Siemens SINAMICS S120 Quick start guide

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SINAMICS
S120
Commissioning with Startdrive
Commissioning Manual
Valid for:
Firmware version 5.1, Startdrive V15
11/2017
6SL3097
-4AA10-0BP1
Preface
Fundamental safety
instructions
1
Startdrive commissioning
tool
2
Fundamentals
3
Commissioning
4
Diagnostics
5
Appendix
A

Siemens AG
Division Digital Factory
Postfach 48 48
90026 NÜRNBERG
GERMANY
Document order number: 6SL3097-4AA10-0BP1
Ⓟ
12/2017 Subject to change
Copyright © Siemens AG 2016 - 2017.
All rights reserved
Legal information
Warning notice system
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.
DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.
WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.
CAUTION
indicates that minor personal injury can result if proper precautions are not taken.
NOTICE
indicates that property damage can result if proper precautions are not taken.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will
be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to
property damage.
Qualified Personnel
The product/system described in this documentation may be operated only by
personnel qualified
for the specific
task in accordance with the relevant documentation, in particular its warning notices and safety instructions.
Qualified personnel are those who, based on their training and experience, are capable of identifying risks and
avoiding potential hazards when working with these products/systems.
Proper use of Siemens products
Note the following:
WARNING
Siemens products may only be used for the applications described in the catalog and in the relevant technical
documentation. If products and components from other manufacturers are used, these must be recommended
or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and
maintenance are required to ensure that the products operate safely and without any problems. The permissible
ambient conditions must be complied with. The information in the relevant documentation must be observed.
Trademarks
All names identified by ® are registered trademarks of Siemens AG. The remaining trademarks in this publication
may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software
described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the
information in this publication is reviewed regularly and any necessary corrections are included in subsequent
editions.

Commissioning with Startdrive
Commissioning Manual, 11/2017, 6SL3097-4AA10-0BP1 5
Preface
SINAMICS documentation
The SINAMICS documentation is organized in the following categories:
●General documentation/catalogs
●User documentation
●Manufacturer/service documentation
Additional information
You can find information on the following topics at the following address
(http://w3.siemens.com/mcms/mc-solutions/en/motion-control/support/technical-
documentation/Pages/technical-documentation.aspx):
●Ordering documentation/overview of documentation
●Additional links to download documents
●Using documentation online (find and search in manuals/information)
Please send any questions about the technical documentation (e.g. suggestions for
improvement, corrections) to the following e-mail address
(mailto:[e-mail]).
Siemens MySupport/Documentation
At the following address (http://www.siemens.com/mdm), you can find information on how to
create your own individual documentation based on Siemens' content, and adapt it for your
own machine documentation.
Training
At the following address (http://www.siemens.com/sitrain), you can find information about
SITRAIN (Siemens training on products, systems and solutions for automation and drives).
FAQs
You can find Frequently Asked Questions in the Service&Support pages under Product
Support (https://support.industry.siemens.com/cs/de/en/ps/faq).
SINAMICS
You can find information about SINAMICS at the following address
(http://www.siemens.com/sinamics).

