Siemens Simatic S7-1500 User manual

SIMATIC Drive Controller

SIMATIC
SIMATIC Drive Controller
Equipment Manual
11/2019
A5E46600370
-AA
Preface
SIMATIC Drive Controller
Documentation Guide
1
Product overview
2
Connecting
3
Interrupts, diagnostics
alarms, error messages and
system alarms
4
Technical specifications
5
Dimension drawing
A

Siemens AG
Digital Industries
Postfach 48 48
90026 NÜRNBERG
GERMANY
A5E46600370-AA
Ⓟ
11/2019 Subject to change
Copyright © Siemens AG 2019.
All rights reserved
Legal information
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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 mayresult 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.
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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.

SIMATIC Drive Controller
Equipment Manual, 11/2019, A5E46600370-AA 3
Preface
Purpose of the documentation
This equipment manual supplements the system manual of the SIMATIC Drive Controller
family of controllers. It contains a concise description of the SIMATIC Drive Controller
hardware and, in addition to the product overview, includes information on:
●Interfaces
●Wiring diagrams
●Display and operator controls
●Technical specifications
In the SIMATIC Drive Controller system manual, you will find information on configuring,
installing, wiring and commissioning the SIMATIC Drive Controller, among other things.
All cross-system functions, such as motion control and communication functions, are
described in the function manuals.
The information provided in this manual and the system manual enables you to commission
the SIMATIC Drive Controller.
Conventions
STEP 7: In this documentation, "STEP 7" is used as a synonym for all versions of the
configuration and programming software "STEP 7 (TIA Portal)".
Also take note of information labeled as follows:
Note
A note contains important information on the product described in the
documentation, on the
handling of the product or on the section of the documentation to which particular attention
should be paid.

Preface
SIMATIC Drive Controller
4Equipment Manual, 11/2019, A5E46600370-AA
Special information
Note
Important note for maintaining the operational safety of your system
Systems with safety
-oriented variants are subject to special operational safety requirements
on the part of the operator. The supplier is also obliged to comply with special product
monitoring measures. For this
reason, we inform you in personal notifications about product
developments and features that are (or could be) relevant to the operation of systems from a
safety perspective.
By subscribing to the corresponding notifications, you will ensure that you are
always up-to-
date and able to make changes to your system when necess
ary.
Log in to Industry Online Support. Follow the links below, and right
-click on "email on
update":
SIMATIC S7
-1500/SIMATIC S7-1500F
(
https://support.industry.siemens.com/cs/ww/en/ps/13716)
Distributed I/O (
https://support.industry.siemens.com/cs/ww/en/ps/14029)
STEP 7 (TIA Portal) (
https://support.industry.siemens.com/cs/ww/en/ps/14667)
SINAMICS S120 (
https://support.industry.siemens.com/cs/ww/en/ps/13231)
SINAMICS Startdrive (
https://support.industry.siemens.com/cs/ww/en/ps/13438)
Operator control and monitoring systems
(
https://support.industry.siemens.com/cs/ww/en/ps/14729)
Industrial Communication (
https://support.industry.siemens.com/cs/ww/en/ps/15247)
Safety systems
– Safety Integrated
(
https://support.industry.siemens.com/cs/ww/en/ps/19902)
Note
When using F
-CPUs in safety mode and fail-safe modules, observe the description of the F-
system in SIMATIC Safety
- Configuring and Programming
(
https://support.industry.siemens.com/cs/ww/en/view/54110126).
Recycling and disposal
For environmentally friendly recycling and disposal of your old equipment, contact a certified
electronic waste disposal company and dispose of the equipment according to the applicable
regulations in your country.

