Siemens SIMOTION D4 Series User manual

SIMOTION D4x5-2
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SIMOTION
SIMOTION D4x5-2
Manual
Valid for SIMOTION D445-2 DP/PN and D455-2
DP/PN as well as CX32-2 and TB30
11/2010
Preface
Description
1
Operation (hardware)
2
Interfaces
3
Technical data of the D4x5-2
4
Dimension drawings
5
Supplementary system
components
6
Available spare parts and
accessories
7
Standards and approvals
A
ESD guidelines
B

Legal information
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 product/system described in this documentation may be operated only by personnel qualified for the specific
task in accordance with the relevant documentation for the specific task, in particular its warning notices and
safety instructions. Qualified personnel are those who, based on their training and experience, are capable of
identifying risks and avoiding potential hazards when working with these products/systems.
Proper use of Siemens products
Note the following:
WARNING
Siemens products may only be used for the applications described in the catalog and in the relevant technical
documentation. If products and components from other manufacturers are used, these must be recommended
or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and
maintenance are required to ensure that the products operate safely and without any problems. The permissible
ambient conditions must be 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
Industry Sector
Postfach 48 48
90026 NÜRNBERG
GERMANY
Copyright © Siemens AG 2010.
Technical data subject to change

SIMOTION D4x5-2
Manual, 11/2010 3
Preface
Content of the Manual
This document is part of the SIMOTION D documentation package.
Scope
The SIMOTION D4x5-2 Manual is applicable to the SIMOTION D445-2 DP/PN and
SIMOTION D455-2 DP/PN devices as well as the CX32-2 and TB30 supplementary system
components.
A separate
SIMOTION D4x5 Manual is available for the SIMOTION D425, SIMOTION D435
and SIMOTION D445/D445-1 devices including the CX32, CBE30 and TB30 system
components.
Standards
The SIMOTION system was developed in accordance with ISO 9001 quality guidelines.
Content of the manual
The following is a description of the purpose and use of the product manual:
● Description
Provides information about the SIMOTION system and its integration in the automation
environment.
● Operator control (hardware)
Provides information about the structure and architecture of the devices.
● Interfaces
Provides information about the different interfaces of the devices, their pin assignment,
and possible applications.
● Technical data
Provides information about the properties and features of the devices.
● Dimension drawings
● Spare parts/accessories
Provides information about spare parts and accessories of the SIMOTION D4x5-2 and
SIMOTION CX32-2.
● Appendix
Provides information about the various standards and specifications fulfilled by the
device.
● Index for locating information.

Preface
SIMOTION D4x5-2
4 Manual, 11/2010
SIMOTION Documentation
An overview of the SIMOTION documentation can be found in a separate list of references.
This documentation is included as electronic documentation in the scope of delivery of
SIMOTION SCOUT. It comprises 10 documentation packages.
The following documentation packages are available for SIMOTION V4.2:
● SIMOTION Engineering System
● SIMOTION System and Function Descriptions
● SIMOTION Service and Diagnostics
● SIMOTION IT
● SIMOTION Programming
● SIMOTION Programming - References
● SIMOTION C
● SIMOTION P
● SIMOTION D
● SIMOTION Supplementary Documentation
Hotline and Internet addresses
Additional information
Click the following link to find information on the the following topics:
● Ordering documentation/overview of documentation
● Additional links to download documents
● Using documentation online (find and search in manuals/information)
http://www.siemens.com/motioncontrol/docu
Please send any questions about the technical documentation (e.g. suggestions for
improvement, corrections) to the following e-mail address:
[e-mail]
My Documentation Manager
Click the following link for information on how to compile documentation individually on the
basis of Siemens content and how to adapt this for the purpose of your own machine
documentation:
http://www.siemens.com/mdm

