Siemens SIMOTION D410 PN User manual

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SIMOTION D410
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SIMOTION
SIMOTION D410
Manual
Valid for SIMOTION D410 DP and D410 PN
02/2012
Preface
Description
1
Operation (hardware)
2
Interfaces
3
Assembling
4
Connecting
5
Technical data
6
Spare parts/Accessories
7
Standards and approvals
A
ESD directives
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 relevant 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, in particular its warning notices and safety instructions.
Qualified personnel are those who, based on their training and experience, are capable of identifying risks and
avoiding potential hazards when working with these products/systems.
Proper use of Siemens products
Note the following:
WARNING
Siemens products may only be used for the applications described in the catalog and in the relevant technical
documentation. If products and components from other manufacturers are used, these must be recommended
or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and
maintenance are required to ensure that the products operate safely and without any problems. The permissible
ambient conditions must be complied with. The information in the relevant documentation must be observed.
Trademarks
All names identified by ® are registered trademarks of Siemens AG. The remaining trademarks in this publication
may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software
described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the
information in this publication is reviewed regularly and any necessary corrections are included in subsequent
editions.
Siemens AG
Industry Sector
Postfach 48 48
90026 NÜRNBERG
GERMANY
Copyright © Siemens AG 2012.
All rights reserved

SIMOTION D410
Manual, 02/2012 3
Preface
Equipment Manual contents
This document is part of the SIMOTION D documentation package.
The Manual describes the SIMOTION devices D410 DP and D410 PN.
Information blocks in this manual
The following is a description of the purpose and use of the equipment Manual:
● Description
This section provides information pertaining to the SIMOTION system and its integration
in the information landscape.
● Operator Control (hardware)
This chapter describes the operating elements and how to operate them.
● Interfaces
This section provides information on the interfaces, pin assignments and application
options.
● Installing
This section explains how you configure a mechanical layout and install the
SIMOTION D410 in a control cabinet.
● Connecting
This chapter describes how to connect and network the SIMOTION D410.
● Technical data
This chapter describes the properties and features of the SIMOTION D410.
● Spare Parts/Accessories
This chapter provides information on accessories and spare parts for the
SIMOTION D410.
● Appendix
This section provides information on the various standards, approvals and ESD
guidelines.
● Index to locate information

Preface
SIMOTION D410
4 Manual, 02/2012
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 V4.3:
● 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
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
Training
Click the following link for information on SITRAIN - Siemens training courses for automation
products, systems and solutions:
http://www.siemens.com/sitrain

Preface
SIMOTION D410
Manual, 02/2012 5
FAQs
Frequently Asked Questions can be found in SIMOTION Utilities & Applications, which are
included in the scope of delivery of SIMOTION SCOUT, and in the Service&Support pages
in 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
SIMOTION D410 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 ISO 11469.
● 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:
Internet address (http://www.automation.siemens.com/partner).

Preface
SIMOTION D410
6 Manual, 02/2012
Further information / FAQs
You can find further information on this manual under the following FAQ:
http://support.automation.siemens.com/WW/view/en/27585482
The following information sources are also available:
● SIMOTION Utilities & Applications: SIMOTION Utilities & Applications are included in the
SIMOTION SCOUT scope of delivery and, along with FAQs, they also contain free
utilities such as calculation tools, optimization tools, etc. as well as application examples
(ready-to-apply solutions such as winders, cross cutters or handling).
● The latest FAQs for SIMOTION under
http://support.automation.siemens.com/WW/view/de/10805436/133000
● SIMOTION SCOUT online help
● For additional documentation (separate document), please refer to the list of references.

