request that this be carried out at the next available opportunity.
Examples of when to carry out forced dormant error detection:
● When the drives are at a standstill after the system has been switched on.
● Before the protective door is opened.
● At defined intervals (e.g. every 8 hours).
● In automatic mode (time and event dependent)

Note
STO is triggered when a test stop is carried out for the safety functions. The axis must not
be in operation.
STO must not be active before the test stop is selected.
When blocksize Power Modules are used, the test stop must be triggered under
controlled standstill conditions (speed setpoint setting 0) (OFF2 must not be active).

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Safety Integrated Functions
8.5 Extended Functions

F-DI/F-DO forced dormant error detection

For forced dormant error detection of the F-DIs, the level of the F-DIs must be inverted, e.g.
by activating the appropriate switch or triggering the appropriate function in the connected
safety control. The correct reaction to the level change on the F-DIs must be observed by the
person carrying out the operation.
If the F-DO is used, it must undergo forced dormant error detection by triggering the
appropriate functions in the drive and the resulting level changes on the F-DO.
The correct function of the F-DO must be checked by whoever carries out forced dormant
error detection. The required format of the check is determined by the F-DO interconnection.
● F-DO at an F-DI of a safety relay
(as illustrated in the section titled "Application examples/Input/output interconnections for
a safety relay with CU305)
⇒ In the case of dormant error detection for the F-DO, its two output drivers are checked
by the F-DI of the connected safety relay to ensure that they are functioning correctly.
● F-DO at two contactors with positively driven auxiliary contacts
(see the section titled Application examples/Interconnection of F-DO with redundant
contactors)
⇒ The feedback contacts of both contactors have to be monitored by a controller or
another monitoring unit to ensure that they both close when the F-DO is switched off (see
Application examples).
● When connecting other loads, remember that the correct function of the two output
drivers has to be monitored separately where forced dormant error detection is
concerned.

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 Safety Integrated Functions
8.6 Controlling the safety functions

8.6 Controlling the safety functions

8.6.1 Overview of F-DI/F-DOs and of their structure

Description
The failsafe input and output terminals (F-DI and F-DO) act as an interface between the
internal Safety Integrated functionality and the process.
A dual channel signal applied to an F-DI (Failsafe Digital Input, safety-oriented digital input =
safe input terminal pair) controls the active monitoring of the activation/deactivation of safety
functions. This function also depends on the status of sensors (e.g. switches).
An F-DO (Failsafe Digital Output, safety-oriented digital output = safe output terminal pair)
delivers a dual channel signal representing feedback from the safety functions. It is also
suitable for the failsafe control of actuators (e.g. line contactor). See also diagram "Internal
connection of F-DI / F-DO of the CU305".

Dual-channel processing of I/O signals

A dual-channel structure is realized for data input/output and for processing failsafe I/O
signals. All requests and feedback signals for failsafe functions should be entered or tapped
using both channels.

The following options are available for controlling Safety Integrated functions:
● Control via safe input terminals on the Control Unit
● Control by way of PROFIsafe
The Basic Functions (STO, SBC, SS1 time controlled) can be controlled simultaneously
using a safe input terminal pair (F-DI0) and via PROFIsafe. For the Extended Functions,
control is only available either via the safe input terminal pairs or via PROFIsafe.

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Safety Integrated Functions
8.6 Controlling the safety functions

8.6.2 Control of the Basic Functions via a safe input terminal pair

8.6.2.1 Control via terminals on the Control Unit and the power unit

Features
● Dual-channel structure via two input terminals as a safe input terminal pair
● Input filter for test signals with a dark period < 1 ms

Overview of the safety function terminals for SINAMICS S110

The digital input terminals DI16 and DI17 are defined as F-DI0 for the control of the Basic
Functions, if these are enabled (see diagram "Internal connection of DI/DO of the CU305
with safety function"). Both terminals are processed securely by different signal evaluators in
two channels. Both terminals must be operated simultaneously, otherwise a fault will be
issued.

Simultaneity and tolerance time of the two monitoring channels

The "Safe Torque Off" function must be selected/deselected simultaneously in both
monitoring channels using the input terminals and is only effective for the associated drive.
1 signal: Deselecting the function
0 signal: Selecting the function
"Simultaneously" means:
The changeover must be complete in both monitoring channels within the parameterized
tolerance time.
● p9650 SI SGE changeover tolerance time (Control Unit)
● SI SGE changeover, tolerance time (Power Module)
If the "Safe Torque Off" function is not selected/deselected within the tolerance time, this is
detected by the crosswise comparison, and fault F01611 or F30611 (STOP F) is output. In
this case, the pulses have already been canceled as a result of the selection of "Safe Torque
Off" on one channel.

8.6.3 Control of the Safety Integrated Extended Functions using safe input terminals

General information
The Control Unit CU305 includes 6 digital inputs, which can be used as 3 safe input terminal
pairs (F-DI) for the control of the Extended Functions.
Furthermore, the CU305 can be extended by exactly one digital output as a safe output
terminal pair (F-DO) and usable for the Extended Functions.
● F-DI 0 = DI16/DI17
● F-DI 1 = DI18/DI19
● F-DI 2 = DI20/DI21
● F-DO 0 = DO16+/DO16-

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 Safety Integrated Functions
8.6 Controlling the safety functions

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Safety Integrated Functions
8.6 Controlling the safety functions

Description
Failsafe digital inputs (F-DI) consist of two digital inputs. The cathode of the optocoupler is
routed to the second digital input in order to allow the connection of an M-switching F-DO
output (the anode must be wired to 24 V DC).
Parameter p10140 is used to determine whether an F-DI is operated as NC/NC or NC/NO
contact. The status of each DI can be read at parameter r0722. The same bits of both drive
objects are logically linked by AND operation and return the status of the relevant F-DI.
Explanation of terms:
NC contact / NC contact: To select the safety function, a "zero level" must be present on
both inputs.
NC contact / NO contact: To select the safety function, a "zero level" at input 1 and a "1
level" at input 2 must be present.

The signal states at the two associated digital inputs (F-DI) must assume the same status
configured in p10140 within the monitoring time set in p10002.

Figure 8-12 Overview of F-DI 0 ... 2

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 Safety Integrated Functions
8.6 Controlling the safety functions

F-DI features
● Failsafe configuration with two digital inputs per F-DI
● Input filter for test signals with a dark period of less than 1 ms
● Configurable connection of NC/NC or NC/NO contacts by means of parameter p10140
● Status parameter r0722
● Adjustable time window for monitoring discrepancy at both digital inputs by means of
parameter p10002 for all F-DIs
● 2. Digital input with additional tap of the optocoupler cathode for connecting an M-
switching output of a failsafe controller.

WARNING
In contrast to mechanical switching contacts (e.g. EMERGENCY STOP switches),
leakage currents can still flow on semiconductor switches such as those usually used at
digital outputs even when they have been switched off. This can lead to false switching
states if digital inputs are not connected correctly.
The conditions for digital inputs/outputs specified in the relevant manufacturer
documentation must be observed.

WARNING
In accordance with IEC 61131 Part 2, Chapter 5.2 (2008), only outputs that have a
maximum residual current of 0.5 mA when "OFF" can be used to connect CU305 digital
inputs with digital semiconductor outputs.

The inclusion of additional load resistors makes it possible to use digital outputs with larger
residual currents to connect CU305 inputs.
● F-DI = safety-related dual-channel digital input
● F-DO = safety-related dual-channel digital output
If the digital outputs from another device (e.g. F-DOs on a safety PLC) with a residual current
greater than 0.5 mA when "OFF" are connected to the CU305 F-DIs, load resistors should
be connected in parallel to both connections on the F-DI.
The maximum permissible voltage for a CU305 F-DI when "OFF" is 5 V (in accordance with
IEC 61131-2, 2008).
Figures
- "F-DI at plus-minus-switching safe output ..." and
- "F-DI at plus-plus-switching safe output ..."
in the section titled "Input/output interconnections for a safety relay with CU305" show
exactly how the protective circuits for F-DIs with additional load resistors are wired.

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● Dimensioning of load resistors - example 1:

According to manufacturer documentation, the leakage current of an F-DO on a safety
PLC is 1 mA; in other words, it is around 0.5 mA higher than is permissible for the F-DI.
The necessary load resistance is therefore R = 5 V/0.5 mA = 10 kΩ.
At maximum supply voltage, the power loss for this resistor is:
P = (28.8 V)2/R = 83 mW. The resistor is to be permanently dimensioned for this power
loss.
● Dimensioning of load resistors - example 2:
If further conditions for the digital output (e.g. a minimum load or a maximum load
resistance) are specified in the manufacturer documentation, these must be taken into
account.
For example, a minimum load of 1 kΩ is specified for the SIMATIC ET200S 4 F-DO I/O
module (6ES7 138-4FB02-0AB0).
Therefore, two additional 1 kΩ load resistors and a continuous load capacity of at least P
= (28.8 V)2/R = 830 mW are required to connect an F-DO of this kind to a CU305 F-DI.
The following terminals can be used to connect the external resistors, for example:
● Phoenix Contact
– P-CO component connector
- part number: 3036796
– Three-wire terminal with quick-acting locking technique QTC 1.5-TWIN-TG, part
number: 3050413
Alternative to this terminal:
– Universal terminal with screw connection UT 4-TWIN-TG
- part number: 3046595
– Universal terminal UDK 4-DUR
- part number: 2775207
● • WAGO:
– Empty component plug housing
- part number: 280-801
– 4-conductor base terminal, center marking, for TS 35, front wiring, CAGE CLAMP®
terminal, horizontal design

Overview of important parameters (see SINAMICS S110 List Manual)

● r0722 CO/BO: CU digital inputs, status
● p10002 SI discrepancy monitoring time
● p10140 SI F-DI input mode

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8.6.4 Overview of the F-DOs

Description
The failsafe digital output (F-DO) consists of two digital outputs. At the first digital output
DO16+ the 24 V potential connected to the terminal 24V1 is switched, and at the second
terminal the ground potential connected to terminal M1 is switched (see diagram below
"Overview F-DO").
To enable forced dormant error detection, the F-DO must be dynamized with the
parameterized function (p9559) (for additional information on forced dormant error detection,
see the corresponding function description in the "Extended Functions" section).

M1

24 V1

X131.5 DO16+ F-DO 0

X131.6 DO16- +24 V1 (2857.8)
M r0747.16 r10052.0
X131.7 24 V1
9
([WHUQ X131.8 M1 M1 M
0 r10152.0

Figure 8-13 F-DO Overview

Signal sources of the F-DO

The following signals are available for outputs for the F-DO. Setting using parameter
p10042:
● Power removed (STO active)
● SS1 active
● SS2 active
● SOS active
● SLS active

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● Internal event (no active safety fault)

● Safe state
For the creation of the Signal Safe State, the following signals can be called upon via
p10039[0...3]:
– Power removed (STO active)
– SS1 active
– SS2 active
– SOS active
– SLS active

Figure 8-14 Safe state selection

The different signals selected through p10039 are logically linked by means of OR
operation. Result of these logic operations is the "Safe State".

F-DO features
● Failsafe design with two digital outputs (plus and minus switching)
● Status parameter r10052
● If the digital output is used for Safety Integrated functions, it is not available for other
digital outputs.

Function diagrams (see SINAMICS S110 List Manual)

● 2853 Safety Integrated - Extended Functions (F-DO 0)
● 2856 Safety Integrated - Extended Functions, safe state selection
● 2857 Safety Integrated - Extended Functions, assignment F-DO 0

Overview of important parameters (see SINAMICS S110 List Manual)

● p10042[0..5] SI F-DO 0 signal sources
● r10052 CO/BO: SI status of digital outputs

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8.6 Controlling the safety functions

8.6.5 Control by way of PROFIsafe

Introduction
Safety functions can also be activated via PROFIsafe telegrams in addition to terminals. On
PROFIBUS communication is possible via PROFIsafe telegram 30. This section describes
the structure of the associated control and status words (see table "Description of the
PROFIsafe control word" and "Description of the PROFIsafe status word").
The SINAMICS S110 drive with PROFIsafe configuration represents a PROFIsafe slave (F-
slave) featuring failsafe PROFIBUS communication with the failsafe host; or a PROFIsafe-
Device (F-device) featuring failsafe PROFINET communication with the failsafe host
(PROFINET connection in preparation).
The drive is equipped with dual-channel PROFIsafe communication functions.
The failsafe values are activated and STO is set immediately if a PROFIsafe communication
error is detected.
All parameters used to control PROFIsafe communication are protected against
unintentional changes by password and checksum. The telegrams are configured using the
configuration tool (e.g. HW Config + F-Configuration Pack) on the failsafe host.
Control via PROFIsafe is enabled by setting p9601.3 = p9801.3 = 1.

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8.6 Controlling the safety functions

PROFIsafe STW (S_STW1, PZD1 in telegram 30, output signals)

See function diagram [2840].

Table 8- 10 Description of the PROFIsafe STW

Bit Meaning Remarks BICO

0 STO 1 STO deactivation r9720.0
0 STO activation
1 SS1 1 SS1 deactivation r9720.1
0 SS1 activation
2 SS2 1 SS2 deactivation r9720.2
0 SS2 activation
3 SOS 1 SOS deactivation r9720.3
0 SOS activation
4 SLS 1 SLS deactivation r9720.4
0 SLS activation
5 Reserved - - -
6 Reserved - - -
7 Internal Event ACK 1/0 Acknowledgment r9720.7
0 No acknowledgment*
8 Reserved - - -
- -
9 Select SLS bit 0 - Selection of the speed limit for SLS r9720.9
10 Select SLS bit 1 - (2 bits) r9720.10
11...15 Reserved - - -
*A static zero signal must be present continuously

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PROFIsafe ZSW (S_ZSW1, PZD1 in telegram 30, input signals)

See function diagram [2840].

Table 8- 11 Description of the PROFIsafe status word (ZSW)

Bit Meaning Remarks BICO

0 STO active 1 STO active r9722.0
0 STO deactivated
1 SS1 active 1 SS1 active r9722.1
0 SS1 deactivated
2 SS2 active 1 SS2 active r9722.2
0 SS2 deactivated
3 SOS active 1 SOS active r9722.3
0 SOS deactivated
4 SLS active 1 SLS active r9722.4
0 SLS deactivated
5 Reserved - - -
6 Reserved - - -
7 Internal Event 1 Internal event r9722.7
0 No internal event inverted
8 Reserved - - -
- -
9 Active SLS level bit 0 - Display of the velocity limit for SLS r9722.9
10 Active SLS level bit 1 - (2 bits) r9722.10
11 SOS selected 1 SOS selected r9722.11
0 SOS deactivated
12...14 Reserved - - -
15 SSM (speed) 1 SSM (speed below limit value) r9722.15
0 SSM (speed higher than/equal to limit)

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8.7 Commissioning

8.7.1 Safety Integrated firmware versions

General information
The safety firmware on the CU305 Control Unit may have a different version number to the
overall firmware version.
The parameters listed below can be used to read the version IDs from the relevant hardware
components.
Read the overall firmware version via:
● r0018 Control Unit firmware version

The following firmware data can be read for the Basic Functions:
● r9770 SI version, drive-autonomous safety functions (Control Unit)

The following firmware data can be read for the Extended Functions:
● r9590 SI Motion Version safe movement monitoring (Control Unit)
● r9890 SI version (Sensor Module)

WARNING
For FW4.1:
In a system configuration, the firmware versions of the DRIVE-CLiQ components can only
differ from the versions installed on the memory card or the internal memory if
a) the automatic upgrade/downgrade (parameter p7826) is deactivated
or
b) components with a more recent firmware version can no longer be downgraded to the
version installed on the CF card.
Scenario a) is not permissible if Safety Integrated is used and is monitored by the safety
firmware of the Control Unit.
Scenario b) is only permissible if this combination has been explicitly approved by the
manufacturer.

Basic or Extended Functions that have been enabled are checked to determine whether the
parameter for the automatic firmware update is set (p7826 = 1). This means the firmware
version of the connected Sensor Module (if any) or the connected motor with DRIVE-CLiQ
connection is compared to the firmware version on the Control Unit during booting, and
updated if necessary.
During the acceptance test for the Safety Integrated Basic Functions, the safety firmware
version of the Control Unit is to be read and logged.

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During the acceptance test for the Safety Integrated Extended Functions, the safety firmware
versions of the Control Unit and the Sensor Modules or motor with DRIVE-CLiQ connection
required for the safety functions are to be read, logged, and checked against the list below.
The list of permissible safety firmware version combinations which must be used as a
reference during the test, can be found under "Product Support" at the following address:
http://support.automation.siemens.com/WW/view/de/28554461
The procedure for checking is described in the following.

Procedure for checking the safety firmware version combinations

The document in the link provided contains tables listing the permissible safety firmware
version combinations for the different safety function classes (SINAMICS basic functions,
SINAMICS Extended Functions, SINUMERIK Safety Integrated).
The safety firmware version relevant for the safety function can be read from the Control
Unit. The row containing this version number specifies the associated, permissible safety
firmware versions of the relevant drive components. These versions must be compatible with
the versions installed on your system.

8.7.2 General commissioning information

8.7.2.1 Introduction
The safety functions are commissioned using the screen forms in the STARTER. These
functions are available for each drive at "Functions" -> "Safety Integrated".
The password "0" is set by default.

NOTICE
For safety reasons, safety functions cannot be commissioned offline with the STARTER
commissioning tool (or SCOUT).

Prerequisites for commissioning the safety functions (Basic Functions)

1. Commissioning of the drives must be complete.
2. Non-safe pulse suppression must be present (e.g. via
OFF1 = "0" or OFF2 = "0")
If the motor holding brake is connected and parameterized, the holding brake is applied.
3. The terminals for "Safe Torque Off" must be wired.
4. For operation with SBC, the following applies:
A motor with motor holding brake must be connected to the appropriate terminal of the
Power Module.

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Standard commissioning of the safety functions

1. A commissioned project that has been uploaded to STARTER can be transferred to
another drive unit including the existing safety parameterization.
2. If the source and target devices have different software versions, the reference
checksums (p9799, p9899) may have to be adapted. This is indicated by the faults
F01650 (fault value: 1000) and F30650 (fault value: 1000).
3. Once the project has been downloaded to the target device, an acceptance must be
carried out. This is indicated by fault F01650 (fault value: 2004).

8.7.2.2 Setting the sampling times

Terminology
The software functions installed in the system are executed cyclically at different sampling
times.
Safety functions are executed within the monitoring clock cycle (p9300/p9500).
Communication on PROFIBUS is handled cyclically by means of the communication clock
cycle.
During the PROFIsafe scan cycle, the PROFIsafe telegrams issued by the master are
evaluated.

Rules for setting the sampling times

● The monitoring clock cycle (p9300/p9500) can be set between 500 μs to 25 ms.
However, the calculation time required for the Extended Functions in the Control Unit
depends on the monitoring clock cycle, that is, shorter clock cycles extend the calculation
time. The availability of a specific monitoring clock cycle therefore depends on calculation
time resources of the Control Unit.
Calculation time resources on the Control Unit are affected primarily by the enabled
extended functions and the selected technological functions.
● The monitoring cycle (p9300/p9500) must be an integer multiple of the actual value
update clock cycle (p9311/p9511).

Overview of important parameters (see SINAMICS S110 List Manual)

● p9300 SI motion monitoring clock cycle (Power Module)
● p9311 SI motion clock cycle actual value sensing (Power Module)
● p9500 SI motion monitoring clock cycle (Control Unit)
● p9511 SI Motion clock cycle actual value sensing (Control Unit)

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8.7.3 Commissioning the safety terminals by means of STARTER/SCOUT

8.7.3.1 Basic sequence of commissioning

The following conditions must be met before you can configure the safety terminals:
● Concluded initial commissioning of the drive

Table 8- 12 Configuration sequence

Step Execution
1 Configuring safety terminals
2 Configure the inputs
3 Configure the outputs
4 Change the safety password
5 Activate the configuration by selecting "Activate settings"
6 Save the project in STARTER
8 Execute POWER ON
9 Acceptance test

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8.7.3.2 Configuration start screen

Description
The following functions can be selected in the start screen:
● Configuration
Opens the "Configuration" screen
● Inputs
Opens the "Inputs" screen
● Outputs
Opens the "Outputs" screen
● Control
Opens the "Drive" screen

Figure 8-15 Configuration start screen

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8.7.3.3 Configuration of the safety terminals

Configuration screen of the terminals for Safety Integrated

Figure 8-16 Configuring safety terminals

Functions of this screen:

● Safety cycle (p9500)
The safety clock cycle corresponds to the sampling time of the safety terminals.
– Enter the safety clock cycle in this input box
● F-DI discrepancy time (p10002)
The signal states at the two terminals of an F-DI are monitored in order to determine
whether these have assumed the same logical state within the discrepancy time.
● F-DI selection (p10006)
The Extended Functions enter a safety alarm in a special alarm buffer upon the detection
of internal errors or violation of limits. This alarm must be acknowledged safely. You can
assign an F-DI terminal pair for safe acknowledgment.
● Function mode selection (in preparation)

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8.7.3.4 F-DI/F-DO configuration

Inputs screen F-DI

Figure 8-17 Inputs screen

NC/NC contact (p10040)

Terminal property F-DI 0-2 (p10040.0 = F-DI 0, ... p10040.2 = F-DI 2): Configure only the
property of the second (lower) digital input. Always connect an NC contact to digital input 1
(upper). Digital input 2 can be configured as NO contact.
LED in F-DI screen
The LED downstream of the AND element indicates the logical state (inactive: gray, active:
green, discrepancy error: red).

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F-DO output screen

Figure 8-18 Output screen

Signal source for F-DO (p10042)

A six-way AND is connected downstream of the output terminal pair of the F-DO; the signal
sources for the inputs of the AND can be selected:
● No signal source (input set to logical HIGH; default)
● Status signals of the drive
For additional information on status signals, see chapter "F-DO overview" in the "Control
using terminals" section.
LED in the F-DO output screen
The LED downstream of the AND element indicates the logical state (inactive: gray, active:
green).

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8.7.3.5 Control interface

Control interface screen

Figure 8-19 Control interface screen

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Functions of this screen:

● Selection of an F-DI for the STO, SS1, SS2, SOS and SLS functions and for SLS speed
limits (bit coded) (p10022 to p10028).
An F-DI can be assigned several functions.
● Configuration of the "Safe State" signal (p10039)
A failsafe output signal "Safe State" is generated based on the following status signals:
– PWR_removed (STO active)
– SS1 active
– SS2 active
– SOS active
– SLS active
The status signals of individual functions (PWR_removed, SS1 active etc.) are logically
linked by OR operation.

8.7.4 Commissioning PROFIsafe via PROFIBUS

Example configuration
The next sections deal with a sample configuration of PROFIsafe communication between a
SINAMICS S110 drive unit and higher-level SIMATIC F-CPU operating as PROFIBUS
master.
The configuration and operation of failsafe communication (F communication) is based on
the following software and hardware requirements:
Necessary software packages:
● STEP 7 V5.4 SP4
● S7 F Configuration Pack V5.5 SP3 or higher
● S7 Distributed Safety Programming V5.4 SP3 or higher
● STARTER V4.1.1 + Drive ES-Basic or SIMOTION SCOUT V4.1.1 HF6
Hardware:
● SIMATIC F-CPU e.g. CPU 317F-2

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Topology (network view of the project)

Components participating in F communication via PROFIBUS are basically wired as follows:

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Figure 8-20 Example of a PROFIsafe topology

Configuring PROFIsafe communication

The next sections describe the configuration of PROFIsafe communication between a
SIMATIC F-CPU and a drive unit. .
Create an F-CPU such as CPU 317F-2 and a SINAMICS S110 in HW Config in accordance
with the hardware installed.
1. Set up the SINAMICS S110 for operation as a DP slave and the connected F-CPU as
associated DP master.
2. In the DP slave properties, the PROFIsafe slots can be inserted by choosing "Insert
object" on the "Configuration" tab and configured under "PROFIsafe".

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8.7 Commissioning

3. The telegram configuration for F communication is displayed in the DP slave properties

(SINAMICS S110), "Configuration" tab.

Figure 8-21 Example: PROFIsafe configuration (HW Config)

4. Double-click the icon of the SINAMICS drive unit and select the "Details" tab in the
"Configuration" tab.
5. Click "PROFIsafe…" and then define the F parameters which are important to F
communication.

Setting F parameters:

Figure 8-22 PROFIsafe properties (HW Config)

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8.7 Commissioning

The top five failsafe parameters in this list are configured by default and cannot be edited.
The following range of values is valid for the two remaining parameters:
F_Dest_Add: 1-65534
F_Dest_Add determines the PROFIsafe destination address of the drive object.
Any value within the range is allowed, however, it must be entered once again in the safety
configuration of the drive in the SINAMICS drive unit. The F_Dest_Add value must be set in
p9610 (Control Unit) and in p9810 (Power Module). You can handle these settings quite
comfortably using the PROFIsafe STARTER screen (see the picture below). The PROFIsafe
target address must be entered in hexadecimal format.