Preface
SIMOTION D4x5-2
Manual, 11/2010 5
Training
Click the following link for information on SITRAIN - Siemens training courses for automation
products, systems and solutions:
http://www.siemens.com/sitrain
FAQs
You can find Frequently Asked Questions on the Service&Support pages under Product
Support:
http://support.automation.siemens.com
Technical support
Country-specific telephone numbers for technical support are provided on the Internet under
Contact:
http://www.siemens.com/automation/service&support
Disposal and recycling of the device
SIMOTION D is an environmentally friendly product. It includes the following features:
● In spite of its excellent resistance to fire, the flame-resistant agent in the plastic used for
the housing does not contain halogens.
● Identification of plastic materials in accordance with DIN 54840.
● Less material used because the unit is smaller and with fewer components thanks to
integration in ASICs.
The disposal of the products described in this manual should be performed in compliance
with the valid national regulations.
The products can be largely recycled owing to their low pollutant content. To recycle and
dispose of your old device in an environmentally friendly way, please contact a recycling
company certified for electronic waste.
If you have any further questions about disposal and recycling, please contact your local
Siemens representative. Contact details can be found in our contacts database on the
Internet at:
http://www.automation.siemens.com/partner/index.asp

Preface
SIMOTION D4x5-2
6 Manual, 11/2010
Further information / FAQs
You can find further information on this manual under the following FAQs:
http://support.automation.siemens.com/WW/view/de/27585482
You can also find additional information such as:
● SIMOTION Utilities & Applications: SIMOTION Utilities & Applications will be included in
the SIMOTION SCOUT scope of delivery and, along with FAQs, also contain free utilities
(e.g. calculation tools, optimization tools etc.) as well as application examples (ready-to-
apply solutions such as winders, cross cutters or handling).
● The latest SIMOTION FAQs at
http://support.automation.siemens.com/WW/view/en/10805436/133000
● SIMOTION SCOUT online help.
● For additional documentation (separate document), please refer to the list of references.

SIMOTION D4x5-2
Manual, 11/2010 7
Table of contents
Preface ...................................................................................................................................................... 3
1 Description............................................................................................................................................... 11
1.1 System overview..........................................................................................................................11
1.2 System components ....................................................................................................................16
1.3 I/O integration...............................................................................................................................20
1.4 View of SIMOTION D445-2 DP/PN and D455-2 DP/PN .............................................................22
1.5 Nameplates..................................................................................................................................23
1.6 Safety notes .................................................................................................................................25
1.7 CompactFlash card......................................................................................................................26
1.7.1 Usage and function of the CompactFlash Card...........................................................................26
1.7.2 CompactFlash card......................................................................................................................28
1.7.3 Data matrix code on CF card.......................................................................................................29
2 Operation (hardware)............................................................................................................................... 31
2.1 Overview of operator control and display elements.....................................................................31
2.2 Operator controls .........................................................................................................................32
2.2.1 Service and operating mode switch.............................................................................................32
2.2.2 DIAG button .................................................................................................................................36
2.2.3 RESET button ..............................................................................................................................36
2.3 7-segment and LED displays.......................................................................................................37
3 Interfaces................................................................................................................................................. 39
3.1 Interface overview........................................................................................................................39
3.2 DRIVE-CLiQ interfaces................................................................................................................40
3.3 Ethernet interfaces.......................................................................................................................42
3.4 PROFINET IO interface ...............................................................................................................45
3.5 Digital inputs/outputs....................................................................................................................49
3.5.1 Features.......................................................................................................................................49
3.5.2 Using the digital inputs/outputs....................................................................................................53
3.6 Power supply................................................................................................................................55
3.7 PROFIBUS DP interfaces............................................................................................................56
3.8 Slot for CompactFlash Card.........................................................................................................59
3.9 Measuring sockets .......................................................................................................................59
3.10 USB interfaces .............................................................................................................................61
4 Technical data of the D4x5-2................................................................................................................... 63
4.1 Shipping and storage conditions..................................................................................................63