SIMOTION D410
Manual, 02/2012 7
Table of contents
Preface ...................................................................................................................................................... 3
1 Description............................................................................................................................................... 11
1.1 System overview..........................................................................................................................11
1.2 System components ....................................................................................................................13
1.3 SIMOTION D410 DP display .......................................................................................................19
1.4 SIMOTION D410 PN display .......................................................................................................22
1.5 The CompactFlash card...............................................................................................................24
1.6 Licensing......................................................................................................................................25
1.7 Safety information ........................................................................................................................26
2 Operation (hardware)............................................................................................................................... 27
2.1 Overview of operator controls and indicators ..............................................................................27
2.2 Operator controls .........................................................................................................................28
2.2.1 Service and operating mode switches .........................................................................................28
2.2.2 SIMOTION CompactFlash card...................................................................................................30
2.3 Error and status indicators...........................................................................................................31
3 Interfaces................................................................................................................................................. 33
3.1 Overview of interfaces .................................................................................................................33
3.2 Digital inputs/outputs....................................................................................................................34
3.3 DRIVE-CLiQ interface..................................................................................................................38
3.4 PROFIBUS DP interface (SIMOTION D410 DP only) .................................................................41
3.5 PROFINET interface (SIMOTION D410 PN only) .......................................................................44
3.6 Encoder interface (HTL/TTL/SSI) ................................................................................................45
3.7 EP terminals/temperature sensor connection..............................................................................48
3.8 Power supply................................................................................................................................50
3.9 Measuring sockets .......................................................................................................................51
3.10 Power Module Interface...............................................................................................................52
4 Assembling.............................................................................................................................................. 53
4.1 General requirements ..................................................................................................................53
4.2 SIMOTION D410 mounted on the power module........................................................................53
4.3 Mounting SIMOTION D410 on the mounting plate......................................................................55
4.4 Mounting SIMOTION D410 in the Power Module Chassis..........................................................57

Table of contents
SIMOTION D410
8 Manual, 02/2012
5 Connecting .............................................................................................................................................. 59
5.1 Overview ..................................................................................................................................... 59
5.2 General rules for operating the SIMOTION D410....................................................................... 60
5.3 Safety information for wiring........................................................................................................ 62
5.4 Overview of SIMOTION D410 connections ................................................................................ 66
5.5 Connecting the protective ground ............................................................................................... 66
5.6 Connecting the power supply...................................................................................................... 67
5.7 Connecting DRIVE-CLiQ components........................................................................................ 68
5.8 Connecting digital I/Os................................................................................................................ 69
5.9 Connecting the PROFIBUS DP interface (410 DP only) ............................................................ 70
5.9.1 PROFIBUS connection components...........................................................................................70
5.9.2 PROFIBUS cables and connectors............................................................................................. 70
5.9.3 PROFIBUS cable lengths............................................................................................................ 71
5.9.4 Rules for routing PROFIBUS cables........................................................................................... 71
5.9.5 Connecting PROFIBUS DP (interface X21)................................................................................ 72
5.9.6 Connection rules in the PROFIBUS subnet................................................................................ 73
5.10 Connecting the PROFINET interface (D410 PN only) ................................................................ 75
5.11 Connecting an external encoder ................................................................................................. 76
6 Technical data ......................................................................................................................................... 77
6.1 SIMOTION D410 dimensional diagram ...................................................................................... 77
6.2 SIMOTION D410 mounting plate dimensional diagram.............................................................. 78
6.3 CAD data, dimension drawings, and circuit-diagram macros..................................................... 79
6.4 System data, connection values, dimensions and weight .......................................................... 79
6.5 Digital inputs/outputs................................................................................................................... 83
6.6 Clock ........................................................................................................................................... 84
6.7 Shipping and storage conditions................................................................................................. 85
6.8 Mechanical and climatic ambient conditions............................................................................... 85
7 Spare parts/Accessories.......................................................................................................................... 89
7.1 Terminal module TM31 ............................................................................................................... 89
7.2 Terminal module TM41 ............................................................................................................... 90
7.3 TM54F terminal module .............................................................................................................. 91
7.4 Terminal modules TM15 and TM17 High Feature ...................................................................... 92
7.5 CUA31/CUA32 control unit adapter ............................................................................................ 93
7.6 DMC20/DME20 DRIVE-CLiQ Hub.............................................................................................. 94
7.7 List of spare parts and accessories ............................................................................................ 94