Figure 8-23 PROFIsafe STARTER configuration

F_WD_Time: 10- 65535

A valid current safety message frame must be received from the F-CPU within the
monitoring time. The drive will otherwise go into safe state.
Select a monitoring time of sufficient length to let the communication functions tolerate
message frame delays, however, make allowances for appropriate short fault reaction times
(e.g. to interruption of communications).
For additional information on failsafe parameters, refer to the online help of the "PROFIsafe
properties" dialog box ("Help" button).
Compile the F-CPU configuration data in HW Config.

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8.7.5 Information pertaining to component replacements

Replacing components

WARNING
Observe the instructions with regard to changes to software components or to changes to
these in the chapter "Safety instructions"!

1. The faulty component was replaced in accordance with safety regulations.

2. Make sure that everybody has cleared the danger zone and then power up the machine.
3. Error F30711 is output with fault value 1031 (data transfer error after replacement of a
Sensor Module).
4. With STARTER:
– Click "Acknowledge hardware replacement" in the start screen of safety functions.
5. Without STARTER:
– Start the copying function for Node Identifier (p9700 = 1D hex)
– Confirm the hardware CRC on the drive object (p9701 = EC hex)
6. Back up all parameters.
7. Perform a POWER ON at all components.
8. Faults F01650/F30650 (acceptance test required; see "Acceptance test and acceptance
report") are output.
9. Before anyone is allowed to enter the danger zone again and before operation is
resumed, select the STO function once and briefly move the drives affected by the
component replacement in plus and minus direction (+/-) with activated safety monitoring
function (SLS, if parameterized) in order to verify proper functionality.

8.7.6 Information pertaining to series commissioning

A commissioned project that has been uploaded to STARTER can be transferred to another
drive unit including the existing safety parameterization.
1. Download the STARTER project to the drive unit.
2. The alarms F01650/F30650 (acceptance test required) are output.
These fault alarms can be acknowledged because a full acceptance test is not required if
no changes were made to safety function parameters.
3. Click "Acknowledge hardware replacement" in the start screen of the safety functions.
4. Save all parameters to the non-volatile memory.
5. Perform a POWER ON at all components.
6. Before anyone is allowed to enter the danger zone again and before operation is
resumed, select the STO function once and briefly move the drives affected by the

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8.8 Application examples

component replacement in plus and minus direction (+/-) with activated safety monitoring
function (SLS, if parameterized) in order to verify proper functionality.

8.8 Application examples

8.8.1 Input/output interconnections for a safety switching device with CU305

interconnecting F-DO with safe input on safety device

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Figure 8-24 F-DO at equivalent/antivalent safe input on safety device XY (e.g. safety PLC)

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8.8 Application examples

interconnecting F-DI with plus-minus switching output on safety device

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Figure 8-25 F-DI at plus-minus switching safe output on safety device XY (e.g. safety PLC)

Interconnecting F-DI with plus-plus switching output on safety device

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Figure 8-26 F-DI at plus-plus switching safe output on safety device XY (e.g. safety PLC)

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8.8 Application examples

8.8.2 Interconnection of F-DO with redundant contactors with positively driven auxiliary
contacts

Interconnection of F-DO with redundant contactors with positively driven auxiliary contacts

Figure 8-27 Interconnection of F-DO with redundant contactors with positively driven auxiliary contacts

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8.9 Acceptance test and acceptance report

8.9 Acceptance test and acceptance report

8.9.1 General information

Requirements regarding acceptance tests are derived from the EC Machinery Directive and
ISO 13849-1. IEC 22G WG 10 is currently working on a "Functional safety" standard which
includes a detailed description of acceptance test requirements. The machine manufacturer
(OEM) is committed accordingly
● to carry out an acceptance test for safety-related functions and machine parts
● to issue an "Acceptance certificate" which describes the test results.
The acceptance test for systems with Safety Integrated Extended Functions (SI functions) is
focused on validating the functionality of Safety Integrated monitoring and stop functions
implemented in the drive system. The test objective is to verify proper implementation of the
defined safety functions and of test mechanisms (forced dormant error detection measures)
and to examine the response of specific monitoring functions to the explicit input of values
outside tolerance limits. This has to be conducted for all drive-specific Safety Integrated
motion monitoring procedures.

WARNING
A new acceptance test must be carried out if any changes were made to SI function
parameters and must be logged in the acceptance report.

Note
The acceptance test is designed to ensure that the safety functions are correctly
parameterized. The measured values (e.g. distance, time) and the system behavior identified
(e.g. initiation of a specific stop) can be used for checking the plausibility of the configured
safety functions. The objective of an acceptance test is to identify potential configuration
errors or to record the valid configuration. The measured values are typical but no worst
case values. They represent the behavior of the machine at the time of measurement. These
measurements cannot be used, for example, to derive maximum ramp-down values.

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8.9 Acceptance test and acceptance report

Authorized person, acceptance report

The test of each SI function must be carried out by an authorized person and logged in the
acceptance report. The report must be signed by the person who carried out the acceptance
test. The acceptance report must be kept in the logbook of the relevant machine. Access
rights to SI parameters must be protected by password and be recorded accordingly in the
acceptance report. In this context this is a person who is authorized by the machine
manufacturer and who has adequate professional training and knowledge of the safety
functions in order to conduct the acceptance test in a proficient manner.

Note
• Observe the information in the chapter "Procedures for initial commissioning".
• The acceptance report presented below is both an example and recommendation.
• An acceptance report template in electronic format is available at your local sales office.

Necessity of an acceptance test

A complete acceptance test (as described in this chapter) is required after initial
commissioning of Safety Integrated functionality on a machine. An acceptance test, possible
with reduced scope, is always required after safety-related functions were extended, after
the transfer of commissioned objects to other series machines, after changes were made to
the hardware and after software upgrades. A summary of conditions which determine the
necessary test scope or proposals in this context is provided below.
In order to define a partial acceptance test, it is necessary in the first instance to specify the
acceptance test objects, and in the second instance to define logical groups which represent
the elements of the acceptance test. The acceptance test must be carried out separately for
each individual drive (as far as the machine allows).

Prerequisites for the acceptance test

● The machine is properly wired.
● All safety equipment such as protective door monitoring devices, light barriers or
emergency-off switches are connected and ready for operation.
● Commissioning of the open-loop and closed-loop control should be concluded, as the
ramp-down path may otherwise change as a result of changed dynamic response of the
drive controller, for example. These include, for example:
– Configuration of the setpoint channel
– Position control in the higher-level controller
– Drive control.

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Information about the acceptance tests

Note
As far as possible, the acceptance tests are to be carried out at the maximum possible
machine speed and acceleration rates to determine the maximum braking distances and
stop times that can be expected.

Information on the acceptance test mode (p9370/p9570)

The acceptance test mode can be activated for a definable period (p9358/p9558) by setting
the appropriate parameters (p9370/p9570). The acceptance test mode allows operation of
the drive beyond SOS limits (p9331/p9531).
Activation of the acceptance test mode is therefore only useful during the testing of SOS and
SLS functions.
The SOS can be selected either directly, or by way of SS2 (with deactivated acceptance test
mode). Deactivate the SS2 brake ramp in SS2 state in active acceptance test mode in order
to enable drive movements after having triggered a violation of standstill limits.

WARNING
If a speed setpoint that is not zero is present, the active stop function SS2 is set, and the
motor is at a standstill (active SOS), the axis starts to move as soon as the acceptance test
is activated.

Content of the complete acceptance test

Documentation
Documentation of the machine and of safety functions
1. Machine description (with overview)
2. Specification of the controller (if this exists)
3. Configuration diagram
4. Function table
Active monitoring functions depending on the operating mode, the protective doors or
other sensors This table should be the objective or result of the configuring work.
5. SI functions for each drive
6. Information about safety equipment

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Function test Part 1

General function test, including a check of the wiring/programming
1. Test of shutdown paths
(Test of forced dormant error detection at the inputs and outputs)
2. Testing stop functions SS1 and SS2
3. Test the forced checking procedure of the inputs and outputs
4. Test of the emergency stop function and of safety circuits
5. Changeover test of SI functions

Function test Part 2

Detailed function test and valuation of SI functions used.
1. Testing the SI function "Safe Operating Stop" (SOS)
(with evaluated measurement diagram or measured values)
2. Test of the SI function "Safely Limited Speed" (SLS)
(with evaluated measurement diagram or measured values)
3. Test of the SI function "Safe Speed Monitor" (SSM)
(with evaluated measurement diagram or measured values)

Conclusion of the report

Report of the commissioning status tested and countersignatures
1. Inspection of SI parameters
2. Check that the existing safety firmware versions are permissible using the table under
Siemens "Product Support" on the Internet (see "Safety Integrated firmware versions").
3. Logging of checksums (for each drive)
4. Assigning and logging the Safety password
(do not disclose in the report!)
5. RAM to ROM backup and upload of project data to the STARTER and backup of the
project
6. Countersignature

Appendix

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Effect of the acceptance test on specific measures

Table 8- 13 Scope of the acceptance test depending on specific measures

Measure Documentation Function test Part 1 Function test Part 2 Conclusion of the
report
Replacement of the No No Test of failsafe actual Supplementation
encoder system value acquisition New checksums and
countersignature as
required
Replacement of an Supplementation of No Test of failsafe actual Supplementation
SMC/SME Module hardware value acquisition New checksums and
data/configuration/soft countersignature
ware version data
Replacement of a Supplementation of No Test of failsafe actual Supplementation
motor with DRIVE- hardware value acquisition New checksums and
CLiQ data/configuration/soft countersignature
ware version data
Replacing the Control Supplementation of No Partially, if the system Supplementation
Unit hardware scan cycle times or the New checksums and
data/configuration/soft dynamic response countersignature as
ware version data were changed (drive- required
specific)
Replacing the Power Supplementing Yes No Supplementing and
Module or Safe Brake hardware countersigning
Relay data/configuration
Replacement of SI- Supplementation of Yes, No No
relevant distributed I/O hardware with comment
devices (e.g. data/configuration/soft restriction to replaced
EMERGENCY OFF ware version data components
switch)
Firmware - upgrade Supplementation Yes, Yes, Supplementation
(CU/Sensor Modules) Version data including a note if the system scan New checksums and
informing of the time of cycle times or the countersignature as
implementation of the dynamic response required
new functionality were changed or test
of the new functionality
Change to a single Supplementing the SI No Partially, Supplementation
limit (e.g. SLS limit) function test of the changed New checksums and
limit countersignature
Enhancement of Supplementing SI Yes, with note Partially, Supplementation
functions (e.g. functions or function restriction to adapted test of any additional New checksums and
additional actuator, table parts as required limits countersignature as
additional SLS stage) required
Transfer of project Possibly supplement Yes, with note No, No, if data are
data to other machines to the machine if no changes were identical (check of
via series description (check of made to SI parameters checksums)
commissioning the firmware version)

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8.9.2 Safety logbook

Description
The "Safety Logbook" function is used to detect changes to safety parameters that affect the
associated CRC sums. CRCs are only generated when p9601/p9801 (SI enable, functions
integrated in the drive CU/Motor Module) is > 0.
Unauthorized data changes can be detected when the CRCs of the SI parameters have
changed. Each SI parameter change that is to become active requires the reference CRC to
be changed so that the drive can be operated without SI fault messages. The only exception
here is when all SI functions are deactivated (p9601/p9801, bit 2=0). In addition to functional
safety changes, safety changes as a result of hardware being replaced can be detected
when the CRC has changed.
The following changes are recorded by the safety logbook:
● Functional changes are recorded in the checksum r9781[0]:
– Functional CRCs of the motion monitoring functions (p9729[0]), axial (Extended
Functions).
– Functional CRCs of the basic safety functions integrated in the drive (p9799, SI
reference checksum SI parameters CU), axial.
– Enabling of functions integrated in the drive (p9601), axial (Basic and Extended
Functions).
● Hardware-dependent changes are recorded in the checksum r9781[1]:
– Hardware-dependent CRCs of the motion monitoring functions (p9729[2]), axial (ncSI,
Basic and Extended Functions).

Overview of important parameters (see SINAMICS S110 List Manual)

● r9781[0] SI checksum to check changes (Control Unit), functional
● r9781[1] SI checksum to check changes (Control Unit), hardware dependent
● r9782[0] SI time stamp to check changes (Control Unit), functional
● r9782[1] SI time stamp to check changes (Control Unit), hardware dependent
● r9728[0...2] SI Motion actual checksum, SI parameters
● r9729[0...2] SI Motion reference checksum, SI parameters
● p9799 SI reference checksum SI parameters (Control Unit)
● p9601 SI enable, functions integrated in the drive (Control Unit)
● p9801 SI enable, functions integrated in the drive (Motor Module)

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8.9.3 Acceptance report

8.9.3.1 Plant description - Documentation part 1

Table 8- 14 Machine description and overview diagram

Designation
Type
Serial number
Manufacturer
End customer
Electrical drives
Other drives
Overview diagram of machine

Table 8- 15 Values of relevant parameters

Versions of the firmware and of Safety Integrated

Component FW version SI version
Parameters r0018 = r9590 =
Control Unit r9770 =
Parameters FW version SI version
Sensor Modules r0148 = r9890 =
Monitoring clock cycles of Safety Integrated
SI monitoring clock cycle SI monitoring clock cycle
Control Unit Power Module
Basic Functions r9780 = r9880 =
SI motion monitoring clock cycle SI motion monitoring clock cycle
Control Unit Power Module
Extended Functions p9500 = p9300 =
SI motion actual value acquisition clock cycle SI motion actual value acquisition clock cycle
Control Unit Power Module
Extended Functions p9511 = p9311 =

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8.9.3.2 Description of safety functions - Documentation Part 2

Introduction
This example contains the description of a plant; the settings for a specific plant must be
adapted accordingly.

Function table (Example)

Table 8- 16 Example table: Active monitoring functions depending on the operating mode, the
protective doors or other sensors

Mode of operation Protective door Drive Status of monitoring

functions
Production closed and locked 1 All deselected
unlocked 1 SOS selected
Setup closed and locked 1 All deselected
unlocked 1 SLS 1 selected
Emergency stop - 1 SS1 selected
Comments: --

SI functions for the drive

Table 8- 17 Example: functional overview of the safety functions

Drive SI function Limit active if

1 SOS (via on-board 100 mm refer to the function table
terminals)
1 SLS 1 (via on-board 50000 mm/min refer to the function table
terminals)
1 SS1 (via on-board -- Emergency stop triggered
terminals)
Comments: --

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Drive-specific data

Table 8- 18 Drive-specific data (excerpt)

SI function Parameter Power Modules / CU Power Module value / CU value

Enable safety functions p9301 / p9501 1001 bin
Axis type p9302 / p9502 0
Encoder assignment p9326 / p9526 1
Sensor Module node identifier p9328[0..11] xyz hex
Enable drive-integrated p9801 / p9601 0100 bin
functions
PROFIsafe address p9810 / p9610 0003 hex
SOS standstill tolerance p9330 / p9530 1.000°
PLC limit values p9331[0..3] / p9531[0..3] 2000.00 mm/min
Actual value comparison p9342 / p9542 0.1000°
tolerance
SSM speed limit p9346 / p9546 20.00 mm/min / 20.00 1/min
SBR actual speed tolerance p9348 / p9548 300.00 1/min
STOP C -> SOS delay time p9352 / p9552 100.00 ms
STOP D -> SOS delay time p9353 / p9553 100.00 ms
STOP E -> SOS delay time p9354 / p9554 100.00 ms
STOP F -> STOP A p9355 / p9555 0.00 ms
delay time
STOP F -> STOP B delay time p9858 / p9658 0.00 µs
Safe Stop 1 delay time p9852 / 9652 0.00 µs
Pulse suppression delay time p9356 / p9556 100.00 ms
Acceptance test mode time limit p9358 / p9558 40000.00 ms
PLC stop response p9363[0..3] / p9563[0..3] 2
Acceptance test mode p9370 / p9570 0000 hex
Acceptance test status r9371 / r9571 0000 hex
... ... ...

Parameterizing the SI functions via safety terminals

Parameters for control via safety terminals
Table 8- 19 Parameters for control via safety terminals (excerpt)

SI function Parameters Value

Monitoring time discrepancy p10002 12.00 ms
Forced dynamic behavior timer p9559 8.00 h
SS1 input terminal p10023 xy
SOS input terminal p10025 xy
PLC input terminal p10026 xy
F-DI input mode p10040 xy
F-DO 0 signal sources p10042 xy

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Safety equipment

Protective door
The protective door is unlocked by means of single-channel request key
Protective door switch
The protective door is equipped with a safety door switch. The safety door switch returns the dual-
channel signal "Door closed and locked". Changeover and selection of safety functions in accordance
with the table shown above.
Mode selector switch
The "Production" and "Setup" modes are set by means of a mode selector switch. The key switch
features two contact levels. Changeover and selection of safety functions in accordance with the
table shown above.
EMERGENCY-STOP pushbutton
The dual-channel EMERGENCY-STOP pushbuttons are wired in series. The EMERGENCY-STOP
signal activates SS1, then the external brakes and the STO are activated.
Test stop
Activation by means of:
• Machine power on
• Unlocking the protective door

8.9.4 Acceptance tests

Information about the acceptance tests

Note
As far as possible, the acceptance tests are to be carried out at the maximum possible
machine speed and acceleration rates to determine the maximum braking distances and
stop times that can be expected.

8.9.4.1 Acceptance test for Safe Torque Off (STO)

"Safe Torque Off" (STO) function

This test comprises the following steps:

Table 8- 20 "Safe Torque Off" (STO) function

No. Description Status

1. Initial state
Drive in "Ready" status (p0010 = 0)
STO function enabled (p9601.0 = 1, p9801.0 = 1)
No safety faults and alarms (r0945, r2122, r2132)

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No. Description Status

r9772.0 = r9772.1 = 0 (STO deselected and inactive – CU)
r9872.0 = r9872.1 = 0 (STO deselected and inactive – PM)
r9773.0 = r9773.1 = 0 (STO deselected and inactive – drive)
When terminals are grouped for "Safe Torque Off":
r9774.0 = r9774.1 = 0 (STO deselected and inactive - group)
2. Run the drive
3. Ensure that the correct drive is running
4. Select STO when issuing the traversing command
Note:
The acceptance test must be conducted for each configured control which can be set, for example, by way of safety
terminals or PROFIsafe.
5. Check the following:
• The drive coasts to a standstill or is braked and stopped by the mechanical brake (if
available and configured (p1215, p9602, p9802)).
• No safety faults and alarms (r0945, r2122, r2132)
• r9772.0 = r9772.1 = 1 (STO selected and active – CU)
• r9872.0 = r9872.1 = 1 (STO selected and active – PM)
• r9773.0 = r9773.1 = 1 (STO selected and active – drive)
• When terminals are grouped for "Safe Torque Off":
r9774.0 = r9774.1 = 1 (STO selected and active - group)
6. Deselect STO
7. Check the following:
• No safety faults and alarms (r0945, r2122, r2132)
• r9772.0 = r9772.1 = 0 (STO deselected and inactive – CU)
• r9872.0 = r9872.1 = 0 (STO deselected and inactive – PM)
• r9773.0 = r9773.1 = 0 (STO deselected and inactive – drive)
• When terminals are grouped for "Safe Torque Off":
r9774.0 = r9774.1 = 0 (STO deselected and inactive - group)
• r0046.0 = 1 (drive in "Switching on inhibited" state)
8. Acknowledge "Switching on inhibited" and run the drive
9. Ensure that the correct drive is running
The following is tested:
• Correct connection between Control Unit and Power Module
• Correct assignment of drive number – Power Module – motor
• The hardware is functioning properly
• The switch-off signal paths are wired correctly
• Correct assignment of the terminals for STO on the Control Unit
• Correct STO grouping (if available)
• Correct parameterization of the STO function
• Routine for forced dormant error detection of the switch-off signal paths

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8.9.4.2 Acceptance test for Safe Stop 1, time controlled (SS1)

"Safe Stop 1" function (SS1, time-controlled)

This test comprises the following steps:

Table 8- 21 "Safe Stop 1" function (SS1)

No. Description Status

1. Initial state
Drive in "Ready" status (p0010 = 0)
STO function enabled (p9601.0 = 1, p9801.0 = 1)
Enable SS1 function (p9652 > 0, p9852 > 0)
No safety faults and alarms (r0945, r2122, r2132)
r9772.0 = r9772.1 = 0 (STO deselected and inactive – CU)
r9872.0 = r9872.1 = 0 (STO deselected and inactive – MM)
r9773.0 = r9773.1 = 0 (STO deselected and inactive – drive)
r9772.2 = r9872.2 = 0 (SS1 not requested – CU and MM)
When terminals are grouped for "Safe Torque Off":
r9774.0 = r9774.1 = 0 (STO deselected and inactive - group)
2. Run the drive
3. Ensure that the correct drive is running
4. Select SS1 when the run command is issued
Note:
The acceptance test must be conducted for each configured control individually, either via terminals or PROFIsafe.
5. Check the following:
• The drive is braked along the OFF3 ramp (p1135)
Before the SS1 delay time (p9652, p9852) expires, the following applies:
• r9772.0 = r9772.1 = 0 (STO deselected and inactive - CU)
• r9872.0 = r9872.1 = 0 (STO deselected and inactive – MM)
• r9772.2 = r9872.2 = 1 (SS1 active – CU and MM)
• r9773.0 = r9773.1 = 0 (STO deselected and inactive - drive)
• r9773.2 = 1 (SS1 active – drive)
STO is initiated after the SS1 delay time expires (p9652, p9852).
• No safety faults and alarms (r0945, r2122, r2132)
• r9772.0 = r9772.1 = 1 (STO selected and active - CU)
• r9872.0 = r9872.1 = 1 (STO selected and active – MM)
• r9772.2 = r9872.2 = 0 (SS1 inactive – CU and MM)
• r9773.0 = r9773.1 = 1 (STO selected and active – drive)
• r9773.2 = 0 (SS1 inactive – drive)
6. Canceling SS1
7. Check the following:

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No. Description Status

• No safety faults and alarms (r0945, r2122, r2132)
• r9772.0 = r9772.1 = 0 (STO deselected and inactive - CU)
• r9872.0 = r9872.1 = 0 (STO deselected and inactive – MM)
• r9772.2 = r9872.2 = 0 (SS1 inactive – CU and MM)
• r9773.0 = r9773.1 = 0 (STO deselected and inactive - drive)
• r9773.2 = 0 (SS1 inactive – drive)
• r0046.0 = 1 (drive in "Switching on inhibited" state)
8. Acknowledge "Switching on inhibited" and run the drive
9. Ensure that the correct drive is running
The following is tested:
• Correct parameterization of the SS1 function

8.9.4.3 Acceptance test for "Safe Brake Control" (SBC)

"Safe Brake Control" function (SBC)

This test comprises the following steps:

Table 8- 22 "Safe brake control" (SBC) function

No. Description Status

1. Initial state
• Drive in "Ready" status (p0010 = 0)
• STO function enabled (p9601.0 = 1, p9801.0 = 1)
• Enable SBC function (p9602 = 1, p9802 = 1)
• Vertical axis:
Brake as in sequential control (p1215 = 1)
• No vertical axis:
Brake always released (p1215 = 2)
• Vertical axis:
Mechanical brake is applied
• No vertical axis:
Mechanical brake is released
• No safety faults or alarms (r0945, r2122)
• r9772.0 = r9772.1 = 0 (STO deselected and inactive – CU)
• r9872.0 = r9872.1 = 0 (STO deselected and inactive – MM)
• r9773.0 = r9773.1 = 0 (STO deselected and inactive – drive)
• r9772.4 = r9872.4 = 0 (SBC not requested – CU and MM)
2. Run drive (applied brake is released)
3. Ensure that the correct drive is running

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No. Description Status

4. Select STO/SS1 during the traversing command.
Note:
The acceptance test must be conducted for each configured control individually, either via terminals or PROFIsafe.
5. Check the following:
• Drive is braked and stopped by the mechanical brake.
• No safety faults or alarms (r0945, r2122)
• r9772.0 = r9772.1 = 1 (STO selected and active – CU)
• r9872.0 = r9872.1 = 1 (STO selected and active – MM)
• r9773.0 = r9773.1 = 1 (STO selected and active – drive)
• r9772.4 = r9872.4 = 1 (SBC requested – CU and MM)
6. Deselect STO
7. Check the following:
• Vertical axis:
Mechanical brake remains applied
• No vertical axis:
Mechanical brake is released
• No safety faults or alarms (r0945, r2122)
• r9772.0 = r9772.1 = 0 (STO deselected and inactive – CU)
• r9872.0 = r9872.1 = 0 (STO deselected and inactive – MM)
• r9773.0 = r9773.1 = 0 (STO deselected and inactive – drive)
• r9772.4 = r9872.4 = 0 (SBC not requested – CU and MM)
• r0046.0 = 1 (drive in "Switching on inhibited" state)
8. Acknowledge "Switching on inhibited" and run the drive
(vertical axis: mechanical brake is released)
9. Ensure that the correct drive is running
The following is tested:
• The brake is connected properly
• The hardware is functioning properly
• The SBC is parameterized correctly
• Routine for the forced dormant error detection of the brake control

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8.9.4.4 Acceptance test for Safe Stop 1, time and acceleration controlled

"Safe Stop 1" function (SS1, time and acceleration controlled)

Note
As far as possible, the acceptance tests are to be carried out at the maximum possible
machine speed and acceleration rates to determine the maximum braking distances and
stop times that can be expected.