Table of contents
SIMOTION D4x5-2
8 Manual, 11/2010
4.2 Mechanical and climatic ambient conditions............................................................................... 64
4.3 Dimensions and weights ............................................................................................................. 66
4.4 Power supply............................................................................................................................... 67
4.5 Interfaces and performance features .......................................................................................... 68
4.6 CompactFlash card ..................................................................................................................... 72
4.7 Clock ........................................................................................................................................... 72
4.8 Input and output circuit................................................................................................................ 73
5 Dimension drawings ................................................................................................................................ 75
5.1 Dimension drawing of D445-2 DP/PN and D455-2 DP/PN......................................................... 75
5.2 CAD data, dimension drawings, and circuit-diagram macros..................................................... 76
6 Supplementary system components........................................................................................................ 77
6.1 Supplemental system components............................................................................................. 77
6.2 Fan/battery module ..................................................................................................................... 79
6.2.1 Cooling the SIMOTION D4x5-2 and backing up the real-time clock .......................................... 79
6.2.2 Installing the fan/battery module ................................................................................................. 80
6.2.3 Replace battery in the fan/battery module .................................................................................. 82
6.3 TB30 terminal board.................................................................................................................... 85
6.3.1 Description .................................................................................................................................. 85
6.3.2 Safety information for the TB30 .................................................................................................. 85
6.3.3 Interfaces..................................................................................................................................... 86
6.3.3.1 Overview ..................................................................................................................................... 86
6.3.3.2 Connection diagram .................................................................................................................... 87
6.3.3.3 Power supply of digital outputs ................................................................................................... 88
6.3.3.4 Digital inputs/outputs................................................................................................................... 89
6.3.3.5 Analog inputs and outputs........................................................................................................... 90
6.3.3.6 Working with analog inputs ......................................................................................................... 91
6.3.3.7 Commissioning............................................................................................................................ 91
6.3.4 Technical Specifications.............................................................................................................. 91
6.4 CX32-2 controller extension........................................................................................................ 92
6.4.1 Overview of CX32-2 .................................................................................................................... 92
6.4.2 Interfaces..................................................................................................................................... 94
6.4.2.1 Overview of interfaces................................................................................................................. 94
6.4.2.2 List of interfaces .......................................................................................................................... 95
6.4.2.3 DRIVE-CLiQ interface................................................................................................................. 96
6.4.2.4 Digital inputs/outputs (X122)....................................................................................................... 96
6.4.2.5 Power supply............................................................................................................................. 100
6.4.2.6 Measuring sockets .................................................................................................................... 101
6.4.3 Displays of the LEDs................................................................................................................. 101
6.4.4 Cause and rectification of faults................................................................................................ 102
6.4.5 RESET button ........................................................................................................................... 102
6.4.6 Commissioning.......................................................................................................................... 102
6.4.7 Technical data of the CX32-2.................................................................................................... 102
6.5 Terminal module TM31 ............................................................................................................. 106
6.6 Terminal module TM41 ............................................................................................................. 107

Table of contents
SIMOTION D4x5-2
Manual, 11/2010 9
6.7 Terminal Module TM54F............................................................................................................107
6.8 Terminal modules TM15 and TM17 High Feature.....................................................................109
6.9 CUA31/CUA32 control unit adapter...........................................................................................110
6.10 DMC20 DRIVE-CLiQ hub ..........................................................................................................110
7 Available spare parts and accessories................................................................................................... 113
7.1 Available spare parts and accessories ......................................................................................113
A Standards and approvals....................................................................................................................... 115
A.1 General rules..............................................................................................................................115
A.2 Safety of electronic controllers...................................................................................................117
B ESD guidelines ...................................................................................................................................... 119
B.1 ESD definition ............................................................................................................................119
B.2 Electrostatic charging of individuals...........................................................................................120
B.3 Basic measures for protection against discharge of static electricity ........................................121
Index...................................................................................................................................................... 123