Preface
SIMATIC Drive Controller
Equipment Manual, 11/2019, A5E46600370-AA 5
Security information
Siemens provides products and solutions with industrial security functions that support the
secure operation of plants, systems, machines and networks.
In order to protect plants, systems, machines and networks against cyber threats, it is
necessary to implement – and continuously maintain – a holistic, state-of-the-art industrial
security concept. Siemens’ products and solutions constitute one element of such a concept.
Customers are responsible for preventing unauthorized access to their plants, systems,
machines and networks. Such systems, machines and components should only be
connected to an enterprise network or the internet if and to the extent such a connection is
necessary and only when appropriate security measures (e.g. firewalls and/or network
segmentation) are in place.
For additional information on industrial security measures that may be implemented, please
visit (https://www.siemens.com/industrialsecurity).
Siemens' products and solutions undergo continuous development to make them more
secure. Siemens strongly recommends that product updates are applied as soon as they are
available and that the latest product versions are used. Use of product versions that are no
longer supported, and failure to apply the latest updates may increase customers' exposure
to cyber threats.
To stay informed about product updates, subscribe to the Siemens Industrial Security RSS
Feed visit (https://www.siemens.com/industrialsecurity).
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This information is provided by the Siemens Industry Online Support in the Internet
(https://support.industry.siemens.com).

Preface
SIMATIC Drive Controller
6Equipment Manual, 11/2019, A5E46600370-AA
Industry Mall
The Industry Mall is the catalog and order system of Siemens AG for automation and drive
solutions on the basis of Totally Integrated Automation (TIA) and Totally Integrated Power
(TIP).
You can find catalogs for all automation and drive products on the Internet
(https://mall.industry.siemens.com) and in the Information and Download Center
(https://www.siemens.com/automation/infocenter).

SIMATIC Drive Controller
Equipment Manual, 11/2019, A5E46600370-AA 7
Table of contents
Preface ................................................................................................................................................... 3
1 SIMATIC Drive Controller Documentation Guide ..................................................................................... 9
2 Product overview .................................................................................................................................. 11
2.1 Application range ....................................................................................................................11
2.1.1 SIMATIC Drive Controller .......................................................................................................11
2.2 Components and functionality ................................................................................................16
2.3 Hardware properties ...............................................................................................................20
2.4 Firmware functions of the CPU...............................................................................................24
2.5 Firmware functions of SINAMICS Integrated..........................................................................30
2.6 Operator controls, displays and connection elements............................................................32
2.6.1 View of SIMATIC Drive Controller with front covers ...............................................................32
2.6.2 View of SIMATIC Drive Controller without front covers ..........................................................33
2.6.3 Top view of SIMATIC Drive Controller....................................................................................34
2.6.4 View of the SIMATIC Drive Controller from below..................................................................35
2.6.5 Front covers ............................................................................................................................36
2.6.6 Nameplates.............................................................................................................................38
2.7 Mode selector .........................................................................................................................41
2.8 FUNCT button.........................................................................................................................42
3 Connecting ........................................................................................................................................... 43
3.1 Supply voltage X124 ...............................................................................................................43
3.2 PROFINET X150, X160 and X130 .........................................................................................46
3.3 PROFIBUS X126 ....................................................................................................................49
3.4 Digital inputs and outputs of X122, X132 and X142 ...............................................................50
3.5 DRIVE-CLiQ interfaces X100 to X103....................................................................................56
3.6 Wiring and block diagrams .....................................................................................................57
3.6.1 SIMATIC Drive Controller block diagram................................................................................57
3.6.2 Onboard digital inputs/digital outputs of X122, X132 and X142 .............................................58
3.6.3 DRIVE-CLiQ interfaces X100 to X103 ....................................................................................59

Table of contents
SIMATIC Drive Controller
8Equipment Manual, 11/2019, A5E46600370-AA
4 Interrupts, diagnostics alarms, error messages and system alarms ....................................................... 61
4.1 Status and error displays ....................................................................................................... 61
4.1.1 Overview ................................................................................................................................ 61
4.1.2 Status and error display of the CPU ...................................................................................... 63
4.1.3 Status and error display of SINAMICS Integrated ................................................................. 65
4.1.4 ACT LED and interface LEDs ................................................................................................ 66
4.1.5 7-segment display .................................................................................................................. 68
4.2 Interrupts, diagnostics and system messages....................................................................... 69
4.2.1 Interrupts, diagnostics and system messages....................................................................... 69
5 Technical specifications ........................................................................................................................ 70
A Dimension drawing ............................................................................................................................... 88