This test comprises the following steps:

Table 8- 23 "Safe Stop 1" function (SS1)

No. Description Status

1. Initial state
• Drive in "Ready" status (p0010 = 0)
• Safety Integrated Extended Functions enabled (p9601.2 = 1)
• SOS/SLS function enabled (p9501.0 = 1)
• No safety alarm (r0945, r2122, r9747)
2. Run the drive
3. Ensure that the correct drive is running
4. Start Trace (trigger r9720.1 = 0)
Trace recording of the following values:
• Safe actual speed (r9714)
• SS1 deactivation (r9720.1)
• STO active (r9722.0)
• SS1 active (r9722.1)
5. Select SS1 while the drive is moving
Note:
The acceptance test must be conducted for each configured control which can be set, for example, by way of safety
terminals or PROFIsafe.
6. The drive must decelerate to the standstill limit
7. Save / print the Trace (refer to the example below)
8. Canceling SS1
9. Acknowledge "Switching on inhibited" and run the drive
10. Ensure that the correct drive is running

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Example of the Trace

Figure 8-28 Example Trace SS1

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8.9.4.5 Acceptance test for Safe Stop 2 (SS2)

"Safe Stop 2" function (SS2)

The test comprises the following steps:

Table 8- 24 "Safe Stop 2" function (SS2)

No. Description Status

1. Initial state
• Drive in "Ready" status (p0010 = 0)
• Safety Integrated Extended Functions enabled (p9601.2 = 1)
• SOS/SLS function enabled (p9501.0 = 1)
• No safety alarm (r0945, r2122, r9747)
2. Run the drive
3. Ensure that the correct drive is running
4. Start Trace (trigger SS2 selected r9720.2 = 0)
Trace recording of the following values:
• Safe actual speed (r9714)
• SS2 deactivation (r9720.2)
• SS2 active (r9722.2)
• SOS active (r9722.3)
5. Select SS2 while the drive is moving
Note:
The acceptance test must be conducted for each configured control individually, either via terminals or PROFIsafe.
6. The drive must decelerate to the standstill limit
7. Save / print the Trace (refer to the example below)
8. SS2 deactivated
9. Drive returns to the setpoint

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Example of the Trace

Figure 8-29 Example Trace SS2

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8.9.4.6 Acceptance test for Safe Operating Stop (SOS)

"Safe Operating Stop" (SOS) function

Note
As far as possible, the acceptance tests are to be carried out at the maximum possible
machine speed and acceleration rates to determine the maximum braking distances and
stop times that can be expected.

The test comprises the following steps:

Table 8- 25 "Safe Operating Stop" (SOS) function

No. Description Status

1. Initial state
• Drive in "Ready" status (p0010 = 0)
• Safety Integrated Extended Functions enabled (p9601.2 = 1)
• SOS/SLS function enabled (p9501.0 = 1)
• No safety alarm (r0945, r2122, r9747)
2. Activation of the acceptance test mode by means of p9370 = p9570 = 00AC (hex)
3. Deactivate any speed setpoint limit in the higher-level controller
4. Start trace (STO trigger active)
Trace recording of the following values:
• Safe actual position value (r9713[0/1])
• STOP A or B active (r9721.12)
• STO selected and active (r9721.0)
• SOS selected and active (r9722.3)
5. Run the drive beyond the standstill limit set in p9330/p9530
6. The drive must decelerate to the standstill limit
7. Save / print the Trace (refer to the example below)
8. Deactivation of the acceptance test mode by means of p9370 = p9570 = 0000 (hex)

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Example of the Trace

Figure 8-30 Example Trace SOS

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 Safety Integrated Functions
8.9 Acceptance test and acceptance report

8.9.4.7 Acceptance test for Safely Limited Speed (SLS)

"Safely Limited Speed" (SLS) function

The functional test must be carried out separately for each SLS speed limit used.
The test comprises the following steps:

Table 8- 26 "Safely Limited Speed" (SLS) function

No. Description Status

1. Initial state
• Drive in "Ready" status (p0010 = 0)
• Safety Integrated Extended Functions enabled (p9601.2 = 1)
• SOS/SLS function enabled (p9501.0 = 1)
• No safety alarm (r0945, r2122, r9747)
2. Activation of the acceptance test mode by means of p9370 = p9570 = 00AC (hex)
3. Deactivate any speed setpoint limit in the higher-level controller
4. Start Trace (trigger r9722.7 = 1/0 edge)
Trace recording of the following values:
• Safe actual speed (r9714)
• Parameterized STOP x active (r9721.13)
• SOS selected and active (r9722.3)
• SLS selected and active (r9722.4)
5. Operate the drive above the speed limit set in p9331/p9531, triggered by the
parameterized stop function
6. The drive must decelerate to the standstill limit
7. Save / print the Trace (refer to the example below)
8. Deactivation of the acceptance test mode by means of p9370 = p9570 = 0000 (hex)

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8.9 Acceptance test and acceptance report

Example of the Trace

Figure 8-31 Example Trace SLS

8.9.4.8 Acceptance test for Safe Speed Monitor (SSM)

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 Safety Integrated Functions
8.9 Acceptance test and acceptance report

"Safe Speed Monitor" (SSM) function

The test comprises the following steps:

Table 8- 27 "Safe Speed Monitor" (SSM) function

No. Description Status

1. Initial state
• Drive in "Ready" status (p0010 = 0)
• Safety Integrated Extended Functions enabled (p9601.2 = 1)
• SOS/SLS function enabled (p9501.0 = 1)
• No safety alarm (r0945, r2122, r9747)
2. Start Trace (trigger r9722.15 = 1/0 edge)
Trace recording of the following values:
• Safe actual speed (r9714)
• SSM (n below limit) r9722.15
3. Operate the drive above the speed limit set in p9346/p9546 plus the hysteresis set in
p9347/p9547
4. Operate the drive below the speed limit set in p9346/p9546 minus the hysteresis set in
p9347/p9547
5. Save / print the Trace (refer to the example below)

Example of the Trace

Figure 8-32 Example Trace SSM

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Safety Integrated Functions
8.9 Acceptance test and acceptance report

8.9.5 Completion of certificate

SI parameters

Specified values checked? (check)

Yes No
Control Unit
Power Module

Checksums

Drive Checksum (8 hex)

Name Drive number Control Unit (p9798) Power Module (p9898)

Safety logbook

Functional Hardware components

Checksums r9781[0] = r9781[1] =
Time stamp r9782[0] = r9782[1] =

Data backup

Storage medium Storage location

Type Designation Date
Parameter
PLC program
Circuit diagrams

Countersignatures
Commissioning engineer
This confirms that the tests and checks have been carried out properly.

Date Name Company/dept. Signature

Machine manufacturer
This confirms that the parameters recorded above are correct.

Date Name Company/dept. Signature

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Communication PROFIBUS DP 9
9.1 Communication according to PROFIdrive

9.1.1 General information about PROFIdrive for SINAMICS

General information
PROFIdrive V4.1 is the PROFIBUS profile for drive technology with a wide range of
applications in production and process automation systems.

Note
PROFIdrive for drive technology is standardized and described in the following document:
References: /P5/ PROFIdrive Profile Drive Technology

Controller, Supervisor, and Drive Unit

● Properties of the Controller, Supervisor, and Drive Unit

Table 9- 1 Properties of the Controller, Supervisor, and Drive Unit

Properties Controller, Supervisor Drive Unit

As bus node Active Passive
Send messages Permitted without external Only possible on request by
request master
Receive messages Possible with no restrictions Only receive and acknowledge
permitted
● Controller (PROFIBUS: Master Class 1)
This is typically a higher-level control in which the automation program runs.
Example: SIMATIC S7 and SIMOTION
● Supervisor (PROFIBUS: Master Class 2)
Devices for configuration, commissioning, operator control and monitoring during bus
operation. Devices that only non-cyclically exchange data with Drive Units and
Controllers.
Examples: Programming devices, human machine interfaces
● Drive Unit (PROFIBUS: slave)
The SINAMICS drive unit is with reference to PROFIdrive, a Drive Unit.

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9.1 Communication according to PROFIdrive

9.1.2 Application classes

Description
There are different application classes for PROFIdrive, depending on the scope and type of
the application processes. There are a total of 6 application classes in PROFIdrive, of which
4 are discussed here.

Application class 1 (standard drive)

In the most basic case, the drive is controlled via a speed setpoint by means of PROFIBUS.
In this case, speed control is fully handled in the drive controller. Typical application
examples are basic frequency converters. Pump and fan control.

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9.1 Communication according to PROFIdrive

Application class 2 (standard drive with technology function)

The total process is subdivided into a number of small subprocesses and distributed among
the drives. This means that the automation functions no longer reside exclusively in the
central automation device but are also distributed in the drive controllers.
Of course, this distribution assumes that communication is possible in every direction, i.e.
also cross-communication between the technology functions of the individual drive
controllers. Specific applications include e.g. setpoint cascades, winders and speed
synchronization applications for continuous processes with a continuous web.

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Figure 9-2 Application class 2

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9.1 Communication according to PROFIdrive

Application class 3 (positioning drive)

In addition to the drive control, the drive also includes a positioning control, so that the drive
operates as an autonomous basic positioning drive, while the higher-level technological
processes are executed on the controller. Positioning requests are transmitted to the drive
controller via PROFIBUS and launched. Positioning drives have a very wide range of
applications, e.g. the screwing and unscrewing of caps in a bottle filling plant or the
positioning of cutters on a film cutting machine.

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 Communication PROFIBUS DP
9.1 Communication according to PROFIdrive

Application class 4 (central motion control)

This application class defines a speed setpoint interface with execution of the speed control
on the drive and of the positioning control in the controller, such as is required for robotics
and machine tool applications with coordinated motions on multiple drives.
Motion control is primarily implemented by means of a central numerical controller (CNC).
The position control loop is closed via the bus. The synchronization of the position control
cycles in the control and in the closed-loop controllers in the drive requires a clock
synchronization of the kind provided by PROFIBUS DP.

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Figure 9-4 Application class 4

Dynamic Servo Control (DSC)

The PFOFIdrive profile contains the "Dynamic Servo Control" control concept. This can be
used to significantly increase the dynamic stability of the position control loop in application
class 4 with simple means.
For this purpose, the deadtime that is typical for a speed setpoint interface is minimized by
an additional measure (see also chapter "Dynamic Servo Control").

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9.1 Communication according to PROFIdrive

Selection of telegrams as a function of the application class

The telegrams listed in the table below (see also chapter "Telegrams and process data") can
be used in the following application classes:

Table 9- 2 Selection of telegrams as a function of the application class

Telegram Description Class 1 Class 2 Class 3 Class 4

(p0922 = x)
1 Speed setpoint, 16 bit x x
2 Speed setpoint, 32 bit x x
3 Speed setpoint, 32 bit with 1 position encoder x x
4 Speed setpoint, 32 bit with 2 position encoders x
7 Positioning, telegram 7 (basic positioner) x
9 Positioning, telegram 9 (basic positioner with direct input) x
102 Speed setpoint, 32 bit with 1 position encoder and torque x
reduction
103 Speed setpoint, 32 bit with 2 position encoders and torque x
reduction
110 Basic positioner with MDI, override and XIST_A x
111 Basic positioner in MDI mode x
390 Control Unit with digital inputs/outputs x x x x
391 Control Unit with digital inputs/outputs and 2 measuring x x x x
probes
999 Free telegrams x x x x

9.1.3 Cyclic communication

Cyclic communication is used to exchange time-critical process data.

9.1.3.1 Telegrams and process data

General information
The selection of a telegram via p0922 determines which data on the drive unit side (Control
Unit) will be transferred.
From the perspective of the drive unit, the received process data comprises the receive
words and the process data to be sent the send words.
The receive and send words comprise the following elements:
● Receive words: Control words or setpoints
● Send words: Status words or actual values

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9.1 Communication according to PROFIdrive

What telegrams are available?

1. Standard telegrams
The standard telegrams are structured in accordance with the PROFIdrive Profile. The
internal process data links are set up automatically in accordance with the telegram
number setting.
The following standard telegrams can be set via p0922:
– 1 Speed setpoint, 16 bit
– 2 Speed setpoint, 32 bit
– 3 Speed setpoint, 32 bit with 1 position encoder
– 4 Speed setpoint, 32 bit with 2 position encoders
– 7 Positioning, telegram 7 (basic positioner)
– 9 Positioning, telegram 9 (basic positioner with direct input)
2. Manufacturer-specific telegrams
The manufacturer-specific telegrams are structured in accordance with internal company
specifications. The internal process data links are set up automatically in accordance with
the telegram number setting.
The following vendor-specific telegrams can be set via p0922:
– 102 Speed setpoint, 32 bit with 1 position encoder and torque reduction
– 103 Speed setpoint, 32 bit with 2 position encoders and torque reduction
– 110 Positioning, telegram 10 (basic positioner with MDI, override and XIST_A)
– 111 Positioning, telegram 11 (basic positioner in MDI mode)
– 390 Control Unit with digital inputs/outputs
– 391 Control Unit with digital inputs/outputs and 2 measuring probes
3. Free telegrams (p0922 = 999)
The send and receive telegrams can be configured as required by using BICO technology
to interconnect the send and receive process data.

SERVO CU_S110
DWORD r2060[0 ... 14] -
connector output
WORD connector r2050[0 ... 15] r2050[0 ... 4]
output
Binector output r2090.0 ... 15 r2090.0 ... 15
r2091.0 ... 15 r2091.0 ... 15
r2092.0 ... 15
r2093.0 ... 15
Free binector- p2080[0 ... 15], p2081[0 ... 15], p2082[0 ... 15], r2089[0 ... 4]
connector
converter
DWORD p2061[0 ... 14] -
connector input
WORD connector p2051[0 ... 18] p2051[0 ... 14]
input

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9.1 Communication according to PROFIdrive

Telegram interconnections
When you change p0922 = 999 (factory setting) to p0922 ≠ 999, the telegrams are
interconnected and blocked automatically.

Note
Telegram 111 is the exception: Here, PZD12 in the transmit telegram or PZD12 in the
receive telegram can be interconnected as required.

When you change p0922 ≠ 999 to p0922 = 999, the previous telegram interconnection is
retained and can be changed.

Note
If p0922 = 999, a telegram can be selected in p2079. A telegram interconnection is
automatically made and blocked. The telegram can also be extended.
This is an easy method of creating extended telegram interconnections on the basis of
existing telegrams.

The telegram structure

The parameter p0978 contains the sequence of DOs that use a cyclic PZD exchange. A zero
delimits the DOs that do not exchange any PZDs.
If the value 255 is written to p0978, the drive unit emulates an empty drive object that is
visible to the PROFIdrive Master. This permits cyclic communication of a PROFIdrive Master
● with unchanged configuration to drive units that have a different number of drive objects.
● with deactivated DOs without having to change the project.

Note

• The following must apply to ensure conformity with the PROFIdrive profile:
– Interconnect PZD receive word 1 as control word 1 (STW1).
– Interconnect PZD send word 1 as status word 1 (STW1).
Use WORD format for PZD1.
• One PZD = one word.
Only one of the interconnection parameters (p2051 or p2061) can have the value ≠ 0
for a PZD word.
• Physical word and double word values are inserted in the telegram as referenced
variables.
p200x are relevant as reference values (telegram contents = 4000 hex or
4000 0000 hex for double words if the input variable has a value of p200x).

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Structure of the telegrams

You can find an overview of the structure of telegrams in function diagrams 2420, 2422, and
2423 in the SINAMICS S110 List Manual.
Depending on the drive object, only certain telegrams can be used:

Drive object Telegrams (p0922)

SERVO 1, 2, 3, 4, 102, 103, 999
SERVO (EPOS) 7, 9, 110, 111, 999
CU_S110 390, 391, 999
Depending on the drive object, the following maximum number of process data items can be
transmitted for user-defined telegram structures:

Drive object Max. number of PZD for sending / receiving

• SERVO Send 19, receive 16
• CU_S110 Send 15, receive 5

Interface Mode
Interface Mode is used for adjusting the assignment of the control and status words in line
with other drive systems and standardized interfaces.
The mode can be set as follows:

Value Interface Mode

p2038 = 0 SINAMICS (factory setting)
p2038 = 1 SIMODRIVE 611 universal

Procedure:
1. Set p0922 ≠ 999.
2. p2038 = set required interface mode.
If you set telegrams 102 and 103, Interface Mode is set by default (p2038 = 1) and cannot be
changed.
Interface Mode is also set by default with positioning telegrams (7, 9, 110, and 111) and
cannot be changed (p2038 = 0 set).
When a telegram that specifies the Interface Mode (e.g. p0922 = 102) is changed to a
different telegram (e.g. p0922 = 3), the setting in p2038 is retained.

Function diagrams (see SINAMICS S110 List Manual)

● 2410 PROFIBUS address, diagnostic
● ...
● 2498 – E_DIGITAL interconnection

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9.1.3.2 Description of control words and setpoints

Note
This chapter describes the assignment and meaning of the process data in SINAMICS
interface mode (p2038 = 0).
The reference parameter is also specified for the relevant process data. The process data
are generally normalized in accordance with parameters p2000 to r2004.
The following scalings apply:
A temperature of 100°C = 100% and 0°C = 0%
An electrical angle of 90° = 100 % and 0° = 0%.

Overview of control words and setpoints

Table 9- 3 Overview of control words and setpoints, profile-specific

Abbreviation Name Signal Data type 1) Interconnection

Signal number parameters

STW1 Control word 1 1 U16 (bit-serial)2)

STW2 Control word 2 3 U16 (bit-serial)2)
NSOLL_A Speed setpoint A (16-bit) 5 I16 p1155
p1070(ext.setp.)
NSOLL_B Speed setpoint B (32-bit) 7 I32 p1155
p1070(ext. setp.)
p1430(DSC)
G1_STW Encoder 1 control word 9 U16 p0480[0]
G2_STW Encoder 2 control word 13 U16 p0480[1]
A_DIGITAL Digital output (16 bits) 22 U16 (bit-serial)
SATZANW EPOS block selection 32 I32 (bit-serial)
MDI_TARPOS MDI position 34 I32 p2642
MDI_VELOCITY MDI velocity 35 I32 p2643
MDI_ACC MDI acceleration 36 I16 p2644
MDI_DEC MDI delay 37 I16 p2645
MDI_MOD MDI mode specification 38 U16 (bit-serial)
1) Data type according to PROFIdrive profile V4:
I16 = Integer16, I32 = Integer32, U16 = Unsigned16, U32 = Unsigned32
2) Bit-serial interconnection: refer to the following pages

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Table 9- 4 Overview of control words and setpoints, manufacturer-specific

Abbreviation Name Signal Data type 1) Interconnection

number parameters
MOMRED Torque reduction 101 I16 p1542
MT-STW Probe control word 130 U16 P0682
POS_STW Positioning control word 203 U16 (bit-serial)
OVERRIDE Override in positioning mode 205 I16 p2646
POS_STW1 Positioning control word 1 220 U16 (bit-serial)
POS_STW2 Positioning control word 2 222 U16 (bit-serial)
MDI_MODE MDI mode 229 U16 p2654
CU_STW1 Control word for Control Unit (CU) 500 U16 (bit-serial)
1) Data type according to PROFIdrive profile V4:
I16 = Integer16, I32 = Integer32, U16 = Unsigned16, U32 = Unsigned32
2) Bit-serial interconnection: Refer to the following pages

STW1 (control word 1)

See function diagram [2442]

Table 9- 5 Description of STW1 (control word 1)

Bit Meaning Remarks BICO

0 ON/OFF1 0/1 ON BI: p0840
Pulse enable possible
0 OFF1
Braking with the ramp-function generator, then
pulse suppression and switching on inhibited.
1 OFF2 1 No OFF2 BI: p0844
Enable possible
0 Immediate pulse suppression and switching on
inhibited
Note:
Control signal OFF2 is generated by ANDing BI: p0844 and BI: p0845.
2 OFF3 1 No OFF3 BI: p0848
Enable possible
0 Quick stop (OFF3)
Braking with OFF3 ramp p1135, then pulse
suppression and switching on inhibited.
Note:
Control signal OFF3 is generated by ANDing BI: p0848 and BI: p0849.
3 Enable operation 1 Enable operation BI: p0852,
Pulse enable possible p1224.1
0 Disable operation (with
Cancel pulses extended
brake
control only)
4 Enable ramp-function generator 1 Operating condition BI: p1140
Ramp-function generator enable possible

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Bit Meaning Remarks BICO

0 Inhibit ramp-function generator
Set ramp-function generator output to zero
5 Restart ramp-function generator 1 Restart ramp-function generator BI: p1141
0 Freeze ramp-function generator
Note:
The ramp-function generator cannot be frozen via p1141 in jog mode (r0046.31 = 1).
6 Enable speed setpoint 1 Enable setpoint BI: p1142
0 Inhibit setpoint
Set ramp-function generator input to zero
7 Acknowledge fault 0/1 Acknowledge fault BI: p2103
0 No effect
Note:
Faults are acknowledged at a 0/1 edge via BI: p2103.
8..9 Reserved - - -
10 Master control by PLC 1 Master control by PLC BI: p0854
This signal must be set so that the process data
transferred via PROFIdrive are accepted and
become effective.
0 PLC has no master control
Process data transferred via PROFIdrive are
rejected - i.e. assumed to be zero.
Note:
This bit should not be set to "1" until the PROFIdrive has returned an appropriate status via ZSW1.9 = "1".
11 Setpoint inversion 1 Setpoint inversion BI: p1113
(Only with "extended setpoint channel" 0 No setpoint inversion
and "extended ramp-function
generator")
12 Reserved - - -
13 Motorized potentiometer, setpoint, raise 1 Motorized potentiometer, setpoint, raise BI: p1035
(Only with "extended setpoint channel" 0 Motorized potentiometer setpoint raise not
and "extended ramp-function selected
generator")
14 Motorized potentiometer, setpoint, lower 1 Motorized potentiometer, setpoint, lower BI: p1036
(Only with "extended setpoint channel" 0 Motorized potentiometer setpoint lower not
and "extended ramp-function selected
generator")
15 Reserved - - -

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STW1 (control word 1), positioning mode, p0108.4 = 1

See function diagram [2475]

Table 9- 6 Description of STW1 (control word 1), positioning mode

Bit Meaning Remarks BICO

0 ON/OFF1 0/1 ON BI: p0840
Pulse enable possible
0 OFF1
Braking with the ramp-function generator, then
pulse suppression and switching on inhibited.
1 OFF2 1 No OFF2 BI: p0844
Enable possible
0 OFF2
Immediate pulse suppression and switching on
inhibited
Note:
Control signal OFF2 is generated by ANDing BI: p0844 and BI: p0845.
2 OFF3 1 No OFF3 BI: p0848
Enable possible
0 Quick stop (OFF3)
Braking with OFF3 ramp p1135, then pulse
suppression and switching on inhibited.
Note:
Control signal OFF3 is generated by ANDing BI: p0848 and BI: p0849.
3 Enable operation 1 Enable operation BI: p0852
Pulse enable possible
0 Disable operation
Cancel pulses
4 Reject traversing task 1 Do not reject traversing task BI: p1140
0 Reject traversing task
5 Intermediate stop 1 No intermediate stop BI: p2640
0 Intermediate stop
6 Activate traversing task 0/1 Enable setpoint BI: p2631,
0 No effect p2650

Note:
The interconnection p2649 = 0 is also made.
7 Acknowledge fault 0/1 Acknowledge fault BI: p2103
0 No effect
8 Jog 1 1 Jog 1 ON BI: p2589
See also SINAMICS S110 List Manual, function
diagram 3610
0 No effect
9 Jog 2 1 Jog 2 ON BI: p2590
See also SINAMICS S110 List Manual, function
diagram 3610
0 No effect

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Bit Meaning Remarks BICO

10 Master control by PLC 1 Control by PLC BI: p0854
This signal must be set so that the process data
transferred via PROFIdrive are accepted and
become effective.
0 No control by PLC
Process data transferred via PROFIdrive are
rejected - i.e. assumed to be zero.
Note:
This bit should not be set to "1" until the PROFIdrive has returned an appropriate status via ZSW1.9 = "1".
11 Start referencing 1 Start referencing BI: p2595
0 Stop referencing
12 Reserved - - -
13 External block change 0/1 External set change is initiated BI: 2632
0 No effect
14 Reserved - - -
15 Reserved - - -

STW2 (control word 2)

See function diagram [2444]

Table 9- 7 Description of STW2 (control word 2)

Bit Meaning Remarks BICO

0 Drive data set selection DDS bit 0 - Drive data set selection BI: p0820[0]
(5 bit counter)
1...6 Reserved - - -
7 Parking axis 1 Request parking axis (handshake with ZSW2 bit BI: p0897
7)
0 No request
8 Travel to fixed stop 1 Select "Travel to fixed stop" BI: p1545
(not with telegrams 9, 110) The signal must be set before the fixed stop is
reached.
1/0 Deselect "Travel to fixed stop"
The signal must be set before the fixed stop is
reached
9..10 Reserved - - -
11 Motor changeover 0/1 Motor changeover complete BI: p0828[0]
0 No effect
12 Master sign of life bit 0 - User data integrity (4-bit counter) CI: p2045
13 Master sign of life bit 1 -
14 Master sign of life bit 2 -
15 Master sign of life bit 3 -

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NSOLL_A (speed setpoint A (16-bit))

● Speed setpoint with a 16-bit resolution with sign bit.
● Bit 15 determines the sign of the setpoint:
– Bit = 0 --> positive setpoint
– Bit = 1 --> negative setpoint
● The speed is normalized via p2000.
NSOLL_A = 4000 hex or 16384 dec ≐ speed in p2000

NSOLL_B (speed setpoint B (32-bit))

● Speed setpoint with a 32-bit resolution with sign bit.
● Bit 31 determines the sign of the setpoint:
– Bit = 0 --> positive setpoint
– Bit = 1 --> negative setpoint
● The speed is normalized via p2000.
NSOLL_B = 4000 0000 hex or 1 073 741 824 dec ≐ speed in p2000

Q
S

KH[ 162//B$
KH[ 162//B%

Figure 9-5 Normalization of speed

Gn_STW (encoder n control word)

This process data belongs to the encoder interface.