Table of contents
SIMOTION D4x5-2
10 Manual, 11/2010

SIMOTION D4x5-2
Manual, 11/2010 11
Description 1
1.1 System overview
Overview
SIMOTION D is a drive-based version of SIMOTION based on the SINAMICS S120 drive
family.
With SIMOTION D, the SIMOTION PLC and motion control functionalities as well as the
SINAMICS S120 drive software run on shared control hardware.
SIMOTION D is available in two versions:
● SIMOTION D410 is a compact control unit for single-axis applications and is snapped on
to the SINAMICS S120 PM340 power module in blocksize format.
● SIMOTION D4x5-2 is a control unit for multi-axis applications in the SINAMICS S120
booksize format. SIMOTION D4x5-2 is the successor to the SIMOTION D4x5 control unit.
The integrated drive control of a D4x5-2 is based on a CU320-2, firmware version
≥ V4.x).
The following performance versions are offered:
– SIMOTION D445-2 DP/PN (HIGH performance) for up to 64 axes
– SIMOTION D455-2 DP/PN (ULTRA-HIGH performance) for up to 128 axes or
applications with very short control cycle clocks
This manual describes the SIMOTION D4x5-2 for multi-axis applications. Separate manuals
are available for the SIMOTION D410 and SIMOTION D4x5.
Like SINAMICS S120, SIMOTION D also follows the Totally Integrated Automation (TIA)
concept. TIA is characterized by integrated data management, configuration, and
communication for all products and systems. Thus, an extensive toolbox of automation
modules is also available for SIMOTION D.
Note
In order to cover all versions of SIMOTION D for multi-axis applications, the product will be
referred to as "D4x5-2". Specific product designations will be used for information that
applies only to one product version, e.g. D445-2 DP/PN.

Description
1.1 System overview
SIMOTION D4x5-2
12 Manual, 11/2010
Application
The SIMOTION D4x5-2 is ideally suited to applications with many coordinated axes with high
clock-pulse rates.
Typical applications include:
● Compact multiple-axis machines
● High-performance applications with short machine cycles
● Compact machines
– Including the complete machine control in the drive
– With extensive connection possibilities for communication, HMI and I/O
● Distributed drive concepts
– Applications with many axes
– Synchronization of several SIMOTION D control units using distributed synchronous
operation
Versions
The control units are available in the versions SIMOTION D425 (BASIC performance),
SIMOTION D435 (STANDARD performance), SIMOTION D445-2 DP/PN (HIGH
performance) and SIMOTION D455-2 DP/PN (ULTRA-HIGH performance). The versions
differ in their PLC performance and in their motion control performance. The main
distinguishing features are:
Table 1- 1 Device versions and characteristics
SIMOTION
D425
SIMOTION
D435
SIMOTION
D445-2 DP/PN
SIMOTION
D455-2 DP/PN
Maximum number of
axes
16 32 64 128
Minimum
servo/interpolator cycle
clock
2.0 ms 1.0 ms 0.5/0.25 ms 1) 0.5/0.25 ms 1)
DRIVE-CLiQ interfaces 4 4 6 6
Description See SIMOTION D4x5 Manuals See this manual
1) Explanation:
● 0.5 ms in connection with SINAMICS S120 (incl. SINAMICS Integrated / CX32-2)
● 0.25 ms in connection with SERVOfast and IPOfast for rapid I/O processing
and/or high-performance hydraulics applications. The sensors and actuators are connected
via high-speed PROFINET IO I/O modules.
The control units feature PLC and motion control performance (open-loop control and motion
control) for up to 16, 32, 64 or 128 axes, as required.

Description
1.1 System overview
SIMOTION D4x5-2
Manual, 11/2010 13
The integrated drive computing performance of the control units enables the operation of the
following axis configurations:
● Up to six servo, six vector or twelve
V / f axes on each D4x5-2 control unit.
(Drive control based on CU320-2, firmware version ≥ V4.x)
● Up to six servo, four vector or eight
V / f axes on each D4x5 control unit.
(Drive control based on CU320, firmware version V2.x)
The drive control supports servo control (for a highly dynamic response), vector control (for
maximum torque accuracy) and
V / f control.
The SIMOTION D4x5-2 control units and their CX32-2 and TB30 supplementary system
components are described in the following.
Note
With the SIZER configuration tool, you can easily configure the SINAMICS S120 drive family
including SIMOTION.
It provides you with support for selecting and dimensioning the components required for a
motion control task.
You can also determine the possible number of axes and the resulting load with SIZER in
accordance with your performance requirements.