SIMATIC Drive Controller
Equipment Manual, 11/2019, A5E46600370-AA 9
SIMATIC Drive Controller Documentation Guide
1
The documentation for the SIMATIC Drive Controller is divided into three areas. This
arrangement enables you to access the specific content you require.
Basic information
The System Manual and Getting Started describe in detail the configuration, installation,
wiring and commissioning of the SIMATIC Drive Controller. The STEP 7 online help supports
you in the configuration and programming.
Device information
Product manuals contain a compact description of the module-specific information, such as
properties, interfaces, wiring diagrams, display and operator control elements and technical
specifications.
General information
The function manuals contain detailed descriptions on general topics regarding the SIMATIC
Drive Controller and SIMATIC S7-1500 automation system, such as diagnostics,
communication, Motion Control, Web server and OPC UA.
You can download the documentation free of charge from the Internet
(https://support.industry.siemens.com/cs/ww/en/view/109742691).
Changes and supplements to the manuals are documented in a Product Information.
You can download the product information free of charge from the Internet
(https://support.industry.siemens.com/cs/us/en/view/68052815).

SIMATIC Drive Controller Documentation Guide
SIMATIC Drive Controller
10 Equipment Manual, 11/2019, A5E46600370-AA
S7-1500/ET 200MP Manual Collection
The S7-1500/ET 200MP Manual Collection contains the complete documentation on the
SIMATIC Drive Controller gathered together in one file.
You can find the Manual Collection on the Internet
(https://support.industry.siemens.com/cs/ww/en/view/86140384).
SINAMICS documentation
The SINAMICS documentation contains detailed descriptions of the SINAMICS S120
automatic speed control and SINAMICS S210 servo drive systems. You can find the
documentation by entering the manual title in the search box on the Internet
(https://support.industry.siemens.com/cs/ww/en/ps/13229/man).
The SINAMICS Technical Documentation
(https://support.industry.siemens.com/cs/ww/en/view/108993276) web page provides
information on the topics:
●Ordering documentation/documentation overview
●Additional links for downloading documents
●Using documentation online (find and browse manual/information)
SIMATIC S7-1500 comparison list for programming languages
The comparison list contains an overview of which instructions and functions you can use for
which controller families.
You can find the comparison list on the Internet
(https://support.industry.siemens.com/cs/ww/en/view/86630375).
"mySupport"
With "mySupport", your personal workspace, you make the best out of your Industry Online
Support.
In "mySupport", you can save filters, favorites and tags, request CAx data and compile your
personal library in the Documentation area. In addition, your data is already filled out in
support requests and you can get an overview of your current requests at any time.
You must register once to use the full functionality of "mySupport".
You can find "mySupport" on the Internet (https://support.industry.siemens.com/My/ww/en).
Application examples
The application examples support you with various tools and examples for solving your
automation tasks. Solutions are shown in interplay with multiple components in the system -
separated from the focus on individual products.
You will find the application examples on the Internet
(https://support.industry.siemens.com/sc/ww/en/sc/2054).

SIMATIC Drive Controller
Equipment Manual, 11/2019, A5E46600370-AA 11
Product overview
2
2.1 Application range
2.1.1 SIMATIC Drive Controller
Overview
The SIMATIC Drive Controller is a drive-based controller in the SIMATIC S7-1500 range.
A SIMATIC Drive Controller combines the following functionalities in a SINAMICS S120
Booksize Compact enclosure:
●Fail-safe SIMATIC S7-1500 technology CPU with integrated technology I/Os
●SINAMICS S120 drive control
The two components are referred to as "CPU" and "SINAMICS Integrated" in this
documentation.
The integrated SINAMICS S120 drive control is based on a CU320-2 Control Unit. It can
control
●a maximum of 6 servo drives,
●a maximum of 6 drives with vector control, or
●a maximum of 12 drives with U/f control
Fail-safe technology CPUs are available in two performance classes. Safety Integrated on
the CPU side and drive side allows use in fail-safe applications.
The SIMATIC Drive Controller supports PROFINET and PROFIBUS DP communication.

Product overview
2.1 Application range
SIMATIC Drive Controller
12 Equipment Manual, 11/2019, A5E46600370-AA
Properties
Important properties of the SIMATIC Drive Controller:
●Fail-safe technology CPU including drive control with safety functions integrated in the
drive
●Extremely compact because the CPU is integrated in the drive system without taking up
any additional space
●One memory card for CPU and SINAMICS Integrated
Easy handling
●Less cabling and installation effort thanks to SINAMICS Integrated
●Easy configuring in the hardware configuration of STEP 7
●Central data management with one memory card for CPU and SINAMICS Integrated
●Central license handling in the TIA Portal
●Easy and efficient commissioning and optimization of drives using the SINAMICS
Startdrive engineering tool in the TIA Portal
●Optimization function for determining the optimal precontrol and gain (Kv factor) for the
closed loop position control of the axis
Optimized for production machinery
●Performance classes and memory size optimized for production machinery
●Wide range of interfaces, consistent across performance range
●Technology I/Os onboard
–12 digital inputs and 16 user-configurable digital inputs/outputs
–Up to 8 outputs configurable as high-speed outputs for ultra-short output delays and
maximum switching precision, e.g. can be configured for output cam applications.
–Up to 16 inputs configurable as measurement sensing inputs for position detection
–Additional technology functions such as oversampling and event/period duration
measurement

Product overview
2.1 Application range
SIMATIC Drive Controller
Equipment Manual, 11/2019, A5E46600370-AA 13
Areas of application
SIMATIC Drive Controllers are used, for example, in applications in which the SINAMICS
S120 drive family is being used because of the need for:
●A highly dynamic, flexible multi-axis drive system:
–Broad performance range
–Comprehensive range of motors (including linear drives, external drives, etc.)
–Comprehensive control modes (servo, vector, U/f)
–Technology extensions
●Controlled infeed/regenerative feedback
–For prevention of undesired harmonics
–For a high level of robustness against line fluctuations
–For energy recovery in braking mode
SIMATIC Drive Controllers are also used where there is a need for:
●Safety solutions for machine and operator protection
●A compact, space-saving design
●High performance for motion control and high-speed I/O
●Modular machine concepts with fast isochronous mode
Typical areas of application are:
●Multi-axis machines (e.g. printing and paper machines)
●High-performance applications with short machine cycles (e.g. packaging machines and
handling applications)
●Compact machines in which there is limited room for the controller and drive system (e.g.
control cabinets in the machine base)
●Distributed control and drive concepts
●Synchronization of multiple SIMATIC Drive Controller s using cross-PLC synchronous
operation

Product overview
2.1 Application range
SIMATIC Drive Controller
14 Equipment Manual, 11/2019, A5E46600370-AA
SIMATIC Drive Controller performance classes
The SIMATIC Drive Controller contains a failsafe CPU from the SIMATIC S7-1500 family
and a SINAMICS S120 drive control. Two performance classes are available.
Table 2- 1 Overview of performance classes
Performance class
SIMATIC Drive Controller
Article number
Low to mid-range applications
CPU 1504D TF
6ES7615-4DF10-0AB0
High-performance applications
CPU 1507D TF
6ES7615-7DF10-0AB0
Performance characteristics of the CPUs
The SIMATIC Drive Controller sdiffer in terms of the integrated CPU. The CPUs can be used
for lower and mid-range applications all the way to the high-end range of machine and plant
automation. The following table shows key performance characteristics of the SIMATIC Drive
Controllers.
Table 2- 2 Overview of SIMATIC Drive Controller performance characteristics
Performance characteristic
1504D TF
1507D TF
Data work memory, max.
4 MB
20 MB
Code work memory, max.
2 MB
6 MB
Retentive data area (including timers,
counters, bit memory)
768 KB 768 KB
Load memory/mass storage, max. 32 GB
(with SIMATIC memory card)
32 GB
(with SIMATIC memory card)
I/O address area, max.
32/32 KB
32/32 KB
Integrated interfaces 1 x PROFINET IO IRT (3-port switch)
1 x PROFINET IO RT
1 x PROFINET basic services (1000
Mbps)
1 x PROFIBUS DP
2 x USB 3.01)
4 x DRIVE-CLiQ
1 x PROFINET IO IRT (3-port switch)
1 x PROFINET IO RT
1 x PROFINET basic services (1000
Mbps)
1 x PROFIBUS DP
2 x USB 3.01)
4 x DRIVE-CLiQ
SINAMICS Integrated
On basis of CU320-2
On basis of CU320-2
Integrated inputs and outputs
(onboard I/O)
CPU: 8 DI/DQ
SINAMICS Integrated: 12 DI, 8 DI/DQ
CPU: 8 DI/DQ
SINAMICS Integrated: 12 DI, 8 DI/DQ
Configuration control
X
X
CPU web server
X
X
Isochronous mode3) PROFINET IO with IRT (X150)
PROFIBUS DP (X126)
SINAMICS Integrated
Technology I/Os (X142)
PROFINET IO with IRT (X150)
PROFIBUS DP (X126)
SINAMICS Integrated
Technology I/Os (X142)

Product overview
2.1 Application range
SIMATIC Drive Controller
Equipment Manual, 11/2019, A5E46600370-AA 15
Performance characteristic
1504D TF
1507D TF
Technology Integrated CPU:
•Motion control
•PID control
Onboard I/O:
•Event/period duration measurement
•Pulse width modulation (PWM)
•Timer DI/DQ
•Oversampling DI/DQ
CPU:
•Motion control
•PID control
Onboard I/O:
•Event/period duration measurement
•Pulse width modulation (PWM)
•Timer DI/DQ
•Oversampling DI/DQ
Number of positioning axes Typical2): 10
Maximum: 30
Typical2): 55
Maximum: 160
Motion control resources
4)
2400
12 800
Extended motion control resources
4)
120
420
Security Integrated
X
X
Integrated system diagnostics
X
X
Integrated safety functionality
X
X
Degree of protection
IP 20
IP 20
1) No assigned function
2) With 4 ms servo/IPO cycle and 35% CPU load from motion control
3) Besides the MC-Servo, only PROFINET interface X150 can also be operated
isochronously with the clock pulse system of SINAMICS Integrated and the X142 technology
I/Os.
Isochronous coupling of PROFIBUS interface X126 with other clock systems is not possible.
Additional drive systems must therefore be connected via the
PROFINET interface.
4) For information on the resources used by technology objects, see the S7-1500 Motion
Control function manuals. (https://support.industry.siemens.com/cs/ww/en/view/109751049)

Product overview
2.2 Components and functionality
SIMATIC Drive Controller
16 Equipment Manual, 11/2019, A5E46600370-AA
2.2 Components and functionality
Components of a SIMATIC Drive Controller system
A drive-based solution with the SIMATIC Drive Controller is made up of the following
components:
●Power supply for SIMATIC Drive Controller and DRIVE-CLiQ components
●SIMATIC Drive Controller with fail-safe SIMATIC S7-1500 technology CPU and an
integrated SINAMICS S120 drive control (based on CU320-2)
●SINAMICS S120 power units:
–Line Modules
–Motor Modules
●Sensor Modules (SMx)
●Terminal Modules (TM)
●Motors with/without DRIVE-CLiQ
You can expand the drive configuration limits of a SIMATIC Drive Controller by connecting
additional drive systems using PROFINET IO with IRT, e.g. SINAMICS S120 CU320-2 for
control of multiple axes or the SINAMICS S210 single-axis servo converter system.
Note
The PROFIBUS interface cannot be coupled with other clock pulse systems. If you expand
the drive configuration limits with distributed drive systems
, those systems must be
connected via PROFINET IO interface X150. Besides the MC
-Servo, only PROFINET
interface X150 can also be coupled isochronously with the clock pulse system of SINAMICS
Integrated and the X142 technology I/Os.

Product overview
2.2 Components and functionality
SIMATIC Drive Controller
Equipment Manual, 11/2019, A5E46600370-AA 17
Configuration example
①
HMI device
②
SIMATIC Drive Controller
③
Line Module
④
SINAMICS S120 Double Motor Module
⑤
SINAMICS S120 Single Motor Module
⑥
SIMOTICS S servo motor
⑦
SINAMICS Terminal Module
⑧
SINAMICS Sensor Module SMC
⑨
SINAMICS S120 with CU320-2 for control of multiple axes
⑩
SINAMICS S210 single-axis servo converter system
⑪
ET 200SP I/O
Figure 2-1 Example: SIMATIC Drive Controller as a component in a system

Product overview
2.2 Components and functionality
SIMATIC Drive Controller
18 Equipment Manual, 11/2019, A5E46600370-AA
Functionality
The SIMATIC Drive Controller combines the functionality of a SIMATIC S7-1500 TF-CPU
and a SINAMICS S120 drive control based on CU320-2 in one compact device.
SIMATIC Drive Controllers are suitable for simple as well as complex motion control
applications, including fail-safe applications when needed.
You can link and extend the SIMATIC Drive Controller , for example, with HMI and I/O
systems using the wide range of communication interfaces. The drive control integrated in
the SIMATIC Drive Controller (SINAMICS Integrated) supports the following control modes:
●Vector control
●Servo control
●U/f control
Vector control is recommended for drive solutions with continuous material webs, such as
wire-drawing, film and paper machines. Servo control is suitable for clocked processes with
precise yet highly dynamic position control with servo motors.
You interconnect all components of SINAMICS S120, including the motors and encoders,
using DRIVE-CLiQ. You connect motors without a DRIVE-CLiQ interface, e.g. external
motors or motors for retrofit applications, using Sensor Modules Cabinet-Mounted (SMC) or
Sensor Modules External (SME).
Line Modules feed the power to the DC link. Optionally, Line Modules with controlled
infeed/regenerative feedback ensure a constant DC-link voltage and high grid compatibility.
Motor Modules supply the motors with power from the DC link.
Terminal Modules are terminal extensions via DRIVE-CLiQ – for example, for drive-oriented
digital or analog inputs/outputs.
Note
SINAMICS Integrated has a functional subset compared with a SINAM
ICS S120 CU320-2
and supports only the functions relevant
in the control context. For example, SINAMICS
Integrated does not support the following:
•
Drive Control Chart (DCC)
•
Basic positioner (EPOS)
•
Free function blocks (FBLOCKS)
•
Drive control blocks (DCB)
Y
ou can find additional information in the SIMATIC Drive Controller system manual
(
https://support.industry.siemens.com/cs/ww/en/view/109766665) .

Product overview
2.2 Components and functionality
SIMATIC Drive Controller
Equipment Manual, 11/2019, A5E46600370-AA 19
Further information
You can find a description of the Control Units, power units and supplementary system
components of SINAMICS S120 in the following manuals:
●SINAMICS S120 Control Units and Additional System Components
(https://support.industry.siemens.com/cs/ww/en/view/109763286)
●SINAMICS S120 Booksize Power Units
(https://support.industry.siemens.com/cs/en/en/view/109766188)
●SINAMICS S120 Booksize C/D-type Power Units
(https://support.industry.siemens.com/cs/ww/en/view/109763283)
●SINAMICS S120 AC Drive
(https://support.industry.siemens.com/cs/ww/en/view/109757057)