A_DIGITAL
MT_STW
CU_STW1
These process data are part of the central process data.

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9.1 Communication according to PROFIdrive

MOMRED (torque reduction)

This setpoint can be used to reduce the torque limit currently active on the drive.
When you use manufacturer-specific PROFIdrive telegrams with the MOMRED control word,
the signal flow is automatically interconnected up to the point where the torque limit is
scaled.

0BOLPLWB 6FDOLQJ
S
S S 
S! +H[

 S S
>@  S [ S 
  WR


0205(' >@ 0BOLPLWB 6FDOLQJ

S
 HJE\ S S 

S! +H[

S S
>@  S [ S 
 WR

Figure 9-6 MOMRED setpoint

MOMRED specifies the percentage by which the torque limit is to be reduced. This value is
converted internally to the amount by which the torque is to be reduced and normalized via
p1544.

SATZANW (positioning mode, p0108.4 =1)

See function diagram [2476]

Table 9- 8 Description of BLOCKSEL (positioning mode, p0108.4 =1)

Bit Meaning Remarks BICO

0 1 = block selection, bit 0 (20) Block selection BI: p2625
1 1 = block selection, bit 1 (21) Traversing block 0 to 63 BI: p2626
2 1 = block selection, bit 2 (22) BI: p2627
3 1 = block selection, bit 3 (23) BI: p2628
4 1 = block selection, bit 4 (24) BI: p2629
5 1 = block selection, bit 5 (25) BI: p2630
6 Reserved - - -
...
14
15 Activate MDI 1 Activate MDI p2647
0 De-activate MDI
Note:
See also: Basic positioner section

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POS_STW (positioning mode, p0108.4 =1)

See function diagram [2462].

Table 9- 9 Description of POS_STW (positioning mode, p0108.4 = 1)

Bit Meaning Remarks BICO

0 Tracking mode 1 Activate tracking mode BI: 2655
0 Tracking mode deactivated
1 Set reference point 1 Set reference point BI: 2596
0 Do not set reference point
2 Reference cam 1 Reference cam active BI: 2612
0 Reference cam not active
3, 4 Reserved - - -
5 Incremental jog 1 Incremental jog active BI: 2591
0 Jog velocity active
6 Reserved - - -
...
15
Note:
See also: Basic positioner section

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POS_STW1 (control word 1, positioning mode, r0108.4 = 1)

See function diagram [2463].

Table 9- 10 Description of POS_STW1 (control word 1)

Bit Meaning Remarks BICO

0 EPOS traversing block selection bit 0 Traversing block selection BI: p2625
1 EPOS traversing block selection bit 1 BI: p2626
2 EPOS traversing block selection bit 2 BI: p2627
3 EPOS traversing block selection bit 3 BI: p2628
4 EPOS traversing block selection bit 4 BI: p2629
5 EPOS traversing block selection bit 5 BI: p2630
6...7 Reserved - - -
8 EPOS direct setpoint input/MDI 1 Absolute positioning is selected. BI: p2648
positioning type 0 Relative positioning is selected.
Set the signal source for the positioning
type in mode "Direct setpoint input/MDI".
9 EPOS direct setpoint input/MDI, positive During "set-up": BI: p2651
direction selection If both directions (p2651, p2652) are
10 EPOS direct setpoint input/MDI, selected or deselected, the axis remains BI: p2652
negative direction selection stationary.
During "positioning":
BI: p2651 / BI: p2652
0/0 Position absolutely via shortest route.
1/0 Position absolutely in the positive direction.
0/1 Position absolutely in the negative direction.
1/1 Position absolutely via shortest route.
11 Reserved - - -
12 EPOS direct setpoint input/MDI, 1 Continuous acceptance of values BI: p2649
acceptance method selection Please see the description in the List Manual.
Set the signal source for the method of 0 Values are only accepted when
accepting values in mode "Direct BI: p2650 = 0/1 signal (rising edge).
setpoint input/MDI".
13 Reserved - - -
14 EPOS direct setpoint input/MDI, setup 1 Set-up selected. BI: p2653
selection 0 Positioning selected.
Set the signal source for set-up in mode
"Direct setpoint input/MDI".
15 EPOS direct setpoint input/MDI - - BI: p2647
selection
Set the signal source for the selection of
mode "Direct setpoint input/MDI".

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POS_STW2 (control word 2, positioning mode, p0108.4 =1)

See function diagram [2464].

Table 9- 11 Description of POS_STW2 (control word 2, positioning mode, p0108.4 = 1)

Bit Meaning Remarks BICO

0 Tracking mode 1 Activate tracking mode BI: p2655
0 Tracking mode deactivated
1 Set reference point 1 Set reference point BI: p2596
0 Do not set reference point
2 Reference cam 1 Reference cam active BI: p2612
0 Reference cam not active
3..4 Reserved - - -
5 Incremental jog 1 Incremental jog active BI: p2591
0 Jog velocity active
6..7 Reserved - - -
8 Reference type selection 1 Flying referencing BI: p2597
0 Reference point approach
9 Reference point approach start 1 Start in negative direction BI: p2604
direction 0 Start in positive direction
10 LR measuring probe evaluation, 1 Measuring probe 2 is activated when BI: p2509 = BI: p2510
selection 0/1 edge activated.
Set the signal source for selection 0 Measuring probe 1 is activated when BI: p2509 =
of the measuring probe. 0/1 edge activated.
11 LR measuring probe evaluation edge 1 Falling edge of measuring probe (p2510) is BI: p2511
Set the signal source for edge activated when BI: p2509 = 0/1 edge activated.
evaluation of the measuring probe. 0 Rising edge of measuring probe (p2510) is
activated when BI: p2509 = 0/1 edge activated.
12...13 Reserved - - -
14 EPOS software limit switch activation 1 Axis is referenced (r2684.11 = 1) and BI: p2582 = BI: p2582
Set the signal source for activation of 1 signal.
"Software limit switches".
0 Software limit switches inoperative:
- Modulo offset active (BI: p2577 = 1 signal).
- Reference point approach is executed.
15 EPOS STOP cam activation 1 BI: p2568 = 1 signal --> Evaluation of the STOP BI: p2568
Set the signal source for activation of cam minus (BI: p2569) and STOP cam plus (BI:
"STOP cams". p2570) is active.
0 Evaluation of STOP cams is not active
Note:
See also: Basic positioner section

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OVERRIDE (Pos Velocity Override)

This process data defines the percentage for the velocity override.
Normalization: 4000 hex (16384 dec) = 100 %
Range of values: 0 ... 7FFF hex
Values outside this range are interpreted as 0%.

MDI_TARPOS (MDI position)

This process data defines the position for MDI sets.
Normalization: 1 corresponds to 1 LU

MDI_VELOCITY (MDI velocity)

This process data defines the velocity for MDI sets.
Normalization: 1 corresponds to 1000 LU/min

MDI_ACC (MDI acceleration)

This process data defines the acceleration for MDI sets.
Normalization: 4000 hex (16384 dec) = 100 %
The value is restricted to 0.1 ... 100% internally.

MDI_DEC (MDI deceleration override)

This process data defines the percentage for the deceleration override for MDI sets.
Normalization: 4000 hex (16384 dec) = 100 %
The value is restricted to 0.1 ... 100% internally.

MDI_MOD
For a detailed table see function diagram [2480].

Table 9- 12 Signal targets for MDI_MOD (positioning mode, r0108.4 = 1)

Bit Meaning Interconnection

parameter
0 0= Absolute positioning p2648=r2094.0
1= Relative positioning
1 0 = Absolute positioning for modulo axes via the shortest route p2651=r2094.1
2 1 = Absolute positioning for modulo axes in positive direction p2652=r2094.2
2 = Absolute positioning for modulo axes in negative direction
3 = Absolute positioning for modulo axes via the shortest route
3...15 Reserved - - - -

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MDI_MODE
This process data defines the mode for MDI sets.
Precondition: p2654 > 0
MDI_MODE = xx0x hex –> Absolute
MDI_MODE = xx1x hex –> Relative
MDI_MODE = xx2x hex –> Abs_pos (with modulo offset only)
MDI_MODE = xx3x hex –> Abs_neg (with modulo offset only)

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9.1.3.3 Description of status words and actual values

Description of status words and actual values

Note
This chapter describes the assignment and meaning of the process data in SINAMICS
interface mode (p2038 = 0).
The reference parameter is also specified for the relevant process data. The process data
are generally normalized in accordance with parameters p2000 to r2004.
The following scalings also apply:
A temperature of 100°C = 100%
An electrical angle of 90° also = 100%.

Overview of status words and actual values

Table 9- 13 Overview of status words and actual values, profile-specific

Abbreviation Name Signal Data type 1) Interconnection

number parameters
ZSW1 Status word 1 2 U16 r2089[0]
ZSW2 Status word 2 4 U16 r2089[1]
NACT_A Speed setpoint A (16 bit) 6 I16 r0063
NACT_B Speed setpoint B (32 bit) 8 I32 r0063
G1_ZSW Encoder 1 status word 10 U16 r0481[0]
G1_XIST1 Encoder 1 actual position value 1 11 U32 r0482[0]
G1_XIST2 Encoder 1 actual position value 2 12 U32 r0483[0]
G2_ZSW Encoder 2 status word 14 U16 r0481[1]
G2_XIST1 Encoder 2 actual position value 1 15 U32 r0482[1]
G2_XIST2 Encoder 2 actual position value 2 16 U32 r0483[1]
E_DIGITAL Digital inputs (16 bits) 21 U16 r2089[2]
XIST_A Pos position actual value 28 I32 r2521[0]
AKTSATZ Pos selected block 33 U16 r2670
1) Data type according to PROFIdrive profile V4:
I16 = Integer16, I32 = Integer32, U16 = Unsigned16, U32 = Unsigned32
2) Bit-serial interconnection: Refer to the following pages, r2089 via binector-connector converter

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Table 9- 14 Overview of status words and actual values, manufacturer-specific

Abbreviation Name Signal Data type 1) Interconnection

number parameters
MELDW Message word 102 U16 r2089[2]
MT_ZSW Probe status word 131 U16 r0688
MT1_ZS_F Probe 1 time stamp falling edge 132 U16 r0687[0]
MT1_ZS_S Probe 1 time stamp rising edge 133 U16 r0686[0]
MT2_ZS_F Probe 2 time stamp falling edge 134 U16 r0687[1]
MT2_ZS_S Probe 2 time stamp rising edge 135 U16 r0686[1]
POS_ZSW Positioning status word 204 U16 r2683
POS_ZSW1 Positioning status word 1 221 U16 r2089[3]
POS_ZSW2 Positioning status word 2 223 U16 r2089[4]
FAULT_CODE Fault code 301 U16 r2131
WARN_CODE Alarm code 303 U16 r2132
CU_ZSW1 Status word for Control Unit (CU) 501 U16 r2089[1]
1) Data type according to PROFIdrive profile V4:
I16 = Integer16, I32 = Integer32, U16 = Unsigned16, U32 = Unsigned32
2) Bit-serial interconnection: Refer to the following pages, r2089 via binector-connector converter

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ZSW1 (status word 1)

See function diagram [2452]

Table 9- 15 Description of ZSW1 (status word 1)

Bit Meaning Remarks BICO

0 Ready for switching on 1 Ready for switching on BO: r0899.0
Power supply on, electronics initialized, line
contactor released if necessary, pulses inhibited.
0 Not ready for switching on
1 Ready for operation 1 Ready for operation BO: r0899.1
Voltage at Line Module (i.e. line contactor closed (if
used)), field being built up.
0 Not ready for operation
Reason: No ON command has been issued.
2 Operation enabled 1 Operation enabled BO: r0899.2
Enable electronics and pulses, then ramp up to
active setpoint.
0 Operation inhibited
3 Fault active 1 Fault active BO: r2139.3
The drive is faulty and, therefore, out of service.
The drive switches to "switching on inhibited" once
the fault has been acknowledged and the cause
has been remedied.
The active faults are stored in the fault buffer.
0 No fault present
No active fault in the fault buffer.
4 Coasting active (OFF2) 1 No OFF2 active BO: r0899.4
0 Coasting active (OFF2)
An OFF2 command is active.
5 Quick stop active (OFF3) 1 No OFF3 active BO: r0899.5
0 Quick stop active (OFF3)
An OFF3 command is active.
6 Switching on inhibited 1 Switching on inhibited BO: r0899.6
A restart is only possible by means of OFF1 and
then ON.
0 No "switching on inhibited"
Power-up is possible.
7 Alarm present 1 Alarm present BO: r2139.7
The drive is operational again. No
acknowledgement necessary.
The active alarms are stored in the alarm buffer.
0 No alarm present
No active alarm in the alarm buffer.

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Bit Meaning Remarks BICO

8 Speed 1 Setpoint-actual value monitoring within tolerance BO: r2197.7
setpoint-actual value deviation band
within tolerance band Actual value within a tolerance band; dynamic
overshoot or undershoot for t < tmax permissible,
e.g.
n = nset±
f = fset±, etc.,
tmax can be parameterized
0 Setpoint/actual value monitoring not within
tolerance band
9 Control request to PLC 1 Control requested BO: r0899.9
The PLC is requested to assume control. Condition
for applications with isochronous mode: drive
synchronized with PLC system.
0 Local operation
Control only possible on device
10 f or n comparison value reached or 1 f or n comparison value reached or exceeded. BO: r2199.1
exceeded 0 f or n comparison value not reached.
Note:
The message is parameterized as follows:
p2141 Threshold value
p2142 Hysteresis
11 I, M or P limit reached or exceeded 1 I, M or P limit not reached BO: r1407.7
0 I, M or P limit reached or exceeded
12 Holding brake open 1 Holding brake opened BO: r0899.12
0 Holding brake closed
13 No motor overtemperature alarm 1 Motor overtemperature alarm not active BO: r2135.14
0 Motor overtemperature alarm active
14 n_act >= 0 1 Actual speed > = 0 BO: r2197.3
0 Actual speed < 0
15 Alarm, drive converter thermal 1 No alarm present BO: r2135.15
overload 0 Alarm, converter thermal overload
The overtemperature alarm for the converter is
active.

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ZSW1 (status word 1, positioning mode, p0108.4 = 1)

See function diagram [2479]
*Valid for p0922 = 111 (telegram 111).
For p0922 = 110 (telegram 110): Bits 14 and 15 reserved.

Table 9- 16 Description of ZSW1 (status word 1, positioning mode)

Bit Meaning Remarks BICO

0 Ready for switching on 1 Ready for switching on BO: r0899.0
Power supply on, electronics initialized, line
contactor released if necessary, pulses inhibited.
0 Not ready for switching on
1 Ready for operation 1 Ready for operation BO: r0899.1
Voltage at Line Module (i.e. line contactor closed (if
used)), field being built up.
0 Not ready for operation
Reason: No ON command has been issued.
2 Operation enabled 1 Operation enabled BO: r0899.2
Enable electronics and pulses, then ramp up to
active setpoint.
0 Operation inhibited
3 Fault active 1 Fault active BO: r2139.3
The drive is faulty and, therefore, out of service.
The drive switches to "switching on inhibited" once
the fault has been acknowledged and the cause
has been remedied.
The active faults are stored in the fault buffer.
0 No fault present
No active fault in the fault buffer.
4 Coasting active (OFF2) 1 No OFF2 active BO: r0899.4
0 Coasting active (OFF2)
An OFF2 command is active.
5 Quick stop active (OFF3) 1 No OFF3 active BO: r0899.5
0 Quick stop active (OFF3)
An OFF3 command is active.
6 Switching on inhibited 1 Switching on inhibited BO: r0899.6
A restart is only possible by means of OFF1 and
then ON.
0 No "switching on inhibited"
Power-up is possible.
7 Alarm present 1 Alarm present BO: r2139.7
The drive is operational again. No
acknowledgement necessary.
The active alarms are stored in the alarm buffer.
0 No alarm present
No active alarm in the alarm buffer.

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Bit Meaning Remarks BICO

8 Following error within the tolerance 1 Setpoint-actual value monitoring within tolerance BO: r2684.8
range band
Actual value within a tolerance bandwidth;
The tolerance bandwidth can be parameterized.
0 Setpoint/actual value monitoring not within
tolerance band
9 Control request to PLC 1 Control requested BO: r0899.9
The PLC is requested to assume control. Condition
for applications with isochronous mode: drive
synchronized with PLC system.
0 Local operation
Control only possible on device
10 Target position reached 1 Target position reached BO: r2684.10
0 Target position not reached
11 Reference point set 1 Reference point set BO: r2684.11
0 Reference point not set
12 Acknowledgement, traversing 0/1 Acknowledgement, traversing block BO: r2684.12
block activated 0 No effect
13 Drive at standstill 1 Drive at standstill BO: r2199.0
0 Drive not at standstill
14* Axis accelerating 1 Axis is accelerating. BO: r2684.4
(telegram 111) 0 Axis is not accelerating.
15* Axis decelerating 1 Axis is decelerating. BO: r2684.5
(telegram 111) 0 Axis is not decelerating.

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ZSW2 (status word 2)

See function diagram [2454]

Table 9- 17 Description of ZSW2 (status word 2)

Bit Meaning Remarks BICO

0 DDS eff., bit 0 – Drive data set effective (2-bit counter) BO: r0051.0
1 DDS eff., bit 1 – BO: r0051.1
2...4 Reserved – – –
5 Alarm class bit 0 – Bits 5-6: Alarm stage of SINAMICS drives, BO: r2139.11
6 Alarm class bit 1 – transferred as attribute in alarm message BO: r2139.12
value = 0: Alarm (previous alarm stage)
value = 1: Alarm class A
value = 2: Alarm class B
value = 3: Alarm class C
7 Parking axis 1 Axis parking active BO: r0896.0
0 Axis parking not active
8 Travel to fixed stop 1 Travel to fixed stop BO: r1406.8
0 No travel to fixed stop
9 Reserved – – –
10 Pulses enabled 1 Pulses enabled BO: r0899.11
0 Pulses not enabled
11 Data set changeover 1 Data record changeover active BO: r0835.0
0 No data set changeover active
12 Slave sign of life bit 0 – User data integrity (4-bit counter) Implicitly
13 Slave sign of life bit 1 – interconnected
14 Slave sign of life bit 2 –
15 Slave sign of life bit 3 –

NACT_A (Speed setpoint A (16 bit))

● Actual speed value with 16-bit resolution.
● The speed actual value is normalized in the same way as the setpoint (see NSOLL_A).

NACT_B (Speed setpoint B (32 bit))

● Actual speed value with 32-bit resolution.
● The speed actual value is normalized in the same way as the setpoint (see NSOLL_B).

Gn_ZSW (encoder n status word)

Gn_XIST1 (encoder n position actual value 1)
Gn_XIST2 (encoder n position actual value 2)
This process data belongs to the encoder interface.

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E_DIGITAL
MT_ZSW
MTn_ZS_F/MTn_ZS_S
CU_ZSW1
These process data are part of the central process data.

MELDW (message word)

See function diagram [2456]

Table 9- 18 Description of MELDW (message word)

Bit Meaning Remarks BICO

0 Ramp-up/ramp-down completed / 1 Ramp-up/ramp-down completed. BO: r2199.5
ramp-function generator active • The ramp-up procedure is completed once the
speed setpoint has been changed.
1/0 Ramp-up starts.
The start of the ramp-up procedure is detected as
follows:
• The speed setpoint changes,
and
• The defined tolerance bandwidth (p2164) is
exited.
0 Ramp-function generator active
• The ramp-up procedure is still active once the
speed setpoint has been changed.
0/1 Ramp-up ends.
The end of the ramp-up procedure is detected as
follows:
• The speed setpoint is constant,
and
• The actual speed value is within the tolerance
bandwidth and has reached the speed setpoint,
and
• The delay time (p2166) has elapsed.
1 Torque utilization < p2194 1 Torque utilization < p2194 BO: r2199.11
• The current torque utilization is less than the set
torque utilization threshold (p2194),
or
• Ramp-up is not yet complete.
0 Torque utilization > p2194
• The current torque utilization is greater than the
set torque utilization threshold (p2194).
Application:
This message indicates that the motor is overloaded and appropriate measures need to be taken to rectify the
situation (e.g. stop the motor or reduce the load).

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Bit Meaning Remarks BICO

2 |n_act| < p2161 1 |n_act| < p2161 BO: r2199.0
The actual speed value is less than the set
threshold value (p2161).
0 |n_act| ≥ p2161
The actual speed value is greater than or the same
as the set threshold value (p2161).
Note:
The message is parameterized as follows:
p2161 Threshold value
p2150 Hysteresis
Application:
To protect the mechanics, the gear stages are not switched mechanically until the speed is less than the set
threshold value.
3 |n_act| ≤ p2155 1 |n_act| ≤ p2155 BO: r2197.1
The actual speed value is less than or the same as
the set threshold value (p2155).
0 |n_act| > p2155
The actual speed value is greater than the set
threshold value (p2155).
Note:
The message is parameterized as follows:
p2155 Threshold value
p2140 Hysteresis
Application:
Speed monitoring.
4 Reserved – – –
5 Variable signaling function 1 The monitored signal of a SERVO axis has BO: r3294
exceeded the specified threshold value.
0 The monitored signal of a SERVO axis is within the
specified threshold value or the signaling function is
not active
6 No motor overtemperature alarm 1 No motor overtemperature alarm BO: r2135.14
The temperature of the motor is within the
permissible range.
0 Alarm, motor overtemperature
The temperature of the motor is greater than the set
motor temperature threshold (p0604).
Note:
• When the motor temperature threshold is exceeded, only an alarm is output initially to warn you of this. The
alarm is canceled automatically when the temperature no longer exceeds the alarm threshold.
• If the overtemperature is present for longer than the value set via p0606, a fault is output to warn you of this.
• Motor temperature monitoring can be switched-out via p0600 = 0.
Application:
The user can respond to this message by reducing the load. thereby preventing the motor from shutting down with
the "Motor temperature exceeded" fault after the set time has elapsed.
7 No thermal overload in power unit 1 No thermal overload in power unit alarm BO: r2135.15
alarm The temperature of the heat sink in the power unit is
within the permissible range.

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Bit Meaning Remarks BICO

0 Thermal overload in power unit alarm
The temperature of the heat sink in the power unit is
outside the permissible range.
If the overtemperature remains, the drive switches
itself off after approx. 20 s.
8 Speed setp - act val deviation in 1 The speed setpoint/actual value is within the BO: r2199.4
tolerance t_on tolerance p2163: The signal is switched on after the
delay specified in p2167 has elapsed.
0 The speed setpoint/actual value is outside the
tolerance.
9,10 Reserved - - -
11 Controller enable 1 Controller enable BO: r0899.8
12 Drive ready 1 Drive ready BO: r0899.7
13 Pulses enabled 1 Pulses enabled BO: r0899.11
The pulses for activating the motor are enabled.
0 Pulses inhibited
Application:
Armature short-circuit protection must only be switched on when the pulses are inhibited.
This signal can be evaluated as one of many conditions when armature short-circuit protection is activated.
14, Reserved - - -
15

AKTSATZ
See function diagram [3650].