Description
1.1 System overview
SIMOTION D4x5-2
14 Manual, 11/2010
Hardware components
As the central hardware, SIMOTION D uses the SIMOTION D4x5-2 as control unit consisting
of the SIMOTION runtime system and the SINAMICS drive control. The control unit uses the
SINAMICS Integrated drive with various SINAMICS S120 drive modules (line and motor
modules) to perform open-loop and closed-loop control of the axis grouping. A range of
additional SINAMICS S120 components, such as SMx encoder systems or terminal modules
can also be connected via DRIVE-CLiQ. With a few exceptions (e.g. no basic positioner
EPOS, no basic operator panel BOP20, etc.), the drive control integrated in SIMOTION D
has the same control characteristics and performance features as the SINAMICS S120
CU320-2 control unit. The EPOS functionality is provided by the SIMOTION technology
functions. The functionality of SIMOTION D can be expanded with the distributed I/O via
PROFIBUS or PROFINET IO.
The following figure shows a typical SIMOTION D axis grouping.
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Figure 1-1 Example of an axis grouping with SIMOTION D4x5-2
A SIMOTION D axis grouping generally consists of the following elements:
● SIMOTION D (control unit) (1)
This unit contains the programmable runtime system of SIMOTION and the drive software
of SINAMICS S120. In principle, SIMOTION D is capable of controlling multiple
axes/drives.
● One SINAMICS infeed (line module) (2)
This module generates a DC link from the supply system.

Description
1.1 System overview
SIMOTION D4x5-2
Manual, 11/2010 15
● SINAMICS power units (motor modules) (3)
These modules are used to control motors.
It is also possible to operate SINAMICS PM340 power modules with the SINAMICS
control unit adapter (CUA). A separate infeed is then unnecessary.
● DRIVE-CLiQ components (4)
In SINAMICS S120 / SIMOTION D, the individual components of the drive system
communicate with each other via DRIVE-CLiQ. In addition to power components,
encoder systems and special DRIVE-CLiQ I/O devices can also be linked via
DRIVE-CLiQ.
Extension of the drive computing performance
The motion control performance of a SIMOTION D4x5-2 can be utilized in full by expanding
the computing performance at the drive in two different ways:
● SINAMICS S110/S120 control units (e.g. CU320-2, CU305, etc.) complete with further
drive components can be connected via PROFIBUS or PROFINET.
● With SIMOTION D4x5-2, the CX32-2 controller extension can be connected via
DRIVE-CLiQ. This module is extremely compact, does not require a separate
CompactFlash card and can control up to six servo, six vector or twelve
V / f axes.
Software components
The basic functionality of SIMOTION D is supplied on a CompactFlash card containing the
following:
The SIMOTION runtime system with the following functions:
● User-programmable runtime system (IEC 61131)
● Various runtime levels (tasks)
● PLC and arithmetic functionality
● Motion control functions
● Communication functions
The SINAMICS S120 drive control with the following functions:
● Closed-loop current and torque control
● Closed-loop speed control
● Closed-loop infeed

Description
1.2 System components
SIMOTION D4x5-2
16 Manual, 11/2010
1.2 System components
Central components
SIMOTION D4x5-2 communicates with automation components via the following interfaces:
● PROFIBUS DP
● Ethernet
● PROFINET IO
● DRIVE-CLiQ (DRIVE Component Link with IQ)
SIMOTION D features a SINAMICS Integrated drive element. The communication with the
SINAMICS Integrated is performed via PROFIBUS mechanisms (DP Integrated), i.e. the
communication is handled, for example, via PROFIdrive message frames.
Shorter cycle times and greater numbers of addresses for each node are achieved with the
"DP Integrated" compared to the "external PROFIBUS DP".
The most important components of the system and their functions are shown below.
Table 1- 2 Central components
Component Function
SIMOTION D4x5-2
controller
... is the central motion control module.
This module contains the programmable SIMOTION runtime for the
SIMOTION D4x5-2 and the SINAMICS S120 drive software.
You can use the integrated high-speed digital I/Os as:
Homing inputs
Inputs for measuring inputs
User-addressable process inputs/outputs
Outputs for fast output cams
The measuring sockets can output any analog signals.
System software The basic functionality of SIMOTION D is supplied on a CompactFlash
card containing the following:
SIMOTION runtime (kernel)
Drive software of SINAMICS S120 - implements all drive functions
Power supply ... provides the electronic power supply for SIMOTION D, e.g. via the
SITOP power supply.