Preface
Commissioning with Startdrive
6Commissioning Manual, 11/2017, 6SL3097-4AA10-0BP1
Usage phases and their documents/tools (as an example)
Table 1 Usage phases and the available documents/tools
Usage phase
Document/tool
Orientation
SINAMICS S Sales Documentation
Planning/configuration •SIZER Engineering Tool
•Configuration Manuals, Motors
Deciding/ordering SINAMICS S120 catalogs
•SINAMICS S120 and SIMOTICS (Catalog D 21.4)
•SINAMICS Converters for Single-Axis Drives and SIMOTICS Motors (Catalog D 31)
•SINUMERIK 840 Equipment for Machine Tools (Catalog NC 62)
Installation/assembly •SINAMICS S120 Manual for Control Units and Additional System Components
•SINAMICS S120 Manual for Booksize Power Units
•SINAMICS S120 Manual for Booksize Power Units C/D Type
•SINAMICS S120 Manual for Chassis Power Units, Air-cooled
•SINAMICS S120 Manual for Chassis Power Units, Liquid-cooled
•SINAMICS S120 Manual for AC Drives
•SINAMICS S120 Manual Combi
•SINAMICS S120M Manual Distributed Drive Technology
•SINAMICS HLA System Manual Hydraulic Drive
Commissioning •STARTER Commissioning Tool
•Startdrive commissioning tool
•SINAMICS S120 Getting Started with STARTER
•SINAMICS S120 Getting Started with Startdrive
•SINAMICS S120 Commissioning Manual with STARTER
•SINAMICS S120 Commissioning Manual with Startdrive
•SINAMICS S120 CANopen Commissioning Manual
•SINAMICS S120 Function Manual Drive Functions
•SINAMICS S120 Safety Integrated Function Manual
•SINAMICS S120/S150 List Manual
•SINAMICS HLA System Manual Hydraulic Drive
Usage/operation •SINAMICS S120 Commissioning Manual with STARTER
•SINAMICS S120 Commissioning Manual with Startdrive
•SINAMICS S120/S150 List Manual
•SINAMICS HLA System Manual Hydraulic Drive
Maintenance/servicing •SINAMICS S120 Commissioning Manual with STARTER
•SINAMICS S120 Commissioning Manual with Startdrive
•SINAMICS S120/S150 List Manual
References •SINAMICS S120/S150 List Manual

Preface
Commissioning with Startdrive
Commissioning Manual, 11/2017, 6SL3097-4AA10-0BP1 7
Target group
This documentation is intended for machine manufacturers, commissioning engineers, and
service personnel who use the SINAMICS drive system.
Benefits
This manual provides all of the information, procedures and operator actions required for the
particular usage phase.
Standard scope
The scope of the functionality described in this document can differ from that of the drive
system that is actually supplied.
●Other functions not described in this documentation might be able to be executed in the
drive system. However, no claim can be made regarding the availability of these functions
when the equipment is first supplied or in the event of service.
●The documentation can also contain descriptions of functions that are not available in a
particular product version of the drive system. The functionality of the supplied drive
system should only be taken from the ordering documentation.
●Extensions or changes made by the machine manufacturer must be documented by the
machine manufacturer.
For reasons of clarity, this documentation does not contain all of the detailed information on
all of the product types, and cannot take into consideration every conceivable type of
installation, operation and service/maintenance.
Technical Support
Country-specific telephone numbers for technical support are provided in the Internet at the
following address (https://support.industry.siemens.com/sc/ww/en/sc/2090) in the "Contact"
area.
Relevant directives and standards
You can obtain an up-to-date list of currently certified components on request from your local
Siemens office. If you have any questions relating to certifications that have not yet been
completed, please ask your Siemens contact person.
Certificates for download
The certificates can be downloaded from the Internet:
Certificates (https://support.industry.siemens.com/cs/ww/de/ps/13206/cert)
EC Declaration of Conformity
You can find the EC Declaration of Conformity for the relevant directives as well as the
relevant certificates, prototype test certificates, manufacturers declarations and test
certificates for functions relating to functional safety ("Safety Integrated") on the Internet at
the following address (https://support.industry.siemens.com/cs/ww/en/ps/13231/cert).