Table 9- 19 Description of AKTSATZ (active traversing block/MDI active)

Bit Meaning Remarks BICO

0 Active traversing block, bit 0 – Active traversing block (6-bit counter) BO: r2670.0
1 Active traversing block, bit 1 – BO: r2670.1
2 Active traversing block, bit 2 – BO: r2670.2
3 Active traversing block, bit 3 – BO: r2670.3
4 Active traversing block, bit 4 – BO: r2670.4
5 Active traversing block, bit 5 – BO: r2670.5
6..14 Reserved – – –
15 MDI active 1 MDI active BO: r2670.15
0 MDI not active

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POS_ZSW
See function diagram [3645].

Table 9- 20 Description of POS_ZSW (status word, positioning mode)

Bit Meaning Remarks BICO

0 Tracking mode active 1 Tracking mode active BO: r2683.0
0 Tracking mode not active
1 Velocity limiting active 1 Active BO: r2683.1
0 Not active
2 Setpoint static 1 Setpoint static BO: r2683.2
0 Setpoint not static
3 Position setpoint reached 1 Position setpoint reached BO: r2683.3
0 Position setpoint not reached
4 Axis moves forwards 1 Axis moves forwards BO: r2683.4
0 Axis stationary or moves backwards
5 Axis moves backwards 1 Axis moves backwards BO: r2683.5
0 Axis stationary or moves forwards
6 Software limit switch minus 1 Software limit switch minus approached BO: r2683.6
approached 0 Software limit switch minus not approached
7 Software limit switch plus 1 Software limit switch plus approached BO: r2683.7
approached 0 Software limit switch plus not approached
8 Actual position value <= cam 1 Actual position value <= cam switching position 1 BO: r2683.8
switching position 1 0 Cam switching position 1 passed
9 Actual position value <= cam 1 Actual position value <= cam switching position 2 BO: r2683.9
switching position 2 0 Cam switching position 2 passed
10 Direct output 1 via the traversing 1 Direct output 1 active BO: r2683.10
block 0 Direct output 1 not active
11 Direct output 2 via the traversing 1 Direct output 1 active BO: r2683.11
block 0 Direct output 1 not active
12 Fixed stop reached 1 Fixed stop reached BO: r2683.12
0 Fixed stop is not reached
13 Fixed stop clamping torque 1 Fixed stop clamping torque reached BO: r2683.13
reached 0 Fixed stop clamping torque is not reached
14 Travel to fixed stop active 1 Travel to fixed stop active BO: r2683.14
0 Travel to fixed stop not active
15 Reserved – – –

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9.1 Communication according to PROFIdrive

POS_ZSW1 (status word 1, positioning mode, p0108.4 = 1)

See function diagram [2466].

Table 9- 21 Description of POS_ZSW1 (status word 1, positioning mode, p0108.4 = 1)

Bit Meaning Remarks BICO

0 Active traversing block, bit 0 – Active traversing block (6-bit counter) BO: r2670.0
1 Active traversing block, bit 1 – BO: r2670.1
2 Active traversing block, bit 2 – BO: r2670.2
3 Active traversing block, bit 3 – BO: r2670.3
4 Active traversing block, bit 4 – BO: r2670.4
5 Active traversing block, bit 5 – BO: r2670.5
6 Reserved – – –
7 Reserved – – –
8 STOP cam minus active 1 – BO: r2684.13
9 STOP cam plus active 1 – BO: r2684.14
10 Jog active 1 Jog active BO: r2094.0
0 Jog not active BO: r2669.0

11 Reference point approach active 1 Reference point approach active BO: r2094.1
0 Reference point approach not active BO: r2669.1
12 Flying referencing 1 Flying referencing BO: r2684.1
0 Flying referencing not active
13 Traversing blocks active 1 Traversing blocks active BO: r2094.2
0 Traversing blocks not active BO: r2669.2
14 Set-up active 1 Set-up active BO: r2094.3
0 Set-up not active BO: r2669.4

15 MDI active 1 MDI active BO: r2670.15

0 MDI not active

XIST_A
Actual position value is displayed
Normalization: 1 corresponds to 1 LU

WARN_CODE
Display of the alarm code (see function diagram 8065).

FAULT_CODE
Display of the fault code (see function diagram 8060).

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POS_ZSW2 (status word 2, positioning mode, p0108.4 = 1

See function diagram [2467].

Table 9- 22 Description of POS_ZSW2 (status word 2, positioning mode, p0108.4 = 1

Bit Meaning Remarks BICO

0 Tracking mode active 1 Tracking mode active BO: r2683.0
0 Tracking mode not active
1 Velocity limiting active 1 Active BO: r2683.1
0 Not active
2 Setpoint static 1 Setpoint static BO: r2683.2
0 Setpoint not static
3 Print index outside outer window 1 Flying / passive referencing not active BO: r2684.3
0 Flying / passive referencing active
4 Axis moves forwards 1 Axis moves forwards BO: r2683.4
0 Axis stationary or moves backwards
5 Axis moves backwards 1 Axis moves backwards BO: r2683.5
0 Axis stationary or moves forwards
6 Software limit switch minus 1 Software limit switch minus approached BO: r2683.6
approached 0 Software limit switch minus not approached
7 Software limit switch plus 1 Software limit switch plus approached BO: r2683.7
approached 0 Software limit switch plus not approached
8 Actual position value <= cam 1 Actual position value <= cam switching position 1 BO: r2683.8
switching position 1 0 Cam switching position 1 passed
9 Actual position value <= cam 1 Actual position value <= cam switching position 2 BO: r2683.9
switching position 2 0 Cam switching position 2 passed
10 Direct output 1 via the traversing 1 Direct output 1 active BO: r2683.10
block 0 Direct output 1 not active
11 Direct output 2 via the traversing 1 Direct output 1 active BO: r2683.11
block 0 Direct output 1 not active
12 Fixed stop reached 1 Fixed stop reached BO: r2683.12
0 Fixed stop is not reached
13 Fixed stop clamping torque 1 Fixed stop clamping torque reached BO: r2683.13
reached 0 Fixed stop clamping torque is not reached
14 Travel to fixed stop active 1 Travel to fixed stop active BO: r2683.14
0 Travel to fixed stop not active
15 Traversing command active 1 Axis traversing BO: r2684.15
0 Axis stationary

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9.1.3.4 Control and status words for encoder

Description
The process data for the encoders is available in various telegrams. For example, telegram 3
is provided for speed control with 1 position encoder and transmits the process data of
encoder 1.
The following process data is available for the encoders:
● Gn_STW encoder n control word (n = 1, 2)
● Gn_ZSW encoder n status word
● Gn_XIST1 encoder n act. pos. value 1
● Gn_XIST2 encoder n act. pos. value 2

Note
Encoder 1: Motor encoder
Encoder 2: Direct measuring system

Example of encoder interface

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value)

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Encoder n control word (Gn_STW, n = 1, 2)

The encoder control word controls the encoder functions.

Table 9- 23 Description of the individual signals in Gn_STW

Bit Name Signal status, description

0 Find reference Functions If bit 7 = 0, then find reference mark request applies:
1 mark or flying Bit Meaning
measurement
2 0 Function 1 Reference mark 1
3 1 Function 2 Reference mark 2
2 Function 3 Reference mark 3
3 Function 4 Reference mark 4
If bit 7 = 1, then find flying measurement request applies:
0 Function 1 Probe 1 rising edge
1 Function 2 Probe 2 falling edge
2 Function 3 Probe 3 rising edge
3 Function 4 Probe 4 falling edge
Note:
• Bit x = 1 Request function
Bit x = 0 Do not request function
• The following applies if more than 1 function is activated:
The values for all functions cannot be read until each activated function
has terminated and this has been confirmed in the corresponding status
bit (ZSW.0/.1/.2/.3 "0" signal again).
• Find reference mark
It is possible to search for a reference mark.
• Equivalent zero mark
• Flying measurement
Positive and negative edge can be activated simultaneously.
4 Command Bit 6, 5, 4 Meaning
5 000 -
6 001 Activate function x
010 Read value x
011 Terminate function
(x: function selected via bit 0-3)
7 Mode 1 Flying measurement (fine resolution via p0418)
0 Find reference mark (fine resolution via p0418)
8...12 Reserved -
13 Request cyclic absolute value 1 Request cyclic transmission of the absolute position actual value in
Gn_XIST2.
Used for (e.g.):
• Additional measuring system monitoring
• Synchronization during ramp-up

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Bit Name Signal status, description

0 No request
14 Parking encoder 1 Request parking encoder (handshake with Gn_ZSW bit 14)
0 No request
15 Acknowledge encoder error 0/1 Request to reset encoder errors

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Example 1: Find reference mark

Assumptions for the example:
● Distance-coded reference mark
● Two reference marks (function 1/function 2)
● Position control with encoder 1

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9.1 Communication according to PROFIdrive

9.1.3.5 Example 2: Flying measurement

Example 2: Flying measurement

Assumptions for the example:
● Measuring probe with rising edge (function 1)
● Position control with encoder 1

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Encoder 2 control word (G2_STW)

● see G1_STW

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Encoder n status word (Gn_ZSW, n = 1, 2)

The encoder status word is used to display states, errors and acknowledgements.

Table 9- 24 Description of the individual signals in Gn_ZSW

Bit Name Signal status, description

0 "Find Status: Valid for "Find reference mark" and "Flying measurement"
1 reference Function 1 - 4 Bit Meaning
mark" or active
2 0 Function 1 Reference mark 1
"Flying
3 measurement Probe 1 rising edge
" 1 Function 2 Reference mark 2
Probe 1 falling edge
2 Function 3 Reference mark 3
Probe 2 rising edge
3 Function 4 Reference mark 4
Probe 2 falling edge
Note:
• Bit x = 1 function active
Bit x = 0 function inactive
4 Status: Valid for "Find reference mark" and "Flying measurement"
5 Value 1 - 4 Bit Meaning
available
6 4 Value 1 Reference mark 1
7 Probe 1 rising edge
5 Value 2 Probe 1 falling edge
6 Value 3 Probe 2 rising edge
7 Value 4 Probe 2 falling edge
Note:
• Bit x = 1 value available
Bit x = 0 value not available
• Only one value can be fetched at a time.
Reason: There is only one common status word Gn_XIST2 to read the values.
• The probe must be configured to a "high-speed input" DI/DO on the Control
Unit.
8 Probe 1 1 Probe deflected (high signal)
deflected 0 Probe not deflected (low signal)
9 Probe 2 deflected 1 Probe deflected (high signal)
0 Probe not deflected (low signal)
10 Reserved -
11 Encoder fault acknowledge 1 Encoder fault acknowledge active
active Note:
See under STW.15 (acknowledge encoder error)
0 No acknowledgement active

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Bit Name Signal status, description

12 Reserved -
13 Transmit absolute value 1 Acknowledgement for Gn_STW.13 (request absolute value cyclically)
cyclically Note:
Cyclic transmission of the absolute value can be interrupted by a function
with higher priority.
• See Gn_XIST2
0 No acknowledgement
14 Parking encoder 1 Parking encoder active (i.e. parking encoder switched off)
0 No active parking encoder
15 Encoder error 1 Error from encoder or actual-value sensing is active.
Note:
The error code is stored in Gn_XIST2.
0 No error is active.

Encoder 1 actual position value 1 (G1_XIST1)

● Resolution: Encoder lines ∙ 2n
n: fine resolution, no. of bits for internal multiplication
The fine resolution is specified via p0418.
● Used to transmit the cyclic actual position value to the controller.
● The transmitted value is a relative, free-running actual value.
● Any overflows must be evaluated by the master controller.

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Figure 9-10 Subdivision and settings for Gx_XIST1

● Encoder lines of incremental encoder

– For encoders with sin/cos 1Vpp:
Encoder lines = no. of sinusoidal signal periods
● After power-up: Gx_XIST1 = 0
● An overflow in Gx_XIST1 must be viewed by the master controller.
● There is no modulo interpretation of Gx_XIST1 in the drive.

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Encoder 1 actual position value 2 (G1_XIST2)

Different values are entered in Gx_XIST2 depending on the function.
● Priorities for Gx_XIST2
The following priorities should be considered for values in Gx_XIST2:

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9.1 Communication according to PROFIdrive

● Resolution: Encoder pulses ∙ 2n

n: fine resolution, no. of bits for internal multiplication

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● Encoder lines of incremental encoder

– For encoders with sin/cos 1Vpp:
Encoder lines = no. of sinusoidal signal periods

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Error code in Gn_XIST2

Table 9- 25 Error code in Gn_XIST2

n_XIST2 Meaning Possible causes / description

1 Encoder error One or more existing encoder faults.
Detailed information in accordance with drive messages.
2 Zero marker monitoring –
3 Abort parking sensor • Parking drive object already selected.
4 Abort find reference mark • A fault exists (Gn_ZSW.15 = 1)
• Encoder has no zero marker (reference mark)
• reference mark 2, 3 or 4 is requested
• Switchover to "Flying measurement" during search for reference mark
• Command "Read value x" set during search for reference mark
• Inconsistent position measured value with distance-coded reference marks.
5 Abort, retrieve reference • More than four values requested
value • No value requested
• Requested value not available
6 Abort flying measurement • No probe configured p0488, p0489
• Switch over to "reference mark search" during flying measurement
• Command "Read value x" set during flying measurement
7 Abort get measured value • More than one value requested
• No value requested.
• Requested value not available
• Parking encoder active
• Parking drive object active
8 Abort absolute value • Absolute encoder not available
transmission on • Alarm bit absolute value protocol set
3841 Function not supported –

Encoder 2 status word (G2_ZSW)

● See G1_ZSW (table 4-20)

Encoder 2 actual position value 1 (G2_XIST1)

● See G1_XIST1

Encoder 2 actual position value 2 (G2_XIST2)

● See G1_XIST2

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Function diagrams (see SINAMICS S110 List Manual)

● 4720 Encoder interface, receive signals, encoders n
● 4730 Encoder interface, send signals, encoders n
● 4735 Find reference mark with equivalent zero mark, encoders n
● 4740 Measuring probe evaluation, measured value memory, encoders n

Overview of important parameters (see SINAMICS S110 List Manual)

Adjustable parameter drive, CU_S parameter is marked

● p0418[0...15] Fine resolution Gx_XIST1
● p0419[0...15] Fine resolution Gx_XIST2
● p0480[0...2] CI: Signal source for encoder control word Gn_STW
● p0488[0...2] Measuring probe 1 input terminal
● p0489[0...2] Measuring probe 2 input terminal
● p0490 Invert measuring probe (CU_S)

Display parameters drive

● r0481[0...2] CO: Encoder status word Gn_ZSW
● r0482[0...2] CO: Encoder position actual value Gn_XIST1
● r0483[0...2] CO: Encoder position actual value Gn_XIST2
● r0487[0...2] CO: Diagnostic encoder control word Gn_STW

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9.1.3.6 Central control and status words

Description
The central process data exists for different telegrams. For example, telegram 391 is used
for transferring measuring times and digital inputs/outputs.
The following central process data are available:

Receive signals:
● CU_STW1 Control Unit control word
● A_DIGITAL digital outputs
● MT_STW probe control word

Transmit signals:
● CU_ZSW1 Control Unit status word
● E_DIGITAL digital inputs
● MT_ZSW Probe status word
● MTn_ZS_F Probe n measuring time, falling edge (n = 1, 2)
● MTn_ZS_S Probe n measuring time, rising edge (n = 1, 2)

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CU_STW1 (control word for Control Unit, CU)

See function diagram [2495].

Table 9- 26 Description of CU_STW1 (control word for Control Unit)

Bit Meaning Remarks BICO

0 Synchronization flag – This signal is used to synchronize the joint system time between the BI: p0681[0]
controller and drive unit.
1 RTC PING – This signal is used to set the UTC time using the PING event. BI: p3104
2...6 Reserved – – –
7 Acknowledging faults 0/1 Acknowledging faults BI: p2103
8...9 Reserved – – –
10 Control taken over 0 External controller has no control via the CU p3116
Once the prevailing faults on all DOs have been acknowledged, the
fault is also acknowledged implicitly on DO1 (CU).
1 External controller has control via the CU
The prevailing faults have to be acknowledged on all DOs and also
explicitly on DO1 (CU).
11 Reserved – – –
12 Controller sign-of-life – Controller sign-of-life CI: p2045
bit 0
13 Controller sign-of-life –
bit 1
14 Controller sign-of-life –
bit 2
15 Controller sign-of-life –
bit 3

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A_DIGITAL (digital outputs)

This process data can be used to control the Control Unit outputs.
See function diagram [2497]

Table 9- 27 Description of A_DIGITAL (digital outputs)

Bit Meaning Remarks BICO

0 Digital input/output 8 – DI/DO 8 on the Control Unit must be parameterized as an output BI: p0738
(DI/DO 8) (p0728.8 = 1).
1 Digital input/output 9 – DI/DO 9 on the Control Unit must be parameterized as an output BI: p0739
(DI/DO 9) (p0728.9 = 1).
2 Digital input/output 10 – DI/DO 10 on the Control Unit must be parameterized as an output BI: p0740
(DI/DO 10) (p0728.10 = 1).
3 Digital input/output 11 – DI/DO 11 on the Control Unit must be parameterized as an output BI: p0741
(DI/DO 11) (p0728.11 = 1).
4... Reserved – – –
15
Note:
The bidirectional digital inputs/outputs (DI/DO) can be connected as either an input or an output (see also transmit signal
E_DIGITAL).

MT_STW
Control word for the "central probe" function. Display via r0685.

Table 9- 28 Description of MT_STW (control word for Control Unit)

Bit Meaning Remarks BICO

0 Falling edge probe 1 – Activation of measuring time determination with the next falling CI: p0682
1 Falling edge probe 2 – edge
2 Falling edge probe 3 –
3 Falling edge probe 4 –
4 Falling edge probe 5 –
5 Falling edge probe 6 –
6...7 Reserved – –
8 Rising edge probe 1 – Activation of measuring time determination with the next rising edge
9 Rising edge probe 2 –
10 Rising edge probe 3 –
11 Rising edge probe 4 –
12 Rising edge probe 5 –
13 Rising edge probe 6 –
14.. Reserved – –
15

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CU_ZSW1 (status word of the DO1 telegram (telegrams 39x))

See function diagram [2496].

Table 9- 29 Description of CU_ZSW1 (status word of the CU)

Bit Meaning Remarks BICO

0...3 Reserved – – -
3 Fault active 1 Drive object: Device (CU) BO: r2139.3
0
4..5 Reserved – – -
6 Ready to start Central "ready for switching on" state of the drive unit BO: r899.0
1 Device is in the "not ready for switching on" state
0 Device is in the "ready for switching on" state
7 Alarm present 1 Alarm pending BO: 2139.7
0 No warning
8 Synchronization (SYNC) – – BO: r0899.8
9 Alarm pending 1 No alarm pending BO: r3114.9
0 Alarm pending
10 Fault pending 1 No fault pending BO: r3114.10
0 Fault pending
11 Safety signal pending 1 No safety signal pending BO: r3114.11
0 Safety signal pending
12 Slave sign of life bit 0 1-15 Cyclic advance Implicitly
0 Initialization, no sign of life available interconnected
13 Slave sign of life bit 1 1-15
0
14 Slave sign of life bit 2 1-15
0
15 Slave sign of life bit 3 1-15
0

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E_DIGITAL (digital inputs)

See function diagram [2498].

Table 9- 30 Description of E_DIGITAL (digital inputs)

Bit Meaning Remarks BICO

0 Digital input/output 8 – DI/DO 8 on the Control Unit must be parameterized as an input BO: p0722.8
(DI/DO = 8) (p0728.8 = 0).
1 Digital input/output 9 – DI/DO 9 on the Control Unit must be parameterized as an input BO: p0722.9
(DI/DO = 9) (p0728.9 = 0).
2 Digital input/output 10 – DI/DO 10 on the Control Unit must be parameterized as an input BO:
(DI/DO = 10) (p0728.10 = 0). p0722.10
3 Digital input/output 11 – DI/DO 11 on the Control Unit must be parameterized as an input BO:
(DI/DO = 11) (p0728.11 = 0). p0722.11
4...7 Reserved – – –
8 Digital input 0 (DI 0) – Digital input DI 0 on the Control Unit BO: r0722.0
9 Digital input 1 (DI 1) – Digital input DI 1 on the Control Unit BO: r0722.1
10 Digital input 2 (DI 2) – Digital input DI 2 on the Control Unit BO: r0722.2
11 Digital input 3 (DI 3) – Digital input DI 3 on the Control Unit BO: r0722.3
12...1 Reserved – – –
5
Note:
The bidirectional digital inputs/outputs (DI/DO) can be connected as either an input or an output (see also receive signal
A_DIGITAL).

MT_ZSW
Status word for the "central probe" function.

Table 9- 31 Description of MT_ZSW (status word for the "central probe" function)

Bit Meaning Remarks BICO

0 Digital input probe 1 – Digital input display CO: r0688
1 Digital input probe 2 –
2 Digital input probe 3 –
3 Digital input probe 4 –
4 Digital input probe 5 –
5 Digital input probe 6 –
6...7 Reserved – –
8 Sub-sampling probe 1 – Not yet carried out.
9 Sub-sampling probe 2 –
10 Sub-sampling probe 3 –
11 Sub-sampling probe 4 –
12 Sub-sampling probe 5 –
13 Sub-sampling probe 6 –
14... Reserved – –
15

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MTn_ZS_F and MTn_ZS_S

Display of the measuring time determined
The measuring time is specified as a 16-bit value with a resolution of 0.25 μs.
Features of the central probe
● The time stamps from probes in more than one drive can be transferred simultaneously in
a single telegram.
● The time in the controller and drive unit is synchronized via CU_STW1 and the
CU_ZSW1.
Note: The controller must support time synchronization!
● A higher-level controller can then use the time stamp to determine the actual position
value of more than one drive.
● The system outputs a message if the measuring time determination function in the probe
is already in use (see also p0488, p0489, and p0580).

Example: central probe

Assumptions for the example:
● Determination of the time stamp MT1_ZS_S by evaluating the rising edge of probe 1
● Determination of the time stamp MT2_ZS_S and MT2_ZS_F by evaluating the rising and
falling edge of probe 2
● Probe 1 on DI/DO 9 of the Control Unit (p0680[0] = 1)
● Probe 2 on DI/DO 10 of the Control Unit (p0680[1] = 2)
● Manufacturer-specific telegram p0922 = 391 is set.


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9.1.3.7 Motion Control with PROFIdrive

Description
The "Motion control with PROFIBUS" or "Motion Control with PROFINET" function can be
used to implement an isochronous drive link between a master and one or more slaves via
the PROFIBUS field bus or an isochronous drive link via PROFINET.

Note
The isochronous drive link is defined in the following documentation:
Reference: /P5/ PROFIdrive Profile Drive Technology

Properties
● No additional parameters need to be entered in addition to the bus configuration in order
to activate this function, the master and slave must only be preset for this function
(PROFIBUS).
● The master-side default setting is made via the hardware configuration, e.g. B. HWConfig
with SIMATIC S7. The slave-side default setting is made via the parameterization
telegram when the bus is ramping up.
● Fixed sampling times are used for all data communication.
● The Global Control (GC) clock information on PROFIBUS is transmitted before the
beginning of each cycle.
● The length of the clock cycle depends on the bus configuration. When the clock cycle is
selected, the bus configuration tool (e.g. HWConfig) supports:
– High number of drives per slave/drive unit -> long cycle
– High number of slaves/drive units -> long cycle
● A sign-of-life counter is used to monitor user data transfer and clock pulse failures.

Overview of closed-loop control

● Sensing of the actual position value on the slave can be performed using:
– Indirect measuring system (motor encoder)
– Additional direct measuring system
● The encoder interface must be configured in the process data.
● The control loop is closed via the PROFIBUS.
● The position controller is located on the master.
● The current and speed control systems and actual value sensing (encoder interface) are
located on the slave.
● The position controller clock cycle is transmitted across the field bus to the slaves.

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● The slaves synchronize their speed and/or current controller cycle with the position
controller cycle on the master.
● The speed setpoint is specified by the master.

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Structure of the data cycle

The data cycle comprises the following elements:
1. Global Control telegram (PROFIBUS only)
2. Cyclic part
– Setpoints and actual values
3. Acyclic part
– Parameters and diagnostic data
4. Reserve (PROFIBUS only)
– Transmission of token (TTH).
– For searching for a new node in the drive line-up (GAP)
– Waiting time until next cycle

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9.1.4 Acyclic communication

9.1.4.1 General information about acyclic communication

Description
With acyclic communication, as opposed to cyclic communication, data transfer takes place
only when an explicit request is made (e.g. in order to read and write parameters).
The read data set/write data set services are available for acyclic communication.
The following options are available for reading and writing parameters:
● S7 protocol
This protocol uses the STARTER commissioning tool, for example, in online mode via
PROFIBUS.
● PROFIdrive parameter channel with the following data set:
– PROFIBUS: Data block 47 (0x002F)
The DPV1 services are available for master class 1 and class 2.

Note
Please refer to the following documentation for a detailed description of acyclic
communication:
Reference: PROFIdrive Profile V4.1, May 2006, Order No: 3.172
Addressing:
PROFIBUS DP, the addressing can either take the form of the logical address or the
diagnostics address.