Table of contents
SIMOTION D410
Manual, 02/2012 9
A Standards and approvals......................................................................................................................... 97
A.1 General rules................................................................................................................................97
A.2 Device-specific information ..........................................................................................................99
A.3 Safety of electronic controllers.....................................................................................................99
B ESD directives....................................................................................................................................... 101
B.1 ESD definition ............................................................................................................................101
B.2 Electrostatic charging of individuals...........................................................................................102
B.3 Basic measures for protection against discharge of static electricity ........................................103
Index...................................................................................................................................................... 105

Table of contents
SIMOTION D410
10 Manual, 02/2012

SIMOTION D410
Manual, 02/2012 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 D410 is a module drive system for single axes, which solves demanding drive
tasks for a very wide range of industrial applications. SIMOTION D410 supplements the
SIMOTION D4x5/D4x5-2 control units for multi-axis applications.
Note
The SIMOTION D410 is described in this manual. Separate manuals are available for the
SIMOTION D410-2, D4x5 and D4x5-2.
SIMOTION D is an integral part of 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 D410.
Application
Combining a power module with SIMOTION D410 forms a compact single drive for machine
and plant engineering.
Applications include:
● Machine concepts with central drive (e.g., pressing, printing and packaging machines, . .
.)
● Modular machine concepts where the machine modules broken down to single axes
● Single drives with high accuracy, stability and concentricity requirements (compared with
standard drives) in machine and industrial plant engineering
● Single drives for transport tasks (conveying, raising, lowering)
● Single drives with integrated PLC functionality and expanded motion control functionality
such as output cams or cams
● Drives without power recovery (wire drawing, extruding)
● Drive connections with high availability requirements (incoming supply failure may not
cause all axes to fail)

Description
1.1 System overview
SIMOTION D410
12 Manual, 02/2012
Versions
SIMOTION D410 comes in two variants:
● SIMOTION D410 DP with PROFIBUS DP interface.
● SIMOTION D410 PN with PROFINET interface.
System integration
SIMOTION provides an optimized system platform for automation and drive solutions where
the main focus is on motion control applications and technology tasks.
The SIMOTION system is made up of three components:
● SIMOTION SCOUT Engineering System
● Runtime Software
● Hardware platforms
The innovative SIMOTION concept involves integrating pure automation and motion
functions, which have been traditionally isolated in the past.
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Figure 1-1 System solution
SIMOTION can be used with all machines with motion control tasks. The focus is on a
simple and flexible solution to a wide variety of motion control tasks. In order to achieve this
in the best way possible, a new system approach has been introduced:
the fusion of motion control with two other control functions, which are found in most
machines: PLC and technology functions.
This approach enables motion control of axes and machines with only one system. The
same applies to technology functions, such as pressure control of a hydraulic axis. A
seamless switch can be made from position-controlled positioning mode to pressure control.

Description
1.2 System components
SIMOTION D410
Manual, 02/2012 13
Combining the three control functions of motion control, PLC and technology functions has
the following benefits:
● Lower engineering costs and higher machine performance.
● Interfaces between individual components requiring rapid response are no longer
needed.
● Simple, standardized and transparent programming and diagnostics for the complete
machine.
1.2 System components
Overview
SIMOTION D410 communicates with the components of the automation landscape via the
following interfaces:
● PROFIBUS DP (SIMOTION D410 DP only)
● PROFINET (SIMOTION D410 PN only)
● DRIVE-CLiQ (DRIVE Component Link with IQ)
● Power Module Interface (PM-IF)
● SIMOTION D features a SINAMICS Integrated drive element. Communication with the
SINAMICS Integrated (node 3) is established via PROFIBUS mechanisms (DP
Integrated).
The most important system components and their functions are listed in the following table.

Description
1.2 System components
SIMOTION D410
14 Manual, 02/2012
Table 1- 1 System components
Component Function
SIMOTION D410 ... is the central motion control module.
The module contains the programmable SIMOTION Runtime in
SIMOTION D410 and the SINAMICS S120 drive software.
You can use the integrated rapid digital I/Os as:
•Homing inputs
•Inputs for measuring inputs
•User-addressable process I/Os
•Outputs for fast output cams
The measuring sockets can output any analog signals.
The DRIVE-CLiQ interface permits a fast connection to the SINAMICS drive
components.
System software The system software is delivered separately on a CompactFlash Card (not
included in the scope of delivery).
Note:
An additional license is not required for the real axis technology.
Power supply (PS) ... provides the electronic power supply for SIMOTION D410 (e.g., SITOP
power supply).
Note:
If the SIMOTION D410 is snapped on to a PM340 Power Module, the Power
Module may be used as the sole method of supplying power to the
SIMOTION D410 in certain cases (e.g. when digital outputs are not used, etc.
. .). Also refer to the Power supply section in the SIMOTION D410 Manual.
PROFIBUS DP
SIMOTION D410 DP can communicate via PROFIBUS DP interface to the following
components:
Table 1- 2 Components on the PROFIBUS DP
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 operator control and monitoring functions. It is not
absolutely essential for running SIMOTION D410.
Drive units with
PROFIBUS DP interface (e.g.
CU310 DP)
... convert speed setpoints into signals for controlling the motor and
supply the power required to operate the motors.
Can also be operated as an isochronous, equidistant Slave on the
PROFIBUS DP.
Other controllers (e.g.
SIMOTION or SIMATIC)
Distributed I/O systems
SIMATIC ET 200M Modular I/O system for control cabinet installation and high channel
densities.

Description
1.2 System components
SIMOTION D410
Manual, 02/2012 15
Component Function
SIMATIC ET 200S Finely scalable I/O system for control cabinet installation 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/IP67 rating for machine-related
applications with no control cabinet; with new features such as more
compact designs, integrated PROFIsafe safety technology,
PROFINET connection and live module replacement.
SIMATIC ET 200eco I/O system with IP65/IP67 rating for machine-related applications
with no control cabinet, with a flexible and fast connection system in
ECOFAST or M12.
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 to connect two PROFIBUS DP networks
Teleservice adapter Remote diagnostics
Note
Note that only one real axis can be used on a SIMOTION D410.
PROFINET
SIMOTION D410 PN can communicate via PROFINET interface to the following
components:
Table 1- 3 Components on PROFINET
Component Function
The master computer (at
company and production
management level)
... communicates with other devices via Ethernet.
Programming device (PG/PC) ... communicates with the SIMOTION SCOUT Engineering Systems
(ES), STEP 7 and HMI (Human Machine Interface).
SIMATIC HMI device ... is used for operator control and monitoring functions. It is not
absolutely essential for running SIMOTION D410.
Drive units with PROFINET
interface (e.g.
SINAMICS S120)
... convert speed setpoints into signals for controlling the motor and
supply the power required to operate the motors.
Other controllers (e.g.
SIMOTION or SIMATIC)
Distributed I/O systems
TMC Multi-channel, fast, isochronous I/O for mechanical engineering with
PROFINET IO connection in a rugged SINAMICS S120 booksize
compact format with technology functions; direct connection of the
I/O channels on the module, or separately via wiring modules.

Description
1.2 System components
SIMOTION D410
16 Manual, 02/2012
Component Function
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 installation 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/IP67 rating for machine-related
applications with no control cabinet; with new features such as more
compact designs, integrated PROFIsafe safety technology,
PROFINET 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 I/O
Gateways •IE/AS-Interface link PN IO for the PROFINET IO gateway to AS-
Interface
•PN/PN coupler to connect two PROFINET IO networks
Note
Note that only one real axis can be used on a SIMOTION D410.
I/O integration
Note
Please note that not all modules for the I/O systems listed are enabled 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.
You can find an up-to-date list of I/O modules that can be used with SIMOTION at Internet
address (http://support.automation.siemens.com/WW/view/en/11886029).
In addition to the I/O modules enabled for SIMOTION, in principle all certified standard
PROFIBUS slaves (DP-V0/DP-V1/DP-V2) and PROFINET devices with RT and IRT real-
time classes may be connected to SIMOTION D410.

Description
1.2 System components
SIMOTION D410
Manual, 02/2012 17
These modules are integrated using the GSD file (PROFIBUS) or GSDML file (PROFINET)
provided by the relevant device manufacturer.
Note
Please note that in isolated cases, additional boundary conditions must be fulfilled in order to
integrate a module into SIMOTION. For example, "driver modules" in the form of function
blocks are required for some modules, which enable integration or make it especially easy.
For modules enabled for SIMOTION (e.g., S7-300 module FM 350-1, etc.), these driver
modules are part of the SIMOTION SCOUT Engineering System command library.
DRIVE-CLiQ
DRIVE-CLiQ offers the following advantages within the DRIVE-CLiQ topology rules:
● Independent expansion of components possible
● Automatic detection of components by the Control Unit
● Standardized interfaces in all components
● Uniform diagnostics down to the components
● Complete service down to the components
● Mechanical parts are easy to use
SIMOTION D410 can communicate via DRIVE-CLiQ interface to the following components:
Table 1- 4 Components on DRIVE-CLiQ
Component Function
SINAMICS S120 AC DRIVE drive
units
(with CUA31/CUA32)
... convert speed setpoints into signals for controlling the motor
and supply the power required to operate the motors. The
AC DRIVE component PM340 is connected via CUA31/CUA32.
No more than one PM340 can be connected. Power Module
Chassis is connected via DRIVE-CLiQ.
Note:
Components in booksize format are not supported!
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 cam
outputs. In addition, these terminal modules provide drive-related
digital I/Os with short signal delay times.
TM31 terminal module ... enables terminal expansion via DRIVE-CLiQ (additional
analog and digital I/Os).
TM41 terminal module ... enables terminal expansion (analog and digital inputs/outputs)
and encoder simulation via DRIVE-CLiQ. The TM41 can be
connected to a real axis. It is important to note that exactly one
real axis can be configured on the D410.
TM54F terminal module ... enables terminal expansion (secure digital inputs/digital
outputs) for SIMOTION Version V4.1 SP2 and higher, for
controlling the secure motion monitoring functions of the
integrated drive.

Description
1.2 System components
SIMOTION D410
18 Manual, 02/2012
Component Function
SMx sensor modules ... enable the acquisition of encoder data from the 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.
Note
Please note that components in booksize format (Controller Extension, Motor Modules, Line
Modules, etc.) as well as SINAMICS G120 (PM2x0) Power Modules are not supported by
SIMOTION D410.
See also
Power supply (Page 50)

Description
1.3 SIMOTION D410 DP display
SIMOTION D410
Manual, 02/2012 19
1.3 SIMOTION D410 DP display
View
The following figure shows SIMOTION D410 DP with the interfaces and front elements.
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Note
The label underneath the mode selector lists the switch settings for the operating states of
the SIMOTION D410.

Description
1.3 SIMOTION D410 DP display
SIMOTION D410
20 Manual, 02/2012
Interfaces
The SIMOTION D410 DP interfaces are described in the following tables.
Table 1- 5 SIMOTION D410 interfaces
Interface Description
Digital inputs/outputs
X121
12-pin Mini Combicon:
•4 digital inputs: for connecting switches or proximity sensors
•4 digital inputs/outputs: for connecting actuators and sensors
DRIVE-CLiQ interface
X100
8-pin RJ45plus socket to connect DRIVE-CLiQ nodes
PROFIBUS DP interface
X21
9-pin SUB-D socket to connect to PROFIBUS DP
Power Module Interface
(PM-IF)
8-pin direct connector to connect to a blocksize power module
Encoder interface
(HTL/TTL/SSI)
X23
15-pin SUB-D socket for connecting HTL, TTL and SSI encoders.
EP terminals/temperature
sensor connection
X120
8-pin Mini Combicon for connecting Safety Integrated input terminals
or for connecting temperature sensing via KTY or PTC
Power supply connection
X124
4-pin screw terminal connection to connect the 24 V DC load power
supply
Measuring sockets
T0, T1, T2 and M
Sockets to output analog signals
Type plates
The following figure shows you all the information included on the type plate located on the
side of the unit.
Module designation
Order number
Serial number
HW version
Figure 1-3 SIMOTION D410 nameplate