Preface
Commissioning with Startdrive
8Commissioning Manual, 11/2017, 6SL3097-4AA10-0BP1
The following directives and standards are relevant for SINAMICS S devices:
●
European Low Voltage Directive
SINAMICS S devices fulfil the requirements stipulated in the Low-Voltage Directive
2014/35/EU, insofar as they are covered by the application area of this directive.
●
European Machinery Directive
SINAMICS S devices fulfil the requirements stipulated in the Low-Voltage Directive
2006/42/EU, insofar as they are covered by the application area of this directive.
However, the use of the SINAMICS S devices in a typical machine application has been
fully assessed for compliance with the main regulations in this directive concerning health
and safety.
●
Directive 2011/65/EU
SINAMICS S devices comply with the requirements of Directive 2011/65/EU on the
restriction of the use of certain hazardous substances in electrical and electronic devices
(RoHS II).
●
European EMC Directive
SINAMICS S devices comply with the EMC Directive 2014/30/EU.
●
EMC requirements for South Korea
SINAMICS S devices with the KC marking on the type plate satisfy the EMC
requirements for South Korea.
●
Eurasian conformity
SINAMICS S comply with the requirements of the Russia/Belarus/Kazakhstan customs
union (EAC).
●
North American market
SINAMICS S devices provided with one of the test symbols displayed fulfill the
requirements stipulated for the North American market as a component of drive
applications.
You can find the relevant certificates on the Internet pages of the certifier
(http://database.ul.com/cgi-bin/XYV/template/LISEXT/1FRAME/index.html).
●
Specification for semiconductor process equipment voltage drop immunity
SINAMICS S devices meet the requirements of standard SEMI F47-0706.
●
Australia and New Zealand (RCM formerly C-Tick)
SINAMICS S devices showing the test symbols fulfill the EMC requirements for Australia
and New Zealand.
●
Quality systems
Siemens AG employs a quality management system that meets the requirements of ISO
9001 and ISO 14001.

Preface
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Commissioning Manual, 11/2017, 6SL3097-4AA10-0BP1 9
Not relevant standards
China Compulsory Certification
SINAMICS S devices do not fall in the area of validity of the China Compulsory Certification
(CCC).
EMC limit values in South Korea
The EMC limit values to be observed for Korea correspond to the limit values of the EMC
product standard for variable-speed electric drives EN 61800-3 of category C2 or the limit
value class A, Group 1 to KN11. By implementing appropriate additional measures, the limit
values according to category C2 or limit value class A, Group 1, are observed. Further,
additional measures may be required, such as using an additional radio interference
suppression filter (EMC filter).
The measures for EMC-compliant design of the system are described in detail in this manual
respectively in the EMC Installation Guideline Configuration Manual.
The final statement regarding compliance with the standard is given by the respective label
attached to the individual unit.
Ensuring reliable operation
The manual describes a desired state which, if maintained, ensures the required level of
operational reliability and compliance with EMC limit values.
Should there be any deviation from the requirements in the manual, appropriate actions (e.g.
measurements) must be taken to check/prove that the required level of operational reliability
and compliance with EMC limit values are ensured.
Spare parts
Spare parts are available on the Internet at the following address
(https://www.automation.siemens.com/sow?sap-language=EN).
Product maintenance
The components are subject to continuous further development within the scope of product
maintenance (improvements to robustness, discontinuations of components, etc).
These further developments are "spare parts-compatible" and do not change the article
number.
In the scope of such spare parts-compatible further developments, connector/connection
positions are sometimes changed slightly. This does not cause any problems with proper
use of the components. Please take this fact into consideration in special installation
situations (e.g. allow sufficient clearance for the cable length).

Preface
Commissioning with Startdrive
10 Commissioning Manual, 11/2017, 6SL3097-4AA10-0BP1
Use of third-party products
This document contains recommendations relating to third-party products. Siemens accepts
the fundamental suitability of these third-party products.
You can use equivalent products from other manufacturers.
Siemens does not accept any warranty for the properties of third-party products.
Ground symbols
Table 2 Symbols
Symbol
Meaning
Connection for protective conductor
Ground (e.g. M 24 V)
Connection for function potential bonding