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Characteristics of the parameter channel

● One 16-bit address each for parameter number and subindex.
● Concurrent access by several PROFIBUS masters (master class 2).
● Transfer of different parameters in one access (multiple parameter request).
● Transfer of complete arrays or part of an array possible.
● Only one parameter request is processed at a time (no pipelining).
● A parameter request/response must fit into a data set (max. 240 bytes).
● The task or response header are user data.

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9.1.4.2 Structure of orders and responses

Structure of parameter request and parameter response

Parameter request Offset

Values for Request header Request reference Request ID 0
write access Axis No. of parameters 2
only
1. parameter address Attribute No. of elements 4
Parameter number 6
Subindex 8
...
nth parameter address Attribute No. of elements
Parameter number
Subindex
1. parameter value(s) Format No. of values
Values
...
...
nth parameter value(s) Format No. of values
Values
...

Parameter response Offset

Values for Response header Request reference mirrored Response ID 0
read access Axis mirrored No. of parameters 2
only
1. parameter value(s) Format No. of values 4
Error values
for negative Values or error values 6
response only ...
...
nth parameter value(s) Format No. of values
Values or error values
...

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Description of fields in DPV1 parameter request and response

Field Data type Values Remark

Request reference Unsigned8 0x01 ... 0xFF
Unique identification of the request/response pair for the master. The master changes the
request reference with each new request. The slave mirrors the request reference in its
response.
Request ID Unsigned8 0x01 Read request
0x02 Write request
Specifies the type of request.
In the case of a write request, the changes are made in a volatile memory (RAM). A save
operation is needed in order to transfer the data to the non-volatile memory (p0977).
Response ID Unsigned8 0x01 Read request (+)
0x02 Write request (+)
0x81 Read request (-)
0x82 Write request (-)
Mirrors the request identifier and specifies whether request execution was positive or
negative.
Negative means:
Cannot execute part or all of request.
The error values are transferred instead of the values for each subresponse.
Drive object Unsigned8 0x00 ... 0xFF Number
number Setting for the drive object number with a drive unit with more than one drive object.
Different drive objects with separate parameter number ranges can be accessed over the
same DPV1 connection.
No. of parameters Unsigned8 0x01 ... 0x27 No. 1 ... 39
Limited by DPV1 telegram length
Defines the number of adjoining areas for the parameter address and/or parameter value
for multi-parameter requests.
The number of parameters = 1 for single requests.
Attribute Unsigned8 0x10 Value
0x20 Description
0x30 Text (not implemented)
Type of parameter element accessed.
No. of elements Unsigned8 0x00 Special function
0x01 ... 0x75 No. 1 ... 117
Limited by DPV1 telegram length
Number of array elements accessed.
Parameter number Unsigned16 0x0001 ... 0xFFFF No. 1 ... 65535
Addresses the parameter accessed.
Subindex Unsigned16 0x0000 ... 0xFFFF No. 0 ... 65535
Addresses the first array element of the parameter to be accessed.

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Field Data type Values Remark

Format Unsigned8 0x02 Data type integer8
0x03 Data type integer16
0x04 Data type integer32
0x05 Data type unsigned8
0x06 Data type unsigned16
0x07 Data type unsigned32
0x08 Data type floating point
Other values See PROFIdrive profile V3.1
0x40 Zero (without values as a positive
subresponse to a write request)
0x41 Byte
0x42 Word
0x43 Double word
0x44 Error
The format and number specify the adjoining space containing values in the telegram.
Data types in conformity with PROFIdrive Profile shall be preferred for write access. Bytes,
words and double words are also possible as a substitute.
No. of values Unsigned8 0x00 ... 0xEA No. 0 ... 234
Limited by DPV1 telegram length
Specifies the number of subsequent values.
Error values Unsigned16
0x0000 ... 0x00FF Meaning of error value
--> see table 4-29
The error values in the event of a negative response.
If the values make up an odd number of bytes, a zero byte is appended. This ensures the
integrity of the word structure of the telegram.
Values Unsigned16
0x0000 ... 0x00FF
The values of the parameter for read or write access.
If the values make up an odd number of bytes, a zero byte is appended. This ensures the
integrity of the word structure of the telegram.

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Error values in DPV1 parameter responses

Table 9- 32 Error values in DPV1 parameter responses

Error Meaning Remark Additional

value info
0x00 Illegal parameter number Access to a parameter which does not exist. –
0x01 Parameter value cannot be changed Modification access to a parameter value which cannot be Subindex
changed.
0x02 Lower or upper value limit exceeded Modification access with value outside value limits. Subindex
0x03 Invalid subindex Access to a subindex which does not exist. Subindex
0x04 No array Access with subindex to an unindexed parameter. –
0x05 Wrong data type Modification access with a value which does not match the –
data type of the parameter.
0x06 Illegal set operation (only reset Modification access with a value not equal to 0 in a case Subindex
allowed) where this is not allowed.
0x07 Description element cannot be Modification access to a description element which cannot Subindex
changed be changed.
0x09 No description data Access to a description which does not exist (the –
parameter value exists).
0x0B No operating priority Modification access with no operating priority. –
0x0F No text array exists Access to a text array which does not exist (the parameter –
value exists).
0x11 Request cannot be executed due to Access is not possible temporarily for unspecified reasons. –
operating status
0x14 Illegal value Modification access with a value which is within the limits Subindex
but which is illegal for other permanent reasons
(parameter with defined individual values).
0x15 Response too long The length of the present response exceeds the maximum –
transfer length.
0x16 Illegal parameter address Impermissible or unsupported value for attribute, number –
of elements, parameter number, subindex or a
combination of these.
0x17 Illegal format Write request: illegal or unsupported parameter data –
format
0x18 No. of values inconsistent Write request: a mismatch exists between the number of –
values in the parameter data and the number of elements
in the parameter address.
0x19 Drive object does not exist You have attempted to access a drive object that does not –
exist.
0x65 Presently deactivated. You have tried to access a parameter that, although –
available, is currently inactive (e.g. n control set and
access to parameter from V/f control).
0x6B Parameter %s [%s]: no write access – –
for the enabled controller
0x6C Parameter %s [%s]: unit unknown – –
0x6D Parameter %s [%s]: Write access – –
only in the commissioning state,
encoder (p0010 = 4).

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Error Meaning Remark Additional

value info
0x6E Parameter %s [%s]: Write access – –
only in the commissioning state,
motor (p0010 = 3).
0x6F Parameter %s [%s]: Write access – –
only in the commissioning state,
power unit (p0010 = 2).
0x70 Parameter %s [%s]: Write access – –
only in the quick commissioning
mode (p0010 = 1).
0x71 Parameter %s [%s]: Write access – –
only in the ready mode (p0010 = 0).
0x72 Parameter %s [%s]: Write access – –
only in the commissioning state,
parameter reset (p0010 = 30).
0x73 Parameter %s [%s]: Write access – –
only in the commissioning state,
Safety (p0010 = 95).
0x74 Parameter %s [%s]: Write access – –
only in the commissioning state, tech.
application/units (p0010 = 5).
0x75 Parameter %s [%s]: Write access – –
only in the commissioning state
(p0010 not equal to 0).
0x76 Parameter %s [%s]: Write access – –
only in the commissioning state,
download (p0010 = 29).
0x77 Parameter %s [%s] may not be – –
written in download.
0x78 Parameter %s [%s]: Write access – –
only in the commissioning state, drive
configuration (device: p0009 = 3).
0x79 Parameter %s [%s]: Write access – –
only in the commissioning state,
define drive type (device: p0009 = 2).
0x7A Parameter %s [%s]: Write access – –
only in the commissioning state, data
set basis configuration
(device: p0009 = 4).
0x7B Parameter %s [%s]: Write access – –
only in the commissioning state,
device configuration
(device: p0009 = 1).
0x7C Parameter %s [%s]: Write access – –
only in the commissioning state,
device download
(device: p0009 = 29).
0x7D Parameter %s [%s]: Write access – –
only in the commissioning state,
device parameter reset
(device: p0009 = 30).

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Error Meaning Remark Additional

value info
0x7E Parameter %s [%s]: Write access – –
only in the commissioning state,
device ready (device: p0009 = 0).
0x7F Parameter %s [%s]: Write access – –
only in the commissioning state,
device (device: p0009 not 0).
0x81 Parameter %s [%s] may not be – –
written in download.
0x82 Transfer of the control authority – –
(master) is inhibited by BI: p0806.
0x83 Parameter %s [%s]: requested BICO BICO output does not supply float values. The BICO input, –
interconnection not possible however, requires a float value.
0x84 Parameter %s [%s]: parameter – –
change inhibited
(refer to p0300, p0400, p0922)
0x85 Parameter %s [%s]: access method – –
not defined.
0xC8 Below the valid values. Modification request for a value that, although within –
"absolute" limits, is below the currently valid lower limit.
0xC9 Above the valid values. Modification request for a value that, although within –
"absolute" limits, is below the currently valid lower limit
(e.g. governed by the current converter rating).
0xCC Write access not permitted. Write access is not permitted because an access key is –
not available.

9.1.4.3 Determining the drive object numbers

Further information about the drive system (e.g. drive object numbers) can be determined as
follows using parameters p0101 and r0102:
1. The value of parameter r0102 ("Number of drive objects") for drive object/axis 1 is read
via a read request.
Drive object 1 is the Control Unit (CU), which is a minimum requirement for each drive
system.
2. Depending on the result of the initial read request, further read requests for drive object 1
are used to read the indices for parameter p0101 ("Drive object numbers"), as specified
by parameter r0102.
Example:
If the number of drive objects is "5", the values for indices 0 to 4 for parameter p0101 are
read. Of course, the relevant indexes can also be read at once.

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9.1.4.4 Example 1: read parameters

Prerequisites
1. The PROFIdrive controller has been commissioned and is fully operational.
2. PROFIdrive communication between the controller and the device is operational.
3. The controller can read and write data sets in conformance with PROFIdrive DPV1.

Task description
Following the occurrence of at least one fault (ZSW1.3 = "1") on drive 2 (also drive object
number 2), the active fault codes must be read from the fault buffer r0945[0] ... r0945[7].
The request is to be handled using a request and response data block.

Basic procedure
1. Create a request to read the parameters.
2. Invoke the request.
3. Evaluate the response.

Activity
1. Create the request.

Parameter request Offset

Request header Request reference = 25 hex Request ID = 01 hex 0+1
Axis = 02 hex No. of parameters = 01 hex 2+3
parameter address Attribute = 10 hex No. of elements = 08 hex 4+5
Parameter no. = 945 dec 6
Subindex = 0 dec 8

Information about the parameter request:

● Request reference:
The value is selected at random from the valid value range. The request reference
establishes the relationship between request and response.
● Request ID:
01 hex ––> This identifier is required for a read request.
● Axis:
02 hex ––> Drive 2, fault buffer with drive- and device-specific faults
● No. of parameters:
01 hex ––> One parameter is read.

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● Attribute:
10 hex ––> The parameter values are read.
● No. of elements:
08 hex ––> The current fault incident with 8 faults is to be read.
● Parameter number:
945 dec ––> p0945 (fault code) is read.
● Subindex:
0 dec ––> Read access starts at index 0.
1. Invoke the parameter request.
If ZSW1.3 = "1" ––> Invoke parameter request
2. Evaluate the parameter response.

Parameter response Offset

Response header Request reference mirrored Response ID = 01 hex 0+1
= 25 hex
Axis mirrored = 02 hex No. of parameters = 01 hex 2+3
Parameter value Format = 06 hex No. of values = 08 hex 4+5
1. value = 1355 dec 6
2. value = 0 dec 8
... ...
8. value = 0 dec 20

Information about the parameter response:

● Request reference mirrored:
This response belongs to the request with request reference 25.
● Response ID:
01 hex ––> Read request positive, values stored as of 1st value
● Axis mirrored, no. of parameters:
The values correspond to the values from the request.
● Format:
06 hex ––> Parameter values are in Unsigned16 format.
● No. of values:
08 hex ––> 8 parameter values are available.
● 1. value ... 8th value
A fault is only entered in value 1 of the fault buffer for drive 2.

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9.1.4.5 Example 2: write parameters (multi-parameter request)

Requirements
1. The PROFIdrive controller has been commissioned and is fully operational.
2. PROFIdrive communication between the controller and the device is operational.
3. The controller can read and write data sets in conformance with PROFIdrive DPV1.
Special requirements for this example:
4. Control type: Servo with activated "Extended setpoint channel" function module

Task description
Jog 1 and 2 are to be set up for drive 2 (also drive object number 2) via the input terminals of
the Control Unit. A parameter request is to be used to write the corresponding parameters as
follows:

• BI: p1055 = r0722.3 Jog bit 0

• BI: p1056 = r0722.4 Jog bit 1
• p1058 = 300 1/min Jog 1 speed setpoint
• p1059 = 600 1/min Jog 2 speed setpoint
The request is to be handled using a request and response data block.

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Basic procedure
1. Create a request to write the parameters.
2. Invoke the request.
3. Evaluate the response.

Activity
1. Create the request.

Parameter request Offset

Request header Request reference = 40 Request ID = 02 hex 0+1
hex
Axis = 02 hex No. of parameters = 04 hex 2+3
1. parameter address Attribute = 10 hex No. of elements = 01 hex 4+5
Parameter no. = 1055 dec 6
Subindex = 0 dec 8
2. parameter address Attribute = 10 hex No. of elements = 01 hex 10 + 11
Parameter no. = 1056 dec 12
Subindex = 0 dec 14
3. parameter address Attribute = 10 hex No. of elements = 01 hex 16 + 17
Parameter no. = 1058 dec 18
Subindex = 0 dec 20
4. parameter address Attribute = 10 hex No. of elements = 01 hex 22 + 23
Parameter no. = 1059 dec 24
Subindex = 0 dec 26
4. parameter address Attribute = 10 hex No. of elements = 01 hex 22 + 23
Parameter no. = 1059 dec 24
Subindex = 0 dec 26
4. parameter address Attribute = 10 hex No. of elements = 01 hex 22 + 23
Parameter no. = 1059 dec 24
Subindex = 0 dec 26
1. parameter value(s) Format = 07 hex No. of values = 01 hex 28 + 29
Value = 02D2 hex 30
Value = 0404 hex 32
2. parameter value(s) Format = 07 hex No. of values = 01 hex 34 + 35
Value = 02D2 hex 36
Value = 0405 hex 38
3. parameter value(s) Format = 08 hex No. of values = 01 hex 40 + 41
Value = 4396 hex 42
Value = 0000 hex 44
4. parameter value(s) Format = 08 hex No. of values = 01 hex 46 + 47
Value = 4416 hex 48
Value = 0000 hex 50

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Information about the parameter request:

● Request reference:
The value is selected at random from the valid value range. The request reference
establishes the relationship between request and response.
● Request ID:
02 hex ––> This identifier is required for a write request.
● Axis:
02 hex ––> The parameters are written to drive 2.
● No. of parameters
04 hex ––> The multi-parameter request comprises 4 individual parameter requests.

1. parameter address ... 4th parameter address

● Attribute:
10 hex ––> The parameter values are to be written.
● No. of elements
01 hex ––> 1 array element is written.
● Parameter number
Specifies the number of the parameter to be written (p1055, p1056, p1058, p1059).
● Subindex:
0 dec ––> ID for the first array element.

1. parameter value ... 4th parameter value

● Format:
07 hex ––> Data type Unsigned32
08 hex ––> Data type FloatingPoint
● No. of values:
01 hex ––> A value is written to each parameter in the specified format.
● Value:
BICO input parameter: enter signal source.
Adjustable parameter: enter value
2. Invoke the parameter request.
3. Evaluate the parameter response.

Parameter response Offset

Response header Request reference mirrored Response ID = 02 hex 0
= 40 hex
Axis mirrored = 02 hex No. of parameters = 04 hex 2

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Information about the parameter response:

● Request reference mirrored:
This response belongs to the request with request reference 40.
● Response ID:
02 hex ––> Write request positive
● Axis mirrored:
02 hex ––> The value matches the value from the request.
● No. of parameters:
04 hex ––> The value matches the value from the request.

9.2 Communication via PROFIBUS DP

9.2.1 General information about PROFIBUS

9.2.1.1 General information about PROFIBUS for SINAMICS

General information
PROFIBUS is an open international field bus standard for a wide range of production and
process automation applications.
The following standards ensure open, multi-vendor systems:
● International standard EN 50170
● International standard IEC 61158
PROFIBUS is optimized for high-speed, time-critical data communication at field level.

Note
PROFIBUS for drive technology is standardized and described in the following document:
Reference: /P5/ PROFIdrive Profile Drive Technology

CAUTION
Before synchronizing to the isochronous PROFIBUS, all of the pulses of the drive objects
must be inhibited - also for those drives that are not controlled via PROFIBUS.

CAUTION
No CAN cables must be connected to interface X126. If CAN cables are connected, the
CU305 and other CAN bus nodes could be seriously damaged.

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Master and slave

● Master and slave properties

Table 9- 33 Master and slave properties

Properties Master Slave

As bus node Active Passive
Send messages Permitted without external Only possible on request by
request master
Receive messages Possible with no restrictions Only receive and acknowledge
permitted
● Master
Masters are categorized into the following classes:
– Master class 1 (DPMC1):
Central automation stations that exchange data with the slaves in cyclic and acyclic
mode. Communication between the masters is also possible.
Examples: SIMATIC S7, SIMOTION
– Master class 2 (DPMC2):
Devices for configuration, commissioning, operator control and monitoring during bus
operation. Devices that only exchange data with the slaves in acyclic mode.
Examples: Programming devices, human machine interfaces
● Slaves
With respect to PROFIBUS, the SINAMICS drive unit is a slave.

Bus access method

PROFIBUS uses the token passing method, i.e. the active stations (masters) are arranged in
a logical ring in which the authorization to send is received within a defined time frame.
Within this time frame, the master with authorization to send can communicate with other
masters or handle communication with the assigned slaves in a master/slave procedure.

PROFIBUS telegram for cyclic data transmission and acyclic services

Each drive unit that supports cyclic process data exchange uses a telegram to send and
receive all the process data. A separate telegram is sent in order to perform all the acyclic
services (read/write parameters) under a single PROFIBUS address. The acyclic data is
transmitted with a lower priority after cyclic data transmission.
The overall length of the telegram increases with the number of drive objects that are
involved in exchanging process data.

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9.2.2 Commissioning PROFIBUS

9.2.2.1 General information about commissioning

Interfaces and diagnostic LED

A PROFIBUS interface with LEDs and address switches is available on the Control Unit.

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9.2 Communication via PROFIBUS DP

● PROFIBUS interface
The PROFIBUS interface is described in the following documentation:
References: SINAMICS S110 Equipment Manual
● PROFIBUS diagnostic LED

Note
A teleservice adapter can be connected to the PROFIBUS interface (X126) for remote
diagnostics purposes.

Setting the PROFIBUS address

Two methods are available for setting the PROFIBUS address:
1. Via the PROFIBUS address switches on the Control Unit
– In this case, p0918 is read-only and simply displays the set address.
– A change is not effective until POWER ON.
2. Via p0918
– You can only use this method when all the PROFIBUS address switches from S1 to
S7 are set to ON or OFF.
– Address changes made via parameters must be saved in a non-volatile memory using
the "Copy from RAM to ROM" function.
– A change is not effective until POWER ON.
Example:
Setting the PROFIBUS address using the PROFIBUS address switches on the Control Unit.

      
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9.2 Communication via PROFIBUS DP

Note
The factory settings are "ON" or "OFF" for all switches. With these two settings, the
PROFIBUS address is set by parameterization.
Parameter p0918 is unique to the Control Unit (see Control Unit). The factory setting is 126.
Address 126 is used for commissioning. Permitted PROFIBUS addresses are 1 ... 126.
If more than one CU is connected to a PROFIBUS line, the address settings must differ from
the factory settings. Note that each address can only be assigned once on a PROFIBUS
line. This can be achieved using the address switch or by adjustable parameter p0918
accordingly. The setting can be made by connecting the 24 V supply step by step and
resetting p0918, for example.
The address setting on the switch is displayed in r2057.
Each change made to the bus address is not effective until POWER ON.

Device master file

A device master file provides a full and clear description of the features of a PROFIBUS
slave.
The GSD files can be found at the following locations:
● On the CD for the STARTER commissioning tool
Order no. 6SL3072-0AA00-0AGx

Device identification
An identification parameter for individual slaves facilitates diagnostics and provides an
overview of the nodes on the PROFIBUS.
The information for each slave is stored in the following CU-specific parameter:
r0964[0...6] device identification

Bus terminating resistor and shielding

Reliable data transmission via PROFIBUS depends, amongst other things, on the setting for
the bus terminating resistors and the shielding for the PROFIBUS cables.
● Bus terminating resistor
The bus terminating resistors in the PROFIBUS plugs must be set as follows:
– First and last nodes in the line: switch on terminating resistor
– Other nodes in the line: switch off terminating resistor
● Shielding for the PROFIBUS cables
The cable shield in the plug must be connected at both ends with the greatest possible
surface area.
References: SINAMICS S110 Equipment Manual

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9.2 Communication via PROFIBUS DP

9.2.2.2 Commissioning procedure

Preconditions and assumptions for commissioning

PROFIBUS slave
● The PROFIBUS address to be set for the application is known.
● The telegram type for each drive object is known by the application.
PROFIBUS master
● The communication properties of the SINAMICS S110 slave must be available in the
master (GSD file or Drive ES slave OM).

Commissioning steps (example with SIMATIC S7)

1. Set the PROFIBUS address on the slave.
2. Set the telegram type on the slave.
3. Carry out the following in HWConfig:
– Connect the drive to PROFIBUS and assign an address.
– Set the telegram type.
The same telegram type as on the slave should be set for every drive object
exchanging process data via PROFIBUS.
The master can send more process data than the slave uses. A telegram with a larger
PZD number than is assigned for the drive object STARTER can be configured on the
master. The PZDs not supplied by the drive object are filled with zeros.
The setting "without PZD" can also be defined on a node or object.
4. The I/O addresses must be assigned in accordance with the user program.

9.2.2.3 Diagnostics options

The standard slave diagnostics can be read online in the HW config.

9.2.2.4 SIMATIC HMI addressing

You can use a SIMATIC HMI as a PROFIBUS master (master class 2) to access SINAMICS
directly. With respect to SIMATIC HMI, SINAMICS behaves like a SIMATIC S7. For
accessing drive parameters, the following simple rule applies:
● Parameter number = data block number
● Parameter sub-index = bit 0 - 9 of data block offset
● Drive object number = bit 10 - 15 of data block offset

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9.2 Communication via PROFIBUS DP

Pro Tool and WinCC flexible

The SIMATIC HMI can be configured flexibly with "Pro Tool" or "WinCC flexible".
The following specific settings for drives must be observed when configuration is carried out
with Pro Tool or WinCC flexible.
Controllers: Protocol always "SIMATIC S7 – 300/400"

Table 9- 34 Other parameters

Field Value
Network parameter profile DP
Network parameter baud rate Any
Communication partner address PROFIBUS address of the drive unit
Communication partner don’t care, 0
slot/subrack

Table 9- 35 Tags: "General" tab

Field Value
Name Any
Control Any
Type Depending on the addressed parameter value,
e.g.:
INT: for integer 16
DINT: for integer 32
WORD: for unsigned 16
REAL: for float
Area DB
DB Parameter number
(data block number) 1 ... 65535
DBB, DBW, DBD Drive object no. and subindex
(data block offset) Bit 15 – 10: Drive object no. 0 ... 63
Bit 9 – 0: Sub-index 0 ... 1023
In other words:
DBW = 1024 * drive object no. + sub-index
Length Not activated
Acquisition cycle Any
No. of elements 1
Decimal places Any

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9.2 Communication via PROFIBUS DP

Note
• You can operate a SIMATIC HMI together with a drive unit independently of an existing
control.
A basic "point-to-point" connection can only be established between two nodes (devices).
• The "variable" HMI functions can be used for drive units. Other functions cannot be used
(e.g. "messages" or "recipes").
• Individual parameter values can be accessed. Entire arrays, descriptions, or texts cannot
be accessed.

9.2.2.5 Monitoring: telegram failure

Description
After a telegram failure and the additional monitoring time has elapsed (p2047), bit r2043.0 is
set to "1" and alarm A01920 is output. Binector output r2043.0 can be used for an
emergency stop, for example.
After a delay time has elapsed (p2044), fault F01910 is output. Fault F01910 triggers fault
response OFF3 (quick stop) for SERVO. If no OFF response is to be triggered, the fault
response can be reparameterized accordingly.
Fault F01910 can be acknowledged immediately. The drive can then be operated even
without PROFIdrive.

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Note
The additional monitoring time parameter p2047 is only useful for cyclic communication.
During isochronous communication, a telegram failure should be recorded without delay, in
order to respond as quickly as possible.

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Communication PROFIBUS DP
9.2 Communication via PROFIBUS DP

9.2.3 Motion Control with PROFIBUS

Motion Control /Isochronous drive link with PROFIBUS

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Sequence of data transfer to closed-loop control system

1. Position actual value G1_XIST1 is read into the telegram image at time TI before the start
of each cycle and transferred to the master in the next cycle.
2. Closed-loop control on the master starts at time TM after each position controller cycle
and uses the current actual values read previously from the slaves.
3. In the next cycle, the master transmits the calculated setpoints to the telegram image of
the slaves. The speed setpoint command NSOLL_B is issued to the closed-loop control
system at time TO after the beginning of the cycle.

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9.2 Communication via PROFIBUS DP

Designations and descriptions for Motion Control

Table 9- 36 Time settings and meanings

Name Value1) Limit value Description

TBASE_DP BB8 hex - Time basis for TDP
≐ calculation: TBASE_DP = 3000 ∙ TBit = 250 µs
3000 dec TBit = 1/12 µs at 12 Mbaud
TBASE_DP corresponds to the largest current controller cycle (at
least 250 µs) of a drive object (servo).
TDP 4 TDP ≥ TDP_MIN DP cycle time
TDP = integer multiple ∙ TBASE_DP
calculation: TDP = 4 ∙ TBASE_DP = 1 ms
TDP_MIN = 4 Min. DP cycle time
calculation: TDP_MIN = 4 ∙ TBASE_DP = 1 ms
TDP_MAX = 128 Maximum DP cycle time
calculation: TDP_MAX = 128 ∙ TBASE_DP = 32 ms
TMAPC 1 n ∙ TDP Master application cycle time
n = 1 - 14 This is the time frame in which the master application generates
new setpoints (e.g. in the position controller cycle).
Calculation: TMAPC = 1 ∙ TDP = 1 ms
TSAPC Slave application cycle time
TBASE_IO BB8 hex - Time basis for TI, TO
≐ calculation: TBASE_IO = 3000 ∙ TBit = 250 µs
3000 dec TBit = 1/12 µs at 12 Mbaud
TBASE_IO corresponds to the largest current controller cycle (at
least 250 µs) of a drive object (servo) in the drive unit.
TI 2 TI_MIN ≤ TI < TDP Time of actual-value sensing
This is the time at which the actual position value is captured
before the start of each cycle.
TI = integer multiple of TBASE_IO
calculation: TI = 2 ∙ TBASE_IO = 500 µs
When TI = 0: TI = TDP
TI_MIN = 1 Min. TI
calculation: TI_MIN = 1 ∙ TBASE_IO = 250 µs
TI_MIN corresponds to the largest current controller cycle (at least
250 µs) of a drive object (servo) in the drive unit.
TO 4 TDX + TO_MIN Time of setpoint transfer
≤ TO ≤ TDP This is the time at which the transferred setpoints (speed
setpoint) are accepted by the closed-loop control system after
the start of the cycle.
TO = integer multiple of TBASE_IO
Calculation: TO = 4 ∙ TBASE_IO = 1000 µs
When TO = 0: TO ≐ TDP
TO_MIN = 1 Minimum time distance between TO and TDX
TO_MIN = 1 ∙ TBASE_IO = 250 µs

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9.2 Communication via PROFIBUS DP

Name Value1) Limit value Description

TDX E10 hex TDX < TDP Data exchange time
≐ This is the time required within one cycle for transferring
3600 dec process data to all available slaves.
TDX = integer multiple of TBit
TBit = 1/12 µs at 12 MBaud
calculation: TDX = 3600 • TBIT = 300 µs
TPLL_W 0 - PLL window
(half the width of the GC synchronization window)
The following applies to the setting:
• Small window --> minimization of synchronization
fluctuations on the drive
• Large window --> higher tolerance of GC fluctuations
Calculation (assumption: TPLL_W = A hex ≐ 10 dez)
TPLL_W = 10 • TBIT = 0.833 µs
TBit = 1/12 µs at 12 Mbps
TPLL_D 0 - PLL dead time
The PLL dead time can be used to compensate for different
data transfer times to the slaves (e.g. due to repeaters).
The slaves with faster transfer times are delayed by a
corresponding PLL dead time.
Calculation: TPLL_D = 0 ∙ TBIT = 0 µs
TBit = 1/12 µs at 12 MBaud
GC Global Control Telegram (Broadcast Telegram)
TTH Token hold time
This time is calculated by the engineering system.
MSG Acyclic service
After cyclic transmission, the master checks whether the token
hold time has already expired. If not, another acyclic DPV1
service is transmitted.
RES Reserve: "Active pause" until the isochronous cycle has expired
R Processing time for speed or position controller
TM Master time
This is the time from the start of the position controller cycle to
the start of master closed-loop control.
GAP Attempt to open connection with new node.
This attempt takes place every xth cycle.
TJ TJ returns the duration of the cycle jitter.
The cycle jitter is the delay of the GC telegram.
1) The values correspond to device master file si0280e5.gs_ and an example configuration.

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9.2 Communication via PROFIBUS DP

Setting criteria for times

● Cycle (TDP)
– TDP must be set to the same value for all bus nodes.
– TDP > TDX and TDP > TO
TDP is thus large enough to enable communication with all bus nodes.

NOTICE
After TDP has been changed on the PROFIBUS master, the drive system must be
switched on (POWER ON) or the parameter p0972=1 (Reset drive unit) must be set.

● TI and TO
– Setting the times in TI and TO to be as short as possible reduces the dead time in the
position control loop.
– TO > TDX + TOmin
● A tool is available for setting and optimization purposes (e.g. HWConfig in SIMATIC S7).
The following must be noted:
– Configuring reserves allows the following:
Class 2 masters can be connected
Non-cyclic communication

Minimum times for reserves

Table 9- 37 Minimum times for reserves

Data Time required [µs]

Basic load 300
Per slave 20
Per byte of user data 1,5
One additional class 2 master 500

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Communication PROFIBUS DP
9.2 Communication via PROFIBUS DP

User data integrity

User data integrity is verified in both transfer directions (master <––> slave) by a sign of life
(4-bit counter).
The sign-of-life counters are incremented from 1 to 15 and then start again at 1.
● Master sign of life
– STW2.12 ... STW2.15 are used for the master sign of life.
– The master sign of life counter is incremented in each master application cycle
(TMAPC).
– The number of sign-of-life errors tolerated can be set via p0925.
– p0925 = 65535 deactivates sign of life monitoring on the slave.
– Monitoring
The master sign of life is monitored on the slave and any sign-of-life errors are
evaluated accordingly.
The maximum number of tolerated master sign-of-life errors with no history can be set
via p0925.
If the number of tolerated sign-of-life errors set in p0925 is exceeded, the response is
as follows:
– A corresponding message is output.
– The value zero is output as the slave sign of life.
– Synchronization with the master sign of life is started.
● Slave sign of life
– ZSW2.12 ... ZSW2.15 are used for the slave sign of life.
– The slave sign of life counter is incremented in each DP cycle (TDP).

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Basic information about the drive system 10
10.1 Parameter

Parameter types
The following adjustable and display parameters are available:
● Adjustable parameters (write/read)
These parameters have a direct impact on the behavior of a function.
Example: Ramp-up and ramp-down time of a ramp-function generator
● Display parameters (read only)
These parameters are used to display internal variables.
Example: Current motor current

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All these drive parameters can be read and changed via PROFIBUS using the mechanisms
defined in the PROFIdrive profile.

Parameter categories
The parameters of the individual drive objects are categorized into data sets as follows:
● Data-set-independent parameters
These parameters exist only once per drive object.
● Data-set-dependent parameters
These parameters can exist a multiple number of times for each drive object and can be
addressed via the parameter index for reading and writing. A distinction is made between
various types of data set:
– CDS: Command Data Set
By parameterizing several command data sets and switching between them, the drive
can be operated with different pre-configured signal sources.
– DDS: Drive Data Set
The drive data set contains the parameters for switching between different drive
control configurations.

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Basic information about the drive system
10.1 Parameter

The CDS and DDS can be switched over during normal operation. Further types of data set
also exist, however these can only be activated indirectly by means of a DDS changeover.
● EDS Encoder Data Set
● MDS Motor Data Set

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Saving parameters in a non-volatile memory

The modified parameter values are stored in the volatile RAM. When the drive system is
switched off, this data is lost.
So that the changes can be restored, the data must be saved as follows in a non-volatile
manner in the Control Unit.
● Save parameters - device and drive
p0977 = 1; automatically reset to 0
● Save the parameters with STARTER
See "Copy RAM to ROM" function

NOTICE
The power supply to the Control Unit may first be switched off after saving has finished
(i.e. after saving has started, wait until it has finished and parameter p0977 has the
value 0 once more).

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10.1 Parameter

Resetting parameters
The parameters can be reset to the factory setting as follows:
● Reset parameters - current drive object
p0970 = 1; automatically reset to 0
● Reset parameters - all parameters drive object "Control Unit"
p0009 = 30 parameter reset
p0976 = 1; automatically reset to 0

Access level
The parameters are subdivided into access levels. The SINAMICS S110 List Manual
specifies the access level at which the parameter can be displayed and modified. The
required access levels 0 to 4 can be set in p0003.

Table 10- 1 Access levels

Access level Remark

0 User-defined Parameter from the user-defined list
1 Standard Parameters for the simplest operator functions (e.g. p1120 = ramp-function
generator ramp-up time).
2 Extended Parameters to handle the basic functions of the device.
3 Expert Expert knowledge is already required for this parameter (e.g. knowledge
about BICO parameterization).
4 Service Please contact your local Siemens office for the password for parameters
with access level 4 (Service). It must be entered into p3950.

Note
Parameter p0003 is only available on the drive object Control Unit.

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Basic information about the drive system
10.2 Data sets

10.2 Data sets

10.2.1 CDS: Command Data Set

CDS: Command Data Set
The BICO parameters (binector and connector inputs) are grouped together in a command
data set. These parameters are used to interconnect the signal sources of a drive.
By parameterizing several command data sets and switching between them, the drive can
be operated with different pre-configured signal sources.
A command data set contains the following (examples):
● Binector inputs for control commands (digital signals)
– ON/OFF, enable signals (p0844, etc.)
– Jog (p1055, etc.)
● Connector inputs for setpoints (analog signals)
– CI: Speed controller speed setpoint 1 (p1155)
– Torque limits and scaling factors (p1522, p1523, p1528, p1529)
SINAMICS S110 can manage 2 command data sets.
The following parameters are available for selecting command data sets and for displaying
the currently selected command data set:
The binector input p0810 is used to select a command data set.
● p0810 BI: Command data set selection CDS bit 0
If a command data set that does not exist is selected, the current data set remains active.
The selected data set is displayed using parameter (r0836).

Example: Changeover between command data set 0 and 1

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 Basic information about the drive system
10.2 Data sets

10.2.2 DDS: Drive Data Set

DDS: Drive Data Set

A drive data set contains various adjustable parameters that are relevant with respect to
open and closed-loop drive control:
● Numbers of the assigned motor and encoder data sets:
– p0186: Assigned motor data set (MDS)
– p0187: Assigned encoder data set (EDS)
– p0188: Assigned encoder data set (EDS; for the external encoder)
● Various control parameters, e.g.:
– Fixed speed setpoints (p1001 to p1004)
– Speed limits min./max. (p1080, p1082)
– Characteristic data of ramp-function generator (p1120 ff)
– Characteristic data of controller (p1240 ff)
– ...
The parameters that are grouped in the drive data set are identified in the SINAMICS S110
List Manual by "Data Set DDS" and are assigned an index [0...n].
SINAMICS S110 can manage up to 2 drive data sets. The number of drive data sets is
configured with p0180. The parameters of the drive data sets are switched with an index.
This simplifies the selection between the drive configurations (control type, motor, encoder).
The binector input p0820 is used to select a drive data set.
● p0820 BI: Drive data set selection DDS, bit 0
If the DDS is switched over, the EDS and MDS are automatically switched over with it.

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Basic information about the drive system
10.2 Data sets

10.2.3 EDS: Encoder Data Set

EDS: Encoder Data Set

An encoder data set contains various adjustable parameters describing the connected
encoder for the purpose of configuring the drive.
● Adjustable parameters, e.g.:
– Encoder interface component number (p0141)
– Encoder component number (p0142)
– Encoder type selection (p0400)
The parameters that are grouped together in the encoder data set are identified in the
parameter list by "Data Set EDS" and are assigned an index [0...n].
A separate encoder data set is required for each encoder controlled by the Control Unit. An
encoder data set is assigned to a drive data set via parameter p0187 (encoder 1: motor
encoder) or p0188 (encoder 2: external encoder). Only one of the two encoders can be used
at a time.
An encoder data set can only be changed over using a DDS changeover.
An encoder data set changeover without pulse inhibit (motor running under current) may only
be performed on adjusted encoders (pole position ID performed or commutation angle
determined for absolute encoders).
The DDS must be changed over in order to switch over the EDS. The MDS will also be
switched over with it.

10.2.4 MDS: Motor Data Set

MDS: Motor Data Set

A motor data set contains various adjustable parameters describing a connected motor for
the purpose of configuring the drive. It also contains certain display parameters with
calculated data.
● Adjustable parameters, e.g.:
– Motor component number (p0131)
– Motor type selection (p0300)
– Rated motor data (p0304 ff)
– ...
● Display parameters, e.g.:
– Calculated rated data (p0330 ff)
– ...
The parameters that are grouped in the motor data set are identified in the SINAMICS S110
List Manual by "Data Set MDS" and are assigned an index [0...n].
The motor data set is assigned to a drive data set via parameter p0186.

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10.2 Data sets

A motor data set can only be changed using a DDS changeover. The motor data set
changeover is, for example, used for:
● Switching over different motors
● Switching over different windings in a motor (e.g. star-delta changeover)
● Adapting the motor data
SINAMICS S110 can manage up to 2 motor data sets. The number of motor data sets in
p0130 must not exceed the number of drive data sets in p0180.

10.2.5 Integration

Function diagrams (see SINAMICS S110 List Manual)

● 8560 Command Data Sets (CDS)
● 8565 Drive Data Sets (DDS)
● 8575 Motor Data Sets (MDS)
● 8580 Power unit Data Set, PDS

Overview of important parameters (see SINAMICS S110 List Manual)

Adjustable parameters
● p0130 Motor data sets (MDS) number
● p0139 Copy motor data set (MDS)
● p0140 Encoder data sets (EDS) number
● p0180 Drive data sets (DDS) number
● p0186 Motor data set (MDS) number
● p0187 Encoder 1 encoder data set number
● p0188 Encoder 2 encoder data set number
● p0809 Copy command data set (CDS)
● p0810 BI: Command data set selection CDS bit 0
● p0819[0...2] Copy drive data set DDS
● p0820 BI: Drive data set selection DDS, bit 0

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Basic information about the drive system
10.2 Data sets

10.2.6 Using data sets

Copying a command data set

Set parameter p0809 as follows:
1. p0809[0] = number of the command data set to be copied (source)
2. p0809[1] = number of the command data to which the data is to be copied (target)
3. p0809[2] = 1
Start copying.
Copying is finished when p0809[2] = 0.

Note
In STARTER, you can copy the command data sets (Drive -> Configuration -> "Command
data sets" tab page).
You can select the displayed command data set in the relevant STARTER screens.

Copying a drive data set

Set parameter p0819 as follows:
1. p0819[0] = Number of the drive data set to be copied (source)
2. p0819[1] = Number of the drive data set to which the data is to be copied (target)
3. p0819[2] = 1
Start copying.
Copying is finished when p0819[2] = 0.

Note
In STARTER, you can copy the drive data sets (Drive -> Configuration -> "Drive data sets"
tab page).
You can select the displayed drive data set in the relevant STARTER screens.

Copying the motor data set

Set parameter p0139 as follows:
1. p0139[0] = Number of the motor data set that is to be copied (source)
2. p0139[1] = Number of the motor data set which should be copied into (target)
3. p0139[2] = 1
Start copying.
Copying has been completed, if p0139[2] = 0.

Note
In STARTER, you can set the drive data sets via the drive configuration.

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 Basic information about the drive system
10.2 Data sets

Uncommissioned data sets

Drive commissioning can also be completed if uncommissioned data sets (EDS, MDS, DDS)
are available.
Uncommissioned data sets are marked as "uncommissioned".
The attributes are displayed in STARTER or in the expert list or OPs.
Activation of these data sets is not permitted and will be rejected with an error.
Assigning these data sets to a drive data set (DDS) is only possible with a
commissioning step (p0009 ≠ 0, p0010 ≠0).

Note
If there is no DDS dataset with the attribute "commissioned", the assigned drive axis remains
in the controller inhibit.

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Basic information about the drive system
10.3 Working with the memory card

10.3 Working with the memory card

10.3.1 Functions of the memory card

This section describes the basic functions of the memory card in the S110 system.

Basics:
The CU305, the S110 system Control Unit, manages three memory areas:
1. A volatile memory, the RAM, also called working memory.
2. A non-volatile memory, the ROM, also called Flash memory.
3. An optionally available portable memory card. Only memory cards which have been
prepared for these systems by Siemens will be accepted.
During operation, the S110 system works from the work memory. It is here that all project
data and application programs for operation are stored.
To save the current data from the work memory, you must copy it to non-volatile memory
before shutting down. More detailed information appears in "RAM to ROM" in the
commissioning section of this manual.
An optional memory card is used to save a variety of parameter data sets and transfer them
to other S110 systems in order to install firmware updates or carry out standard
commissioning. A memory card is absolutely essential if you wish to use the extended
functions supported by Safety Integrated.

Parameter data sets

Parameter data sets combine all the parameters for a project, including the project itself.
Parameter data sets differ on the basis of drive configuration (power unit, motor, encoder,
etc. used) and application (e.g. function modules, type of control).
Four parameter data sets with the indices 0, 10, 11, and 12 can be saved in the ROM.
Up to 101 parameter data sets (indices 0, ..., 100) can be saved on the memory card.
The parameter data set with the index 0 is active in the RAM.

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10.3 Working with the memory card

Copying parameter data sets from non-volatile memory to the memory card
There are three ways of copying parameter data sets from non-volatile memory to the
memory card:
1. The system is powered down:
– Insert an empty memory card into the CU305.
– Switch on the system.
– The system is put into operation by the firmware in the "ROM".
– Then the complete up-to-date parameter data set with the index 0 is copied from the
"ROM" to the memory card automatically and without a prompt appearing.
2. The system is switched on:
– Insert a memory card into the CU305.
– Execute command "RAM to ROM" (p0977[1]). The up-to-date parameter data set is
copied automatically, first to the "ROM" and then to the memory card (in the latter
case as a data set with the index 0). If the memory card already contains a parameter
data set with the index 0, this will be overwritten without a prompt appearing.
3. The system is switched on:
● The user starts data transmission from the ROM to the memory card with parameters
p0802, p0803 and p0804:
– p0804 = 1, p0802 = (0...100) as target (to the memory card) and p0803 = (0/10/11/12)
as source (from the "ROM").

Note
RAM to ROM transfer will overwrite the content of an inserted memory card.
When a memory card is inserted, the RAM to ROM command (p0977[1]) will copy the
parameter data set with the index 0 from the ROM to the memory card. Any previously saved
parameter data set will be overwritten.

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10.3 Working with the memory card

Copying parameter data sets from the memory card to non-volatile memory
There are two ways of copying parameter data sets from the memory card to non-volatile
memory:
1. The system is switched off:
– Insert a memory card containing a parameter data set with the index 0 into the CU305.
– Switch on the system. The new parameter data set will be copied to the ROM
automatically. The parameter data set with the index 0 which was previously available
in the ROM will be overwritten.
– The system will then boot with the new parameter data set.
2. The system is switched on. The user starts data transmission from the memory card to
the ROM with parameters p0802, p0803 and p0804:
– p0804 = 2.
– p0802 = (0...100) as source (from the memory card) and p0803 = (0/10/11/12) as
target (to the "ROM").

Note
The parameter data set in the "ROM" is overwritten during system start-up.
If a memory card with a parameter data set is inserted when the system is switched
on, the parameter data set with the index 0 in the "ROM" will be overwritten by the
new one with the index 0 on the memory card.

Important parameters:
p0977: Save all parameters (for more information, see the S110 List Manual).
p0802: Data transfer of parameters [0,10,11,12], memory card as source or target.
p0803: Data transfer of parameters [0...100], non-volatile device memory as source or target.
p0804: Start of parameter data transfer and specification of transfer direction:
● p0804 = 1 : Transfer from the memory card to non-volatile device memory,
● p0804 = 2: Transfer from non-volatile device memory to memory card.

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10.4 BICO technology: Interconnecting signals

10.4 BICO technology: Interconnecting signals

10.4.1 Description

Description
Every drive contains a large number of interconnectable input and output variables and
internal control variables.
BICO technology (Binector Connector Technology) allows the drive to be adapted to a wide
variety of conditions.
Digital and analog signals, which can be interconnected as required by means of BICO
parameters, are identified by the prefix BI, BO, CI, or CO in their parameter name.
These parameters are identified accordingly in the parameter list or in the function diagrams.

Note
The STARTER parameterization and commissioning tool is recommended when using BICO
technology.

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10.4 BICO technology: Interconnecting signals

10.4.2 Binectors, connectors

Binectors, BI: Binector Input, BO: Binector Output

A binector is a digital (binary) signal without a unit which can assume the value 0 or 1.
Binectors are subdivided into binector inputs (signal sink) and binector outputs (signal
source).

Table 10- 2 Binectors

Abbreviation Symbol Name Description

BI Binector input Can be interconnected to a binector output as
source.
(signal sink) The number of the binector output must be
entered as a parameter value.
BO Binector output Can be used as a source for a binector input.

(signal source)

Connectors, CI: Connector Input, CO: Connector Output

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

Table 10- 3 Connectors

Abbreviatio Symbol Name Description

n
CI Connector input Can be interconnected to a connector output as
source.
(signal sink) The number of the connector output must be
entered as a parameter value.
CO Connector output Can be used as a source for a connector input.

(signal source)

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10.4 BICO technology: Interconnecting signals

10.4.3 Interconnecting signals using BICO technology

To interconnect two signals, a BICO input parameter (signal sink) must be assigned to the
required BICO output parameter (signal source). The following information is required for
connecting a binector/connector input to a binector/connector output:
● Binectors: Parameter number, bit number, and drive object ID
● Connectors with no index: Parameter number and drive object ID
● Connectors with index: Parameter number, index, and drive object ID
● Data type (signal source for connector output parameter)

%2%LQHFWRURXWSXW %,%LQHFWRULQSXW
&2&RQQHFWRURXWSXW &,&RQQHFWRULQSXW
6LJQDOVRXUFH 6LJQDOVLQN
%,
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U 

&,
&2 ZLWKRXWLQGH[ S[[[[\
U 

&2 ZLWKLQGH[
,QGH[ >@ U &,
>@ U S[[[[\
>@ U >@
>@ U

Figure 10-4 Interconnecting signals using BICO technology

Note
A connector input (CI) cannot be interconnected with any connector output (CO, signal
source). The same applies to the binector input (BI) and binector output (BO).
For each CI and BI parameter, the parameter list shows under "data type" the information
on the data type of the parameter and the data type of the BICO parameter.
For CO parameters and BO parameters, only the data type of the BICO parameter is
shown.
Notation:
Data types BICO input: Data type parameter / Data type BICO parameter
Example: Unsigned32 / Integer16
Data types BICO output: Data type BICO parameter
Example: FloatingPoint32
The possible interconnections between the BICO input (signal sink) and the BICO output
(signal source) are listed in the following documents:
References: SINAMICS S110 List Manual
Section "Explanation of list of parameters", table "Possible combinations for BICO
interconnections".

The BICO parameter interconnection can be implemented in different command data sets
(CDS). The different interconnections are activated by switching data sets. Interconnections
across drive objects are also possible.

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10.4 BICO technology: Interconnecting signals

10.4.4 Internal encoding of the binector/connector output parameters

The internal codes are required for writing BICO input parameters via PROFIBUS, for
example.

'ULYH
3DUDPHWHUQXPEHU ,QGH[QXPEHU
REMHFW
%LW  ಹ   ಹ   ಹ 

 'HYLFH HJ&8
 6HSDUDWHREMHFW
([DPSOHVRIVLJQDOVRXUFHV
ELQ ELQ ELQ
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GHF GHF GHF

ELQ ELQ ELQ KH[ದದ!)HVWHರರ

ELQ ELQ ELQ KH[ದದ!)HVWHರರ

Figure 10-5 Internal encoding of the binector/connector output parameters

10.4.5 Sample interconnections

Example: Interconnection of digital signals

Suppose you want to operate a drive via terminals DI 0 and DI 1 on the Control Unit using
jog 1 and jog 2.

%2%LQHFWRURXWSXW %,%LQHFWRULQSXW
6LJQDOVRXUFH 6LJQDOVLQN
9
S&
; ', -RJ
U

S&
; ', -RJ
U

9
S&
; ', ,QWHUQDO -RJ
U 

S&
; ',
U
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Figure 10-6 Interconnection of digital signals (example)

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 Basic information about the drive system
10.4 BICO technology: Interconnecting signals

10.4.6 BICO technology:

Copying drives
When a drive is copied, the interconnection is copied with it.

Binector-connector converters and connector-binector converters

Binector-connector converter
● Several digital signals are converted to a 32-bit integer double word or to a 16-bit integer
word.
● p2080[0...15] BI: PROFIdrive PZD send bit-serial

Connector-binector converter
● A 32-bit integer double word or a 16-bit integer word is converted to individual digital
signals.
● p2099[0...1] CI: PROFIdrive PZD selection receive bit-serial

Fixed values for interconnection using BICO technology

The following connector outputs are available for interconnecting any fixed value settings:
● p2900[0...n] CO: Fixed value_%_1
● p2901[0...n] CO: Fixed value_%_2
● p2930[0...n] CO: Fixed value_M_1
Example:
These parameters can be used to interconnect the scaling factor for the main setpoint or to
interconnect an additional torque.

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10.4 BICO technology: Interconnecting signals

10.4.7 Scaling

Signals for the analog outputs

Table 10- 4 List of signals for analog outputs

Signal Parameter Unit Normalization

(100 % = ...)
Speed setpoint before the setpoint r0060 RPM p2000
filter
Speed actual value motor encoder r0061 RPM p2000
Speed actual value r0063 RPM p2000
Drive output frequency r0066 Hz Reference frequency
Absolute current actual value r0068 Aeff p2002
Actual DC link voltage value r0070 V p2001
Total torque setpoint r0079 Nm p2003
Actual active power r0082 kW r2004
Control deviation r0064 RPM p2000
Modulation depth r0074 % Reference modulation depth
Current setpoint, torque-generating r0077 A p2002
Current actual value, torque- r0078 A p2002
generating
Flux setpoint r0083 % Reference flux
Flux actual value r0084 % Reference flux
Speed controller r1480 Nm p2003
PI torque output
Speed controller r1482 Nm p2003
I torque output

Changing scaling parameters p2000 to p2007

CAUTION
If a referenced form is selected and the reference parameters (e.g. p2000) are changed
retrospectively, the referenced values of some of the control parameters are also adjusted
to ensure that the control behavior is unaffected.

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 Basic information about the drive system
10.5 Inputs/outputs

10.5 Inputs/outputs

10.5.1 Overview of inputs/outputs

The following digital/analog inputs/outputs are available:

Table 10- 5 Overview of inputs/outputs

Digital Analog
Component
Inputs Bidirectional Outputs Inputs Outputs
inputs/outputs
CU305 111) 42) 1 1 –
1) Variable: floating or non-floating
2) 4 of these are "high-speed inputs"

Note
For detailed information about the hardware properties of I/Os, please refer to:
Reference: SINAMICS S110 Equipment Manual Control Units
For detailed information about the structural relationships between all I/Os of a component
and their parameters, please refer to the function diagrams in:
Reference: SINAMICS S110 List Manual

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Basic information about the drive system
10.5 Inputs/outputs

10.5.2 Digital inputs/outputs

Digital inputs

;0 0
;0 0

;
9
S
 U
9
; ', 
U
9


; 0 S

; 0


Figure 10-7 Digital inputs: Signal processing using DI 0 of CU305 as an example

Properties
● The digital inputs are "high active".
● An open input is interpreted as "low".
● Fixed debouncing setting
Delay time = 1 to 2 current controller cycles (250 μs)
● Availability of the input signal for further interconnection
– inverted and not inverted as a binector output
– as a connector output
● Simulation mode settable and parameterizable.
● Isolation block by block, set by jumper.
– Jumper open: electrically isolated.
The digital inputs function only if a reference ground is connected.
– Jumper closed, non-floating.
The reference potential of the digital inputs is the ground of the Control Unit.

Function diagrams (see SINAMICS S110 List Manual)

● 2020 Digital inputs, electrically isolated (DI 0 ... DI 3)
● 2021 Digital inputs, electrically isolated (DI 16 ... DI 19)
● 2022 Digital inputs, electrically isolated (DI 20 ... DI 22)
● 2030 Digital inputs/outputs, bidirectional (DI/DO 8 ... DI/DO 9)
● 2031 Digital inputs/outputs, bidirectional (DI/DO 10 ... DI/DO 11)

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10.5 Inputs/outputs

Digital output

QH[WSRZHUVXSSO\

0 ;0

0 ;0

9 ;

S 9 ;

S   9
'2 ;
  9

U

Figure 10-8 Digital output: Signal processing of DO 0

Properties
● Separate power supply for the digital outputs.
● Source of output signal can be selected by parameter.
● Signal can be inverted by parameter.
● Status of output signal can be displayed
– as a binector output
– as a connector output

Note
Before the digital output can function, its own electronics power supply must be
connected.

Function diagrams (see SINAMICS S110 List Manual)

● 2032 digital output (DO 16)

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10.5 Inputs/outputs

Bidirectional digital inputs/outputs

;0 0
S
 ;0 0  U


U
; 9 S


',
 9 S
; ','2
'2
 9 S S 


; 0


U

U

Figure 10-9 Bidirectional inputs/outputs: Signal processing using DI/DO 8 of CU305 as an example

Properties
● Can be parameterized as digital input or output.
● When set as digital input:
– Four "high-speed inputs" on Control Unit
If these inputs are used, for example, for the "flying measurement" function, they act
as "high-speed inputs" with virtually no time delay when the actual value is saved.
– The properties of the "pure" digital outputs apply.
● When set as digital output:
– The properties of the "pure" digital output apply.
● Sharing of bidirectional input/output resources by the CU and higher-level control (see
section "Use of bidirectional inputs/outputs on the CU")

Function diagrams (see SINAMICS S110 List Manual)

● 2030 Bidirectional digital inputs/outputs (DI/DO 8 ... DI/DO 9)
● 2031 Bidirectional digital inputs/outputs (DI/DO 10 ... DI/DO 11)

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10.5 Inputs/outputs

10.5.3 Analog Input

;
 $
$,
;  '
+DUGZDUHVPRRWKLQJ 2IIVHW
˩V S>@

S>@ S>@
S>@
>9@ S S>@
U>@ \
S>@
\
 >@  
S>@ [ [ [  
6FDOLQJ  
S>@ \

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:LQGRZ S>@
6PRRWKLQJ
S>@
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[ \ U>@
_\[_!S 
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Figure 10-10 Analog inputs: Signal processing for the AI0

Properties
● Hardware input filter set permanently
● Simulation mode parameterizable
● Adjustable offset
● Signal can be inverted via binector input
● Adjustable absolute-value generation
● Noise suppression (p0768)
● Enabling of inputs via binector input
● Output signal available via connector output
● Scaling
● Smoothing

NOTICE
Scaling parameters p0757 to p0760 do not limit the voltage/current values.

Function diagram (see SINAMICS S110 List Manual)

● 2040 Analog input (AI 0)

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10.6 System sampling times

10.6 System sampling times

The software functions installed in the system are executed cyclically at different sampling
times.
The sampling times of the functions are pre-assigned automatically when the drive unit is
configured.
● Current controller 250 μs
● Speed controller 250 μs
● Flux controller 250 μs
● Setpoint channel 4,000 μs
● Position controller 1,000 μs
● Positioning 4,000 μs
● Technology controller 4,000 μs
For p0092 = 1, the sampling times are pre-assigned so that isochronous operation together
with a control is possible. If isochronous operation is not possible due to incorrect sampling
time settings, then an appropriate message is output (A01223, A01224). Before the
automatic configuration, parameter p0092 must be set to "1" in order that the sampling times
are appropriately pre-set.
● p0009 Device commissioning, parameter filter
● p0092 Isochronous PROFIBUS operation, pre-assignment/check
● p0097 Selects the drive object type
● p1800 Pulse frequency
● r9780 SI monitoring clock cycle (Control Unit)
● r9880 SI monitoring clock cycle (Motor Module)

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10.7 Licensing

10.7 Licensing

Description
SINAMICS S110 requires that a license purchased specifically for this purpose is assigned
to the hardware if the extended functions of Safety Integrated are to be used. In doing this
you will receive a license key, which links the extended functions of Safety Integrated with
the hardware electronically. In order to assign the license to the hardware, you must have a
memory card (this also has to be purchased separately).
The license key is an electronic license stamp declaring that one or more software licenses
have been purchased.
Actual customer verification of the license for the software that is subject to license is called
a certificate of license.

Note
Refer to the order documentation (e.g. catalogs) for information on basic functions and
functions subject to license.

An insufficient license is indicated via the following alarm and LED on the Control Unit:
● A13000 License not sufficient
● READY LED Flashes green/red at 0.5 Hz

NOTICE
The drive can only be operated with an insufficient license during commissioning and
servicing.
The drive requires a sufficient license in order for it to operate normally.

Properties of the license key

● Is assigned to a specific memory card.
● Saved in non-volatile memory.
● Is not transferrable.
● Can be acquired using the "WEB License Manager" from a license database.

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10.7 Licensing

Generating a license key via the "WEB License Manager"

The following information is required:
● Serial number for the memory card
● License number, delivery note number, and the license (on the Certificate of License)
1. Call up the "WEB License Manager".
http://www.siemens.com/automation/license
2. Choose "Direct access".
3. Enter the license number and delivery note number of the license.
--> Click "Next".
4. Enter serial number.
5. Select a product, e. g. "SINAMICS S CU3xx".
--> Click "Next".
6. Choose "Available license numbers".
--> Click "Next".
7. Check the assignment.
--> Click "Assign".
8. When you are sure that the license has been correctly assigned, click "OK".
9. The license key is displayed and can be entered.

Entering the license key

With the STARTER commissioning software, the ASCII characters are not entered in code,
but the letters and numbers in the license key can be input directly as they appear on the
license certificate.
In this case, the ASCII coding is processed by STARTER in the background.
Example of a license key:
E1MQ-4BEA = 69 49 77 81 45 52 66 69 65 dec (ASCII characters)
Procedure for entering a license key (see example):
p9920[0] = E 1st character
...
p9920[8] = A 9th character

Note
When changing p9920[x] to the value 0, all of the following indices are also set to 0.

After the license key has been entered, it has to be activated as follows:
● p9921 = 1 Licensing, activate license key
The parameter is automatically reset to 0

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10.7 Licensing

Entering the license key with BOP20

If you use the BOP20 to enter the license key, you will need to use the ASCII code for the
key (see above for an example). In the table below, you can enter the characters in the
license key and the corresponding decimal numbers.

Table 10- 6 License key table

Letter/numb
er
decimal

ASCII code

Table 10- 7 Excerpt of ASCII code

Letter/number decimal Letter/number decimal

- 45 I 73
0 48 J 74
1 49 K 75
2 50 L 76
3 51 M 77
4 52 N 78
5 53 O 79
6 54 P 80
7 55 Q 81
8 56 R 82
9 57 S 83
A 65 T 84
B 66 U 85
C 67 V 86
D 68 W 87
E 69 X 88
F 70 Y 89
G 71 Z 90
H 72 Blanks 32

Overview of important parameters (see SINAMICS S110 List Manual)

● p9920 Licensing, enter license key
● p9921 Licensing, activate license key

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10.7 Licensing

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Appendix 11
11.1 List of abbreviations

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11.1 List of abbreviations

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11.1 List of abbreviations

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11.1 List of abbreviations

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11.1 List of abbreviations

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11.1 List of abbreviations

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11.1 List of abbreviations

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11.1 List of abbreviations

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11.1 List of abbreviations

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Appendix
11.1 List of abbreviations

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Appendix

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 If you come across any misprints in this document, please let us know using this form. We
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Drive functions
Function Manual, 10/2008, 6SL3097-4AB10-0BP0 503
Appendix

Drive functions
504 Function Manual, 10/2008, 6SL3097-4AB10-0BP0
Index

A B
Absolute encoder Basic Positioner, 222
Adjustment, 232 Basic positioning
Acceptance test Referencing, 231
SBC, 371 BICO technology
SLS, 379 Converters, 479
SS1 (time controlled), 370 Fixed values, 479
SS1, time and acceleration controlled, 373 Interconnecting signals, 477
SS2, 375 What is it?, 475
SSM, 380 Bidirectional inputs/outputs, 481
STO, 368 Binector, 476
Acceptance test mode BOP20
Safety Integrated, 361 Control word, drive, 118
Access levels, 465 Important functions, 52, 53
Acknowledgment, 103 Brake control
Actual position value format Basic, 184
2-pole resolver, 32 extended, 202
Actual value acquisition, 326
Address
License manager on the Internet, 487 C
Setting the PROFIBUS address, 453
Cam controllers, 217
Adjustment
CBC10, 67
Absolute encoder, 232
Central probe
Alarm buffer, 105, 324
Example, 433
Alarm classes
Closed-loop position control, 207
Faults and alarms, 109
Commissioning
Alarm history, 105, 324
Checklist, 39
Alarm value, 105, 324
General, 343
Alarms, 102
PROFIsafe with STARTER, 351
Alarm buffer, 105, 324
Safety Integrated, 343
Alarm history, 105, 324
Safety terminals, 345
configure, 106
with STARTER, 48
Analog inputs, 481
Communication
Properties, 485
about PROFIdrive, 383
Signal processing, 485
via PROFIBUS, 450
Analog outputs, 481
Communication Board, 67
Application classes, 384
Connector, 476
Armature short-circuit brake, 179
Control Unit
Armature short-circuit braking
LEDs during booting, 85
external, 180
Controller setting, automatic
ASCII code
Servo, 142
Licensing, 489
Current setpoint filter
Automatic restart, 177
Servo, 132
Axis
Suspended/hanging, 170

Drive functions
Function Manual, 10/2008, 6SL3097-4AB10-0BP0 505
Index

D ESD information, 9
Example
Data sets
Setting the PROFIBUS address, 453
Command data set (CDS), 466
Drive data set (DDS), 467
Encoder data set (EDS), 468
F
Motor data set (MDS), 468
Detail view, 21 F parameters, 353
Determining the axis number, 444 Fault buffer, 104
Determining the object number, 444 Fault response, 320
Device identification, 454 Fault value, 104
Diagnosis FAULT_CODE, 415
using LEDs on Sensor Module Cabinet 10, 88 Faults, 102
using LEDs on Sensor Module Cabinet 20, 88 Acknowledgment, 103
Diagnostic function, 90 configure, 106
Function generator, 90 Fault buffer, 104
Measuring sockets, 98 Faults and alarms, 109
Trace, 94 Alarm classes, 109
V/f control for servo control, 139 BICO interconnections, 109
Diagnostics F-DI, 331
using LEDs on Sensor Module Cabinet SMC30, 89 F-DO, 331
Digital inputs, 481 Find reference mark, 420
Bidirectional, 484 Fixed setpoints, 259
If they are not functioning, 482 Fixed speed setpoints, 259
Properties, 482 Flying measurement, 421
Signal processing, 482 Flying referencing
Digital outputs, 481 EPOS, 236
Bidirectional, 484 Following error monitoring
Properties, 483 Dynamic, 217
Signal processing, 483 Forced dormant error detection, 306, 329
Direct setpoint input (MDI), 247 Free PDO mapping, 72
Direction reversal, 192 Free telegrams, 389
Dynamic Servo Control, 162 Function generator
Properties, 91
E Function module
Closed-loop position control, 207
Encoder
Extended brake control, 202
External, 164
Function modules, 193
Encoder interface, 417
Extended monitoring functions, 199
Find reference mark, 420
Technology controller, 194
Flying measurement, 421
Function test, 329
Encoder systems, 326
Functions
Encoder types, 327
Fixed speed setpoints, 259
EPOS, 222
Jog, 255
Absolute encoder adjustment, 32
Motorized potentiometer, 260
Direct setpoint input (MDI), 247
Safe brake control (SBC), 302
Flying referencing, 236
Safe Torque Off, 298
Intermediate stop, 240, 249
Servo control, 119
Jog, 250
Travel to fixed stop, 165
Limits, 226
V/f control for servo control, 139
Mechanical system, 224
Reject traversing task, 240, 249
Traversing blocks, 238

Drive functions
506 Function Manual, 10/2008, 6SL3097-4AB10-0BP0
 Index

G Message buffer, 324

Messages, 102
Generator for signals, 90
External triggering, 107
Triggering on, 107
Monitoring functions
H
extended, 199
Heartbeat, 69, 81 Motion Control with PROFIBUS, 434
Hotline, 7 Motorized potentiometer, 260

I N
Inputs/outputs Node guarding, 69, 81
Overview, 481
Interconnection using BICO technology, 477
Intermediate stop O
EPOS, 240, 249
OFF3
Torque limits, 183
Online operation with STARTER, 51
J
Operating hours counter, 186
Jerk limitation, 229 Operation without an encoder
Jog, 255 Servo, 143
EPOS, 250
JOG
Jog, 255 P
p8604, 80, 81
p8609, 81
K
p8641, 81
Kinetic buffering, 159 Parameterization
using the BOP, 111
Parameterize
L with STARTER, 48
Parameters
LEDs
Categories, 463
for Sensor Module Cabinet SMC30, 89
Types, 463
on CU305 CAN Control Unit, 86
PFH value, 294
on CU305 DP Control Unit, 86
Pole position identification
on Sensor Module Cabinet 10, 88
Servo, 155
on Sensor Module Cabinet 20, 88
Position controller, 216
License key, 487
Monitoring functions, 217
Limit exceeded, 320
Position tracking
Limits
2-pole resolver, 32
Torque setpoint, 126
Load gear, 210
Positioning monitoring, 217
Predefined connection set, 72
M
Probability of failure, 294
Main/supplementary setpoint, 262 probe
Manufacturer-specific telegrams, 389 central, 433
Maximum acceleration, 227 Probe
Maximum deceleration, 227 Central, 433
Maximum velocity, 227 Process data, 391
Measuring sockets, 98

Drive functions
Function Manual, 10/2008, 6SL3097-4AB10-0BP0 507
Index

Process data, actual values SI ZSW (PROFIsafe ZSW), 341

G1_XIST1, 404, 423 XistP, 404
G1_XIST2, 404, 424 ZSW1, 404, 406
G2_XIST1, 404, 426 ZSW2, 404, 410
G2_XIST2, 404, 426 PROFIBUS, 450
NACT_A, 404, 410 Components, 40
NACT_B, 404, 410 Device identification, 454
Process data, control words Device master file, 454
A_DIGITAL, 388, 430 Interface Mode, 391
CU_STW, 429 Master class 1 and 2, 451
G1_STW, 392 Motion Control with PROFIBUS, 434
G2_STW, 392, 421 Setting the address, 453
G3_STW, 388 Sign of life, 462
Gn_STW, 418 Telegrams, 389
MDI_ACC, 402 Terminating resistor, 454
MDI_DEC, 402 PROFIdrive, 383
MDI_MOD, 402, 403 Controller, Supervisor, Drive Unit, 383
MDI_TARPOS, 402 read parameters, 445
MDI_VELOCITY, 402 Write parameter, 447
MDIAcc, 392 Profile velocity mode, 69
MDIDec, 392 PROFIsafe, 331
MDIMode, 392, 393 PROFIsafe slot, 352
MDIPos, 392 Project navigator, 21
MDIVel, 392
MT_STW, 430
Over, 393 R
OVERRIDE, 402
Ramp-function generator, 79
POS_STW, 399
Ramp-function generator, extended, 266
POS_STW1, 393
Recorder, 94
POS_STW2, 393
Reference variables
PosSTW, 393
Disabling/protecting, 175
SATZANW, 392, 398
Referencing
SI STW (PROFIsafe STW), 340
Basic positioning, 231
STW1, 388, 392, 393
Requirements
STW1 (positioning mode), 395
Extended Functions, 288
STW2, 388, 392, 396
Residual risk, 296
Process data, setpoints
Resolver
KPC, 388
2-pole, 32
MOMRED, 388, 393, 398
Response times, 295
NSOLL_A, 388, 392, 397
NSOLL_B, 388, 392, 397
Process data, status words
S
AKTSATZ, 404
CU_ZSW, 431 Safe Acceleration Monitor
E_DIGITAL, 432 SBR, 318
G1_ZSW, 404 Safe actual value acquisition, 326
G2_ZSW, 404, 426 Safe Brake Control
Gn_ZSW, 422 SBC, 303
MELDW, 405, 411 Safe Operating Stop
MT_ZSW, 432 SOS, 312
POS_ZSW, 414 Safe Speed Monitor
PosZSW, 405 SSM, 316

Drive functions
508 Function Manual, 10/2008, 6SL3097-4AB10-0BP0
 Index

Safe Stop 1 Motorized potentiometer, 260

SS1, 301, 307 Ramp-function generator, extended, 266
Time and acceleration controlled, 307 Servo amplifier, 253
time controlled, 301 Setpoint limitation, 264
Safe Stop 2 Setpoint modification, 262
SS2, 310 Suppression bandwidths, 264
Safely Limited Speed with, 79
SLS, 313 without, 79
Safety Integrated Setpoint modification, 262
Acceptance test mode, 361 Setpoint sources, 254
Commissioning, 343 Signal recording with the trace function, 90
Password, 290 SINAMICS drive unit, 352
Safe brake control (SBC), 302 Single-encoder system, 326
Safe Stop 1, 301 Singleturn absolute encoder, 32
Safe Torque Off, 298 SLS
Series commissioning, 344 Acceptance test, 379
Safety Integrated Basic Functions Safely Limited Speed, 313
Stop responses, 304 Sockets for measurement, 98
Safety Integrated password, 290 Software limit switches, 228
Safety logbook, 364 SOS
Safety terminals, 331 Acceptance test, 377
Commissioning, 345 Safe Operating Stop, 312
Sampling times, 486 Speed controller
SBC Limitations, 119
Acceptance test, 371 Properties, 119
Safe Brake Control, 303 Speed controller adaptation, 121
SBR Speed setpoint filter, 120
Safe Acceleration Monitor, 318 SS1
Servo Safe Stop 1, 301, 307
Automatic controller setting, 142 SS1 (time controlled)
Encoderless operation, 143 Acceptance test, 370
Vdc control, 159 Safe Stop 1, 301
Servo control, 119 SS1, time and acceleration controlled
Activate setpoint channel, 253 Acceptance test, 373
Current controller, 130 Safe Stop 1, 307
Optimization, 142 SS2
Speed controller, 119 Acceptance test, 375
Torque setpoint, 126 Safe Stop 2, 310
Torque-controlled operation, 123 SSM
Travel to fixed stop, 165 Acceptance test, 380
V/f control, 139 Safe Speed Monitor, 316
Servo current controller Standard telegrams, 389
Closed-loop current control, 130 STARTER, 48
Current and torque limitation, 130 Connection via serial interface, 41
Current controller adaptation, 130 Important functions, 48
Setpoint channel Online operation via PROFIBUS, 51
Direction of rotation limiting, 263 STARTER toolbars
Direction reversal, 263 display, 50
extended, 254 STO
Fixed speed setpoints, 259 Acceptance test, 368
Jog, 255 Safe Torque Off, 298
Main/supplementary setpoint, 262

Drive functions
Function Manual, 10/2008, 6SL3097-4AB10-0BP0 509
Index

STOP A, 304, 320 Traversing blocks, 238

STOP B, 320 Traversing task
STOP C, 320 reject, 240
Stop cam, 228 Reject, 249
STOP D, 320 Two-encoder system, 326
STOP E, 320
STOP F, 304, 320
Stop response U
Stop A, 304
Unit changeover, 173
Stop F, 304
User interface, 21
Stop responses, 320
Priorities vis-à-vis Extended Functions, 322
Priority classes, 321
V
Support, 7
Switches for PROFIBUS address, 453 V/f control
Switching on inhibited, 406, 408 Servo control, 139
Switchover Vdc control
Fixed speed setpoints, 259 Servo, 159
Synchronous motors Vdc_min control
External armature short-circuit, 179, 180 Servo, 160
Internal armature short-circuit, 179 Voltage boost
System runtime, 186 Servo, 141
System sampling times, 486 Voltage protection
Internal, 179

T
W
T0, T1, 98
Technology controller, 194 WARN_CODE, 415
Telegram 111 Working area, 21
POS_ZSW1, 415
POS_ZSW2, 416
Telegram 371
STW1, 393
Telegrams
Layout, 391
Manufacturer-specific, 389
Standard, 389
User-defined, 389
Temperature sensors
SINAMICS components, 33
Test of shutdown paths, 306
Test stop, 329
Tools
STARTER, 48
Torque limits
OFF3, 183
Torque setpoint, 126
Torque-controlled operation, 123
Trace, 94
Trace function, 94
Signal recording, 90
Travel to fixed stop, 165

Drive functions
510 Function Manual, 10/2008, 6SL3097-4AB10-0BP0
Siemens AG Subject to change without prior notice
Industry Sector © Siemens AG 2008
Drive Technologies
Motion Control Systems
P. O. Box 3180
91050 ERLANGEN
GERMANY
www.siemens.com/motioncontrol