Description
1.2 System components
SIMOTION D4x5-2
Manual, 11/2010 17
PROFIBUS DP
The control unit can communicate with the following components via the PROFIBUS DP
interfaces:
Table 1- 3 Components on PROFIBUS DP
Component Function
Programming device (PG/PC) ... configures, parameterizes, programs, and tests with the
"SIMOTION SCOUT" engineering system (ES)
SIMATIC HMI device ... is used for operating and monitoring functions. This is not an
essential requirement for the operation of a control unit.
Other controllers (e.g.
SIMOTION or SIMATIC)
... e.g. higher-level controller (plant controller); modular machine
concepts with multiple controls, distributed across individual machine
modules
Distributed I/O systems
SIMATIC ET 200M Modular I/O system for control cabinet installation and high channel
density
SIMATIC ET 200S Finely scalable I/O system for control cabinet configuration and
particularly time-critical applications; including motor starters, safety
technology and individual grouping of load groups
SIMATIC ET 200pro Modular I/O system with IP65/67 degree of protection for machine-
related applications with no control cabinet; with features such as
compact designs, integrated PROFIsafe safety technology,
PROFINET connection and live module replacement.
SIMATIC ET 200eco I/O system with IP65/67 degree of protection for cabinet-free use
close to the machine with flexible and fast ECOFAST or M12
connection methods.
Other PROFIBUS I/O
Gateways DP/AS-Interface link 20E and DP/AS-Interface link Advanced for
the PROFIBUS DP gateway to AS-Interface
DP/DP coupler for connecting two PROFIBUS DP networks
Drive interfaces ADI4 (Analog Drive Interface for four axes) for connection of
drives with analog ±10 V setpoint interface or for external
encoders
IM174 (interface module for four axes) for connection of drives
with analog ±10 V setpoint interface, for external encoders, or for
connection of stepper drives with pulse-direction interface
Drive units with
PROFIBUS DP interface (e.g.
SINAMICS S120)
... convert speed setpoints into signals for controlling the motor and
supply the power required to operate the motors.
Also can be operated as an isochronous slave on PROFIBUS DP.
Teleservice adapter Remote diagnostics

Description
1.2 System components
SIMOTION D4x5-2
18 Manual, 11/2010
Ethernet
The control unit can communicate with the following components via the Ethernet interfaces
or be embedded in an automation environment:
Table 1- 4 Components on the Ethernet
Component Function
Programming device (PG/PC) ... configures, parameterizes, programs, and tests with the
"SIMOTION SCOUT" engineering system (ES)
Master computer ... communicates with other devices via UDP, TCP/IP
SIMATIC HMI device ... is used for operating and monitoring functions. This is not an
essential requirement for the operation of a control unit.
PROFINET IO
The D4x5-2 DP/PN can communicate with the following components via the onboard
PROFINET IO interface.
Table 1- 5 Components on the PROFINET IO
Component Function
Programming device (PG/PC) ... configures, sets parameters, programs, and tests using the
"SIMOTION SCOUT" Engineering System (ES).
SIMATIC HMI device ... is used for operating and monitoring functions. This is not an
essential requirement for the operation of a control unit.
Other controllers (e.g.
SIMOTION or SIMATIC)
... e.g. higher-level controller (plant controller); modular machine
concepts with multiple controls, distributed across individual
machine modules
Master computer ... communicates with other devices via UDP, TCP/IP.
Distributed I/O systems
SIMATIC ET 200M Modular I/O system for control cabinet installation and high
channel densities.
SIMATIC ET 200S Finely scalable I/O system for control cabinet configuration and
particularly time-critical applications; including motor starters,
safety technology and individual grouping of load groups
SIMATIC ET 200pro Modular I/O system with IP65/67 degree of protection for machine-
related applications with no control cabinet; with features such as
compact designs, integrated PROFIsafe safety technology,
PROFINET IO connection and live module replacement.
SIMATIC ET 200eco PN Compact block I/O with IP65/66/67 degree of protection for
cabinet-free usage in machines with M12 connection method. Very
rugged and resistant encapsulated metal enclosure.
Other PROFINET IO I/O devices
Drive units with PROFINET IO
interface
... convert speed setpoints into signals for controlling the motor
and supply the power required to operate the motors.
Gateways IE/AS-Interface link PN IO for the PROFINET IO gateway to
AS-Interface
PN/PN coupler for connecting two PROFINET IO networks