Preface
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Commissioning Manual, 11/2017, 6SL3097-4AA10-0BP1 11
Notation
The following notation and abbreviations are used in this documentation:
Notation for faults and alarms (examples):
•
F12345
Fault 12345
•
A67890
Alarm 67890
•
C23456
Safety message
Notation for parameters (examples):
•
p0918
Adjustable parameter 918
•
r1024
Display parameter 1024
•
p1070[1]
Adjustable parameter 1070, index 1
•
p2098[1].3
Adjustable parameter 2098, index 1 bit 3
•
p0099[0...3]
Adjustable parameter 99, indices 0 to 3
•
r0945[2](3)
Display parameter 945, index 2 of drive object 3
•
p0795.4
Adjustable parameter 795, bit 4
Use of OpenSSL
This product contains software (https://www.openssl.org/) that has been developed by the
OpenSSL project for use in the OpenSSL toolkit.
This product contains cryptographic software (mailto:[e-mail]) created by Eric
Young.
This product contains software (mailto:[e-mail]) developed by Eric Young.

Preface
Commissioning with Startdrive
12 Commissioning Manual, 11/2017, 6SL3097-4AA10-0BP1

Commissioning with Startdrive
Commissioning Manual, 11/2017, 6SL3097-4AA10-0BP1 13
Table of contents
Preface ................................................................................................................................................... 5
1 Fundamental safety instructions............................................................................................................ 21
1.1 General safety instructions .....................................................................................................21
1.2 Equipment damage due to electric fields or electrostatic discharge ......................................26
1.3 Warranty and liability for application examples ......................................................................27
1.4 Industrial security ....................................................................................................................28
1.5 Residual risks of power drive systems....................................................................................29
2 Startdrive commissioning tool................................................................................................................ 31
2.1 Overview .................................................................................................................................31
2.2 Structure of the user interface ................................................................................................32
2.2.1 Project view for parameterizing the drive................................................................................32
2.2.2 Project navigation ...................................................................................................................33
2.3 User interface - parameterization ...........................................................................................34
2.3.1 Modules in the hardware catalog............................................................................................34
2.3.2 Device view.............................................................................................................................36
2.3.3 Parameterization editor...........................................................................................................37
2.3.4 Function view ..........................................................................................................................38
2.3.5 Parameter view .......................................................................................................................39
2.3.6 Inspector window ....................................................................................................................41
2.3.7 Device configuration detection................................................................................................42
2.4 User interface - Control panel.................................................................................................44
2.5 User interface - trace function.................................................................................................45
2.5.1 Configuration...........................................................................................................................45
2.5.2 Curve diagram ........................................................................................................................46
2.5.3 Signal table .............................................................................................................................47
2.5.4 Formula editor.........................................................................................................................50
2.5.5 Measurements (overlay measurements) ................................................................................53
2.6 Online and diagnostics............................................................................................................54
2.7 Information system - online help.............................................................................................55
2.7.1 General remarks on the information system...........................................................................55
2.7.2 Opening the information system .............................................................................................59

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14 Commissioning Manual, 11/2017, 6SL3097-4AA10-0BP1
3 Fundamentals....................................................................................................................................... 61
3.1 Requirements for commissioning........................................................................................... 61
3.2 Safety instructions for commissioning ................................................................................... 62
3.3 BICO interconnections ........................................................................................................... 63
3.3.1 Binectors, Connectors............................................................................................................ 63
3.3.2 Interconnect BICO inputs....................................................................................................... 65
3.3.3 Interconnecting BICO outputs................................................................................................ 67
3.4 Comparing parameter settings............................................................................................... 70
3.5 Permanently save the settings............................................................................................... 72
3.6 Restoring factory settings ...................................................................................................... 73
3.7 Loading project data from a drive unit ................................................................................... 74
4 Commissioning ..................................................................................................................................... 77
4.1 Call Startdrive......................................................................................................................... 77
4.2 Commissioning workflow ....................................................................................................... 78
4.3 Check lists to commission SINAMICS S................................................................................ 79
4.4 Creating a project offline in Startdrive.................................................................................... 82
4.4.1 Creating a new project or loading a project ........................................................................... 82
4.4.2 Recommended order of creation ........................................................................................... 86
4.4.3 Inserting the drive unit............................................................................................................ 87
4.4.4 Inserting an infeed unit........................................................................................................... 91
4.4.4.1 Inserting a space holder for an infeed unit............................................................................. 91
4.4.4.2 Specifying an infeed unit........................................................................................................ 94
4.4.4.3 Interconnecting several infeed units in parallel...................................................................... 96
4.4.4.4 Editing components in the device view.................................................................................. 98
4.4.4.5 Editing a DRIVE-CLiQ connection ....................................................................................... 100
4.4.5 Inserting a Motor Module or Power Module......................................................................... 102
4.4.5.1 Inserting and specifying a Motor Module ............................................................................. 103
4.4.5.2 Inserting and specifying a Power Module ............................................................................ 106
4.4.5.3 Making detailed settings ...................................................................................................... 108
4.4.5.4 Connecting several modules in parallel ............................................................................... 109
4.4.5.5 Changing the drive object type ............................................................................................ 111
4.4.6 Inserting a motor .................................................................................................................. 113
4.4.6.1 Inserting and specifying motors from the motor list ............................................................. 114
4.4.6.2 Inserting and specifying motors that are missing from the motor list................................... 117
4.4.7 Inserting measuring systems ............................................................................................... 120
4.4.7.1 Overview .............................................................................................................................. 120
4.4.7.2 Specifying the encoder evaluation....................................................................................... 126
4.4.7.3 Encoder system connection................................................................................................. 128
4.4.8 Inserting additional system components.............................................................................. 129
4.4.8.1 Adding a CBE20 Communication Board.............................................................................. 129
4.4.8.2 Adding a Terminal Module ................................................................................................... 130
4.4.8.3 Adding a Terminal Board ..................................................................................................... 132
4.4.8.4 Adding the VSM10 Voltage Sensing Module....................................................................... 134

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4.5 Establishing an online connection to the drive unit...............................................................137
4.5.1 Overview ...............................................................................................................................137
4.5.2 Connection via standard Ethernet interface .........................................................................139
4.5.3 Online connection via PROFINET interface .........................................................................141
4.5.3.1 Using the PROFINET IO interface........................................................................................141
4.5.3.2 Online access via PROFINET ..............................................................................................142
4.5.3.3 Assigning an IP address .......................................................................................................143
4.5.3.4 Assigning PROFINET device names....................................................................................145
4.5.3.5 Comparing IP addresses ......................................................................................................146
4.5.3.6 Setting the PG/ PC interface.................................................................................................147
4.5.3.7 Restoring factory settings .....................................................................................................150
4.6 Alternatively: Creating a project with a device configuration derived from the hardware.....152
4.6.1 Creating a new project..........................................................................................................152
4.6.2 Inserting the drive unit...........................................................................................................154
4.6.3 Deriving the hardware device configuration..........................................................................155
4.6.4 Transferring the determined device configuration to Startdrive............................................159
4.6.5 Revising the configuration ....................................................................................................161
4.7 Basic parameterization of the drive objects..........................................................................162
4.7.1 Control Unit ...........................................................................................................................162
4.7.1.1 Web server............................................................................................................................162
4.7.1.2 Configuring inputs/outputs of the Control Unit......................................................................168
4.7.2 Infeed unit .............................................................................................................................174
4.7.2.1 Overview ...............................................................................................................................174
4.7.2.2 Function modules..................................................................................................................175
4.7.2.3 Line data / operating mode ...................................................................................................177
4.7.2.4 Enable logic ..........................................................................................................................179
4.7.2.5 Line contactor control............................................................................................................180
4.7.3 Drive axes SERVO drives.....................................................................................................181
4.7.3.1 Overview ...............................................................................................................................181
4.7.3.2 Function modules..................................................................................................................182
4.7.3.3 Control mode ........................................................................................................................183
4.7.3.4 Important parameters............................................................................................................184
4.7.3.5 Sampling times/pulse frequency...........................................................................................185
4.7.3.6 Enable logic ..........................................................................................................................188
4.7.4 Drive axes VECTOR drives ..................................................................................................190
4.7.4.1 Overview ...............................................................................................................................190
4.7.4.2 Function modules..................................................................................................................191
4.7.4.3 Control mode ........................................................................................................................192
4.7.4.4 Important parameters............................................................................................................193
4.7.4.5 Drive settings ........................................................................................................................194
4.7.4.6 Enable logic ..........................................................................................................................196
4.7.5 Important optimization steps.................................................................................................198
4.7.5.1 Performing automatic controller optimization........................................................................198
4.7.5.2 Stationary/rotating measurement..........................................................................................204
4.8 Loading the project to the target device................................................................................207

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16 Commissioning Manual, 11/2017, 6SL3097-4AA10-0BP1
4.9 Commissioning a drive......................................................................................................... 209
4.9.1 Using the control panel ........................................................................................................ 209
4.9.2 Traversing the drive with speed specification ...................................................................... 212
4.9.3 Basic positioner.................................................................................................................... 213
4.9.3.1 Manual positioning ............................................................................................................... 213
4.9.3.2 Relative positioning.............................................................................................................. 214
4.9.3.3 Absolute positioning............................................................................................................. 215
4.9.3.4 Modify traversing block ........................................................................................................ 216
4.9.4 Note regarding the control panel.......................................................................................... 217
4.10 Safety Integrated commissioning......................................................................................... 218
4.10.1 Overview .............................................................................................................................. 218
4.10.2 Making basic settings........................................................................................................... 222
4.10.2.1 Starting the safety commissioning ....................................................................................... 222
4.10.2.2 Making basic safety settings ................................................................................................ 223
4.10.2.3 Accepting the settings in the drive ....................................................................................... 226
4.10.2.4 Changing the safety password............................................................................................. 227
4.10.3 Basic functions ..................................................................................................................... 228
4.10.3.1 STO/SS1/SBC (Basic Functions)......................................................................................... 228
4.10.3.2 Function diagrams and parameters ..................................................................................... 230
4.10.4 Extended functions .............................................................................................................. 231
4.10.4.1 Restrictions .......................................................................................................................... 231
4.10.4.2 STO/SBC (Extended Functions).......................................................................................... 234
4.10.4.3 SS1 (extended functions)..................................................................................................... 236
4.10.4.4 SOS (extended functions).................................................................................................... 239
4.10.4.5 SS2 (extended functions)..................................................................................................... 241
4.10.4.6 SAM/SBR (extended functions) ........................................................................................... 243
4.10.4.7 SBT (diagnostic function)..................................................................................................... 246
4.10.4.8 Communication via SIC/SCC............................................................................................... 251
4.10.4.9 SLS (Extended Functions) ................................................................................................... 253
4.10.4.10 SSM (extended functions).................................................................................................... 257
4.10.4.11 SDI (extended functions) ..................................................................................................... 260
4.10.4.12 SLA (Extended Functions) ................................................................................................... 263
4.10.4.13 Function diagrams and parameters ..................................................................................... 265
4.10.5 Advanced Functions ............................................................................................................ 269
4.10.5.1 Safe homing (Advanced Functions)..................................................................................... 269
4.10.5.2 SLP (Advanced Functions) .................................................................................................. 271
4.10.5.3 SP (Advanced Functions) .................................................................................................... 273
4.10.5.4 SCA (Advanced Functions).................................................................................................. 274
4.10.5.5 Function diagrams and parameters ..................................................................................... 276
4.10.6 Global settings and information ........................................................................................... 278
4.10.6.1 Parameterizing the actual value acquisition / mechanical system....................................... 278
4.10.6.2 Configuring the control of the safety functions..................................................................... 281
4.10.6.3 Forced checking procedure (test stop) ................................................................................ 283
4.10.6.4 Function status of the Safety Integrated settings................................................................. 286
4.10.6.5 Function diagrams and parameters ..................................................................................... 287

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4.11 Configuring brake control......................................................................................................288
4.11.1 Overview ...............................................................................................................................288
4.11.2 Simple brake control .............................................................................................................289
4.11.2.1 Basics....................................................................................................................................289
4.11.2.2 Parameterizing the brake control..........................................................................................290
4.11.2.3 Opening the brake ................................................................................................................294
4.11.2.4 Closing the brake ..................................................................................................................294
4.11.3 Extended brake control.........................................................................................................296
4.11.3.1 Basics....................................................................................................................................296
4.11.3.2 Parameterizing extended brake control ................................................................................297
4.11.3.3 Opening the brake ................................................................................................................301
4.11.3.4 Closing the brake ..................................................................................................................302
4.11.4 Function diagrams and parameters ......................................................................................305
5 Diagnostics ......................................................................................................................................... 307
5.1 Overview ...............................................................................................................................307
5.2 Diagnostics using LEDs ........................................................................................................308
5.2.1 Control Units .........................................................................................................................309
5.2.1.1 LED states of a CU320-2 ......................................................................................................309
5.2.2 Power units ...........................................................................................................................312
5.2.2.1 Safety instructions for diagnostic LEDs of the power units...................................................312
5.2.2.2 Active Line Module booksize ................................................................................................312
5.2.2.3 Basic Line Module booksize .................................................................................................313
5.2.2.4 Smart Line Modules booksize 5 kW and 10 kW ...................................................................314
5.2.2.5 Smart Line Modules booksize 16 kW to 55 kW ....................................................................314
5.2.2.6 Single Motor Module / Double Motor Module / Power Module .............................................315
5.2.2.7 Control Interface Module in the Active Line Module chassis format.....................................316
5.2.2.8 Control Interface Module in the Basic Line Module chassis format......................................317
5.2.2.9 Control Interface Module in the Smart Line Module chassis format.....................................318
5.2.2.10 Control Interface Module in the Motor Module chassis format .............................................319
5.2.2.11 Control Interface Module in the Power Module chassis format ............................................320
5.2.3 Additional modules................................................................................................................321
5.2.3.1 Control Supply Module..........................................................................................................321
5.2.3.2 SMC10/SMC20 Sensor Module Cabinet ..............................................................................321
5.2.3.3 Sensor Module Cabinet SMC30 ...........................................................................................322
5.2.3.4 SMC40 Sensor Module Cabinet (only for direct measuring systems)..................................323
5.2.3.5 Communication Board Ethernet CBE20 ...............................................................................324
5.2.3.6 Voltage Sensing Module VSM10 ..........................................................................................326
5.2.4 Terminal Modules .................................................................................................................326
5.2.4.1 Terminal Module TM15 .........................................................................................................326
5.2.4.2 Terminal Module TM31 .........................................................................................................327
5.2.4.3 Terminal Module TM41 .........................................................................................................328
5.2.4.4 Terminal Module TM120 .......................................................................................................328
5.2.4.5 Terminal Module TM150 .......................................................................................................329

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18 Commissioning Manual, 11/2017, 6SL3097-4AA10-0BP1
5.3 Diagnostics via Startdrive .................................................................................................... 330
5.3.1 Device diagnostics ............................................................................................................... 330
5.3.1.1 Example: Detecting and correcting a topology error............................................................ 333
5.3.2 Trace function ...................................................................................................................... 336
5.3.2.1 Overview .............................................................................................................................. 336
5.3.2.2 Creating or calling a trace .................................................................................................... 339
5.3.2.3 Configuring a trace............................................................................................................... 340
5.3.2.4 Transferring the trace configuration to the device ............................................................... 345
5.3.2.5 Activating/deactivating the trace recording .......................................................................... 345
5.3.2.6 Displaying the trace recording ............................................................................................. 346
5.3.2.7 Saving measurements in the project ................................................................................... 347
5.3.2.8 Exporting and importing measurements .............................................................................. 348
5.3.2.9 Transferring the trace configuration from the drive to the project........................................ 348
5.3.2.10 Deleting a trace configuration .............................................................................................. 349
5.3.3 Online diagnostics................................................................................................................ 350
5.3.3.1 Calling online diagnostics .................................................................................................... 350
5.3.3.2 Online access status ............................................................................................................ 351
5.3.4 Diagnostics information for the infeed unit........................................................................... 352
5.3.4.1 Missing enables ................................................................................................................... 352
5.3.4.2 Displaying control/status words ........................................................................................... 353
5.3.4.3 Status parameters................................................................................................................ 354
5.3.5 Diagnostics information for drive axes................................................................................. 354
5.3.5.1 Missing enables ................................................................................................................... 354
5.3.5.2 Displaying control/status words ........................................................................................... 355
5.3.5.3 Status parameters................................................................................................................ 356
5.4 Fault and alarm messages................................................................................................... 357
5.4.1 General information about faults and alarms....................................................................... 357
5.4.2 Buffer for faults and alarms.................................................................................................. 359
5.4.3 Configuring messages ......................................................................................................... 363
5.4.4 Propagation of faults ............................................................................................................ 366
5.4.5 Alarm classes....................................................................................................................... 366
5.4.6 Function diagrams and parameters ..................................................................................... 368
A Appendix .............................................................................................................................................369
A.1 List of abbreviations ............................................................................................................. 369
A.2 Documentation overview...................................................................................................... 378
A.3 Temperature sensors for SINAMICS components .............................................................. 379
A.4 Shortcut menus and icons in Startdrive ............................................................................... 382
A.4.1 Function calls project view ................................................................................................... 382
A.4.1.1 Project navigation................................................................................................................. 382
A.4.2 Trace function calls .............................................................................................................. 383
A.4.2.1 Project navigation................................................................................................................. 383
A.4.2.2 Toolbar ................................................................................................................................. 385
A.4.2.3 Curve diagram...................................................................................................................... 386
A.4.2.4 Measurements ..................................................................................................................... 388
A.4.2.5 Signal table .......................................................................................................................... 389
A.4.2.6 Formula editor...................................................................................................................... 389
A.4.3 BICO interconnections ......................................................................................................... 390
A.4.4 Special elements in the screen forms .................................................................................. 391

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A.5 System rules, sampling times and DRIVE-CLiQ wiring........................................................392
A.5.1 Overview of system limits and system utilization..................................................................392
A.5.2 System rules .........................................................................................................................393
A.5.3 Rules on the sampling times.................................................................................................394
A.5.3.1 Rules when setting the sampling times ................................................................................394
A.5.3.2 Default settings for the sampling times.................................................................................396
A.5.3.3 Setting the pulse frequency ..................................................................................................397
A.5.3.4 Setting sampling times..........................................................................................................397
A.5.3.5 Overview of important parameters........................................................................................398
A.5.4 Rules for wiring with DRIVE-CLiQ ........................................................................................399
A.5.4.1 Binding DRIVE-CLiQ interconnection rules ..........................................................................399
A.5.4.2 Recommended interconnection rules ...................................................................................401
A.5.4.3 Modular machine concept: Offline correction of the reference topology ..............................403
A.5.5 Notes on the number of controllable drives ..........................................................................406
A.5.5.1 Number of drives depending on the control mode and cycle times......................................406
A.5.5.2 Cycle times for vector control ...............................................................................................408
A.5.5.3 System sampling times and number of controllable drives ..................................................409
A.6 Overview of measuring systems / encoders .........................................................................412
A.6.1 Overview ...............................................................................................................................412
A.6.2 SIN/COS incremental encoder .............................................................................................413
A.6.3 TTL/HTL incremental encoder ..............................................................................................416
A.6.4 Resolver................................................................................................................................419
A.6.5 EnDat 2.1 absolute encoder .................................................................................................422
A.6.6 SSI encoder ..........................................................................................................................423
A.6.7 Distance-coded Zero Marks..................................................................................................429
Index................................................................................................................................................... 431

Table of contents
Commissioning with Startdrive
20 Commissioning Manual, 11/2017, 6SL3097-4AA10-0BP1