Description
1.2 System components
SIMOTION D4x5-2
Manual, 11/2010 19
DRIVE-CLiQ
The DRIVE-CLiQ interfaces permit a fast connection to the SINAMICS drive components.
DRIVE-CLiQ offers the following advantages within the DRIVE-CLiQ topology rules:
● Expandability of components
● Automatic detection of components by the control unit
● Standardized interfaces to all components
● Uniform diagnostics down to the components
● Complete service down to the components
● Simple mechanical handling
The controller can communicate with the following components via DRIVE-CLiQ:
Table 1- 6 Components connected to DRIVE-CLiQ
Component Function
Control unit
(SINAMICS S110/S120)
Central control module in which the open- and closed-loop
control functions for the drive are implemented.
Line module (SINAMICS S120) ... generates a DC link from the supply system.
Motor module (SINAMICS S120) ... used to control motors (DC/AC inverters, booksize).
Power module (SINAMICS
S110/S120)
... used to control motors (AC/DC converters, blocksize).
CX32-2 controller extension ... enables additional axes to be connected for SIMOTION
D4x5-2.
CUA31/CUA32 control unit
adapter
... enables a blocksize power module (PM340) to be connected
to a booksize control unit D4x5-2, CX32-2 or CU320-2.
TM31 terminal module ... enables a terminal expansion via DRIVE-CLiQ (additional
analog and digital I/Os).
TM41 terminal module ... enables a terminal expansion (analog and digital I/Os) and
encoder simulation.
TM54F terminal module ... enables terminal expansion (secure digital inputs/outputs) for
controlling the secure motion monitoring functions of the
integrated drives.
TM15, TM17 High Feature
terminal modules
The terminal modules TM15 and TM17 High Feature are used to
implement inputs of measuring inputs and outputs of output
cams. In addition, these terminal modules provide drive-related
digital inputs and outputs with short signal delay times.
SMx sensor modules ... enable acquisition of encoder data from connected motors via
DRIVE-CLiQ.
Motors with DRIVE-CLiQ
interface
... allow simplified commissioning and diagnostics, as the motor
and encoder type are identified automatically.
DMC20/DME20 DRIVE-CLiQ hub … enables the number of DRIVE-CLiQ interfaces to be increased
and the creation of a point-to-point topology.

Description
1.3 I/O integration
SIMOTION D4x5-2
20 Manual, 11/2010
Note
You can find detailed information about components in the SINAMICS S110/S120 family of
products in the SINAMICS S110/S120 manuals.
It is possible that older DRIVE-CLiQ components can no longer be used with SIMOTION
D4x5-2/CX32-2. Detailed information can be found at "Migration of D4x5 to D4x5-2" in
Section Permissible combinations.
Optional components
The functionality of the D4x5-2 control unit can be expanded by using one of the
components listed below.
Table 1- 7 Optional component
Component Function
TB30 terminal board Terminal expansion, i.e. additional analog and digital I/Os
The component is plugged into the option slot of the control unit.
1.3 I/O integration
Note
Note that not all modules in the ET 200 I/O family are approved for SIMOTION. Moreover,
system-related functional differences can come into play when these I/O or I/O systems are
used on SIMOTION vs. on SIMATIC. For example, special process-control functions (e.g.
HART modules, etc.) are not supported by SIMOTION for the ET 200M distributed I/O
system.
A detailed, regularly updated list of the I/O modules approved for use with SIMOTION, as
well as notes on their use, can be found on the Internet at: