Siemens Simatic S7-300 User manual

Connection of the SINAMICS S120 to

the Technology CPU
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SIMATIC
S7-300
Connection of the SINAMICS S120
to the Technology CPU
Product Information
09/2011
A5E00480378-04
Definitions and warnings
1
SINAMICS S120
automation components
2
Commissioning
3
Basic functions
4
Expert Functions
5
Safety Integrated Functions
in SINAMICS Drive Systems
6

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
A5E00480378-04
Ⓟ 09/2011
Copyright © Siemens AG 2011.
Technical data subject to change

Connection of the SINAMICS S120 to the Technology CPU
Product Information, 09/2011, A5E00480378-04 3
Table of contents
1 Definitions and warnings............................................................................................................................ 7
2 SINAMICS S120 automation components ................................................................................................. 9
2.1 System overview............................................................................................................................9
2.2 Control unit.....................................................................................................................................9
2.3 Line Modules................................................................................................................................10
2.4 Motor Modules .............................................................................................................................10
2.5 Expansion and system components ............................................................................................11
2.6 Determining the firmware version number...................................................................................11
2.7 SINAMICS Support Packages .....................................................................................................13
3 Commissioning ........................................................................................................................................ 15
3.1 Commissioning procedure ...........................................................................................................15
3.2 Connecting hardware components ..............................................................................................15
3.2.1 PROFIBUS interconnection .........................................................................................................15
3.2.2 Interconnection of the DRIVE-CLiQ components ........................................................................17
3.2.3 Additional hardware wiring for Smart Line Modules without DRIVE-CLiQ ..................................21
3.2.4 Special features of the SINAMICS S120 Training Case..............................................................22
3.3 Preparing the connection to the SINAMICS ................................................................................23
3.3.1 Overview ......................................................................................................................................23
3.3.2 Creating a STEP 7 project ...........................................................................................................23
3.3.3 Configuring in HW Config ............................................................................................................24
3.3.4 Activating routing in NetPro .........................................................................................................30
3.4 Configuring the drive components ...............................................................................................35
3.4.1 Overview ......................................................................................................................................35
3.4.2 Automatic configuring ..................................................................................................................35
3.4.3 Manual configuring.......................................................................................................................39
3.4.4 Alignment of the PROFIdrive message frames ...........................................................................69
3.4.5 Loading the configuration into the drive components ..................................................................70
3.4.6 Optimizing the speed controller in the drive.................................................................................71
3.5 Diagnosing the SINAMICS configuration.....................................................................................75
3.5.1 Checking the DRIVE-CLiQ wiring online .....................................................................................75
3.5.2 Drive test using the SINAMICS control panel..............................................................................76
3.6 Creating technology objects.........................................................................................................78
3.6.1 Creating and configuring axes .....................................................................................................78
3.6.2 Technology Objects Management (TOM)....................................................................................85
3.7 Diagnosing the technology configuration.....................................................................................87
3.7.1 Overview ......................................................................................................................................87
3.7.2 Preparations.................................................................................................................................87
3.7.3 Axis test using the technology axis control panel ........................................................................89

Table of contents
Connection of the SINAMICS S120 to the Technology CPU
4 Product Information, 09/2011, A5E00480378-04
3.8 Creating the user program .......................................................................................................... 91
3.8.1 Using technology functions ......................................................................................................... 91
3.8.2 Special considerations for the use of an Active Line Module ..................................................... 91
4 Basic functions......................................................................................................................................... 93
4.1 Encoder settings ......................................................................................................................... 93
4.1.1 Encoder configuration (overview) ............................................................................................... 93
4.1.2 Characteristic values for encoders.............................................................................................. 93
4.1.3 Structure of the encoder actual values ....................................................................................... 95
4.1.4 Encoder types ............................................................................................................................. 99
4.1.5 Encoder mode........................................................................................................................... 100
4.1.6 Setting encoder parameters in the technology ......................................................................... 100
4.1.7 Display of the encoder parameters in S7T Config .................................................................... 102
4.2 Homing...................................................................................................................................... 104
4.2.1 Homing possibilities .................................................................................................................. 104
4.2.2 Example: Active homing with homing output cam and encoder zero mark.............................. 105
4.2.3 Example: Active homing using only an external zero mark ...................................................... 109
4.2.4 Example for active homing with one of the external zero marks mirrored on the T-CPU......... 114
4.2.5 Example: Active homing using only an encoder zero mark...................................................... 117
4.2.6 Absolute encoder adjustment with the control panel ................................................................ 120
4.3 Triggering of the integrated outputs of the CU 320 Control Unit............................................... 122
5 Expert Functions.................................................................................................................................... 127
5.1 PROFIdrive message frame...................................................................................................... 127
5.1.1 Message frame types................................................................................................................ 127
5.1.2 Example: telegram 105 ............................................................................................................. 129
5.2 Extending a PROFIdrive message frame ................................................................................. 130
5.2.1 Address areas ........................................................................................................................... 130
5.2.2 Extending a message frame by creating additional components ............................................. 131
5.2.3 Extending the PROFIdrive message frame in S7T Config ....................................................... 138
5.2.4 Extending an existing PROFIBUS message frame for the drive .............................................. 139
5.3 Disabling the PROFIBUS Sign-of-Life Monitoring .................................................................... 145
5.4 Activating a Second Encoder.................................................................................................... 146
5.4.1 Using a Second Encoder .......................................................................................................... 146
5.4.2 Connecting a second encoder in SINAMICS............................................................................ 148
5.5 Reading the drive parameters................................................................................................... 150
5.5.1 Example: Reading several parameters using "MC_ReadDriveParameter" .............................. 150
5.6 Measuring Function................................................................................................................... 152
5.6.1 Use Cases................................................................................................................................. 152
5.6.2 Measuring using the integrated inputs on the CU320............................................................... 156
5.6.3 Fetching the measuring inputs using the TM17 terminal module ............................................. 159
5.7 Triggering an output cam using the TM17 terminal module ..................................................... 165
5.8 Triggering of a brake ................................................................................................................. 174
5.8.1 Vertical axis application case.................................................................................................... 174
5.8.2 Activating braking sequential control in SINAMICS.................................................................. 174
5.8.3 Activating braking sequential control in the axis ....................................................................... 176

Table of contents
Connection of the SINAMICS S120 to the Technology CPU
Product Information, 09/2011, A5E00480378-04 5
6 Safety Integrated Functions in SINAMICS Drive Systems ..................................................................... 183
6.1 Safety Integrated Functions - Overview.....................................................................................183
6.2 Safety Integrated functions in SINAMICS S120 drive systems .................................................184
6.3 Support of SINAMICS Safety Integrated functions by the T(F)-CPU ........................................186
6.3.1 Support of the SINAMICS Safety Integrated functions - Overview............................................186
6.3.2 Activating the support of SINAMICS Safety Integrated functions..............................................187
6.3.3 Message frame structure ...........................................................................................................188
6.3.4 Extension of actual value message frame in S7T Config ..........................................................190
6.3.5 Configuration data of the Axis technology object.......................................................................194
6.4 Safety status displays and error messages ...............................................................................195
6.5 Behavior and reactions in the user program..............................................................................198
6.6 Safety Integrated functions without configured support of the extended functions ...................202
6.7 Control via PROFIsafe ...............................................................................................................203

Table of contents
Connection of the SINAMICS S120 to the Technology CPU
6 Product Information, 09/2011, A5E00480378-04

Connection of the SINAMICS S120 to the Technology CPU
Product Information, 09/2011, A5E00480378-04 7
Definitions and warnings 1
Purpose of document
This document presents the most important standard options to use the
SINAMICS S120 drive system on the CPU 31xT-2 DP Technology CPU.
Other functions can definitely also run together with SINAMICS S120,
but they must be considered individually.
Document scope
● CPU 31xT(F) as of V2.7/5.1.5
● SINAMICS S120 as of V2.6.2
● S7 Technology as of V4.2 SP1
Required basic knowledge
To understand this document you must have general knowledge about automation and
drive technology. In particular, you must be familiar with the SINAMICS S120 drive system.
In addition, you must know how to work with the STEP 7 basic software and the
S7 Technology option package.
Getting Started "CPU 317T-2 DP: Controlling a SINAMICS S120" is provided as
an introduction.
Qualified personnel
Qualified personnel with regard to the documentation are those persons responsible for the
installation, assembly, commissioning, operation and maintenance of the Technology CPU
and SINAMICS S120 product and who have the following qualifications:
● Trained and authorized to energize, de-energize, clear, ground and tag circuits and
equipment in accordance with established safety procedures.
● Trained in the proper care and use of protective equipment in accordance with
established safety procedures.
● First aid training.
Warnings are not explicitly given in this documentation. However, explicit reference is made
to the warning notes in the operating instructions for the associated product of the
SINAMICS series.
Document scope
This description does not replace the device documentation for SINAMICS S120.
A complete description of the SINAMICS S120 function scope is contained in the function
description.
Information on SIMATIC and SINAMICS products is available on the Internet
(http://www.siemens.com/automation/service&support).

Definitions and warnings
Connection of the SINAMICS S120 to the Technology CPU
8 Product Information, 09/2011, A5E00480378-04

Connection of the SINAMICS S120 to the Technology CPU
Product Information, 09/2011, A5E00480378-04 9
SINAMICS S120 automation components 2
2.1 System overview
Because SINAMICS S120 can be used to solve sophisticated drive tasks for a very wide
spectrum of industrial applications, it is constructed as a modular system. From the large
number of matched components and functions, users combine just those units that best
match their requirements.
Legend:
1 Control unit 5 Double Motor Module
2 Active Line Module 6 Terminal Board
3 Smart Line Module 7 Sensor Module Cabinet
4 Single Motor Module 8 Terminal Module
2.2 Control unit
In a CU320 Control Unit, the communications, open- and closed-loop functions execute for
one or more Motor Modules and Active Line Modules. The Control Unit is designed for
multi-axis operation.
Note
Only the CU 320(-2 DP) and CU 310 Control Units are supported when using the
SINAMICS S120 drive system in connection with the technology CPU.

SINAMICS S120 automation components
2.3 Line Modules
Connection of the SINAMICS S120 to the Technology CPU
10 Product Information, 09/2011, A5E00480378-04
2.3 Line Modules
The Line Modules perform the function of the central energy infeed for the DC link.
The following Line Modules are available:
● The Active Line Module (ALM) is a self-controlled infeed/regenerative feedback unit for
creating a regulated DC link voltage. This decouples the connected Motor Modules from
the supply voltage and fluctuations within the permitted supply tolerances do not have
any effect on the motor voltage.
The Active Line Module communicates via DRIVE-CLiQ with the CU320 control unit.
● The Basic Line Module (BLM) is an infeed unit that cannot actively regenerate into the
supply. This means that it can only be used for those applications in which the energy
exchange takes place between the motor- and the generator-driven axes in the DC link.
The Basic Line Module communicates via DRIVE-CLiQ with the CU320 control unit.
● The Smart Line Module (SLM) is a non-regulated infeed/regenerative feedback unit with
100% regenerative continuous capability. The regenerative capability of the module can
be deactivated using a digital input.
Certain SLM types have a DRIVE-CLIQ interface (usually starting with 16 Kw).
The Smart Line Modules with DRIVE-CLIQ interface are treated like Active Line Modules
(see Interconnection of the DRIVE-CLiQ components (Page 17)). The control of the
modules without DRIVE-CLIQ interface must be implemented with hard wiring
(see Additional hardware wiring for Smart Line Modules without DRIVE-CLiQ (Page 21)).
2.4 Motor Modules
The Motor Modules operate as inverters and are available for various output currents and in
various performance classes. They obtain the energy for the motors from the DC link of the
attached Line Module.
The following Motor Module classes for controlling the motors are available for the
SINAMICS S120:
● Single Motor Modules in single-axis design in booksize format
● Double Motor Modules in two-axis design in booksize format

SINAMICS S120 automation components
2.5 Expansion and system components
Connection of the SINAMICS S120 to the Technology CPU
Product Information, 09/2011, A5E00480378-04 11
2.5 Expansion and system components
Expansion and system components can be used to expand the
SINAMICS S120 base system so that it can perform functions directly in the drive system,
record encoder signals, etc.
Components
For example, the following components are available for SINAMICS S120:
● The Terminal Board TB30 can be used to expand the CU320 control unit with
additional digital and analog inputs/outputs.
● You require the Sensor Module Cabinet-Mounted SMC10, SMC20, SMC30 when a motor
is to be used without the DRIVE-CLiQ interface or an additional external encoder is
to be attached to the drive system.
● The communication board CB10 provides an interface between the control unit
CU320 and a CAN bus system.
● The CBE30 communication board provides an interface between the
CU320 control unit and a PROFINET system.
● The Terminal Modules TM15, TM17, and TM41 provide additional inputs/outputs with
extended functionality (High Feature) that can be used as an output cam or measuring
input in the technology. Terminal modules are connected directly to the
CU 320 control unit by means of the DRIVE-CLiQ interface.
2.6 Determining the firmware version number
The SINAMICS S120 firmware can generally be determined in various ways.
What is important is whether a configuration already exists in S7T Config.
Determining the firmware version of the SINAMICS S120 from the CF Card
The version number of the SINAMICS S120 is stored on the Compact Flash Card.
The firmware of the SINAMICS S120 must be read from the CF Card when the firmware of
the SINAMICS S120 is not known and no current configuration is available in S7T Config.
The CF Card contains the "CONTENT.txt" file in the root directory. The
"internal version 02.20.28.00" line shows the currently loaded firmware.
The number 02.20.28.00 shown in this example is the current version number
of the firmware.

SINAMICS S120 automation components
2.6 Determining the firmware version number
Connection of the SINAMICS S120 to the Technology CPU
12 Product Information, 09/2011, A5E00480378-04
Determining the firmware version of the SINAMICS S120 in S7T Config
If a current configuration of the SINAMICS S120 is available in S7T Config,
the firmware of the SINAMICS S120 can be determined as follows.
Select in the project navigator for S7T Config the appropriate SINAMICS S120.
Double-click "Overview".
Open the Version overview tab. Take the firmware version of the SINAMICS S120
from this table.
Note
Ensure that your configuration is consistent in S7T Config online. This is necessary to
ensure that the firmware versions shown here can be loaded online.

SINAMICS S120 automation components
2.7 SINAMICS Support Packages
Connection of the SINAMICS S120 to the Technology CPU
Product Information, 09/2011, A5E00480378-04 13
2.7 SINAMICS Support Packages
Definition of the SINAMICS Support Package
S7 Technology features the integrated STARTER commissioning tool which supports the
use of SINAMICS Support Packages (SSP) as of V4.1 SP2. This allows users to make new
drive firmware versions known to an existing STARTER/S7-Technology version without
having to carry out a new installation and without the drive being actually available.
To provide support for SINAMICS versions not included in the current
STARTER/S7 Technology version, you will have to install a SINAMICS Support Package.
SINAMICS Support Packages are available for download on the Product Support pages.
Users are informed of new SSPs in Product Support as soon as a new SINAMICS version
is released for delivery.
Note
The SSPs that exist at the time of the delivery release of S7 Technology are automatically
included in the S7 Technology installation.
Content of the SINAMICS Support Package
An SSP contains only description files of the devices and drive objects. Install an SSP to add
new drive objects and devices to an existing STARTER installation without modification of
the STARTER/S7-Technology software installation.
After having completed installation, you can configure all the functions of the new
SINAMICS version by means of the Expert list. All screens and wizards are available for
the functions which are downward compatible.
An SSP can contain the following items:
● New drive objects
● New device versions
● New and changed parameters in the Expert list
● New and revised faults, alarms and messages
● New and revised sequential parameterizations
● Expansions of the component catalog (new motors, encoders, DRIVE-CLiQ components)
● Expansion of the configuration catalog (SD)
● Revised Online Help files (parameter help, function charts)
When a new STARTER/S7-Technology version is created and delivered it contains all
released or compatible SSPs.

SINAMICS S120 automation components
2.7 SINAMICS Support Packages
Connection of the SINAMICS S120 to the Technology CPU
14 Product Information, 09/2011, A5E00480378-04
Installation
All SSPs released for a product version can be installed in any order.
Do not run STARTER/S7 Technology during SSP installation.
To install a new SSP from CD, follow these steps:
1. Place the SSP CD into the CD drive of your programming device/PC,
or save and unpack the SSP you downloaded from Product Support.
2. Select and run setup.exe in Windows Explorer
3. Follow the installation instructions and restart the computer after successful installation.
After having successfully completed installation, you can open S7T Config to configure the
SINAMICS versions you installed in offline mode, or to operate them in online mode
(for example, by selecting "Accessible nodes").
The SINAMICS Support Packages you installed are displayed as "SSP SINAMICS ..."
in SIMATIC > Product Information > Installed Software , "Components" tab.

Connection of the SINAMICS S120 to the Technology CPU
Product Information, 09/2011, A5E00480378-04 15
Commissioning 3
3.1 Commissioning procedure
Operational sequence
The commissioning procedure is divided into two parts:
1. Create a STEP 7 project and make the settings of the technology CPU for the connected
hardware using the HW Config and S7T Config programs. Special attention is placed on
the parameterizations that must be performed both in the technology CPU and in the
SINAMICS S120.
2. Parameterize SINAMICS S120, create drives and axes. The base device commissioning
required for the connection to the technology CPU is also described here.
The following sections describe these settings in detail, both for the technology CPU as well
as the SINAMICS S120.
3.2 Connecting hardware components
3.2.1 PROFIBUS interconnection
Introduction
Connect the programming device to the PROFIBUS X1 terminal and the
SINAMICS S120 drive system to the PROFIBUS DP (DRIVE) X3 terminal
of the Technology CPU.
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Commissioning
3.2 Connecting hardware components
Connection of the SINAMICS S120 to the Technology CPU
16 Product Information, 09/2011, A5E00480378-04
Setting of a fixed PROFIBUS address on the SINAMICS S120
In general, for the operation of the SINAMICS S120 together with the Technology CPU,
the setting of a fixed PROFIBUS address using the DIP or rotary switches directly on the
SINAMICS S120 is recommended.
When the values 0 or 127 are set, the PROFIBUS address set in the p0918 parameter will
be is used for the communication.
Note
The address 126 in the p0918 parameter of the SINAMICS S120 is set as default setting of
the PROFIBUS address. To prevent access problems caused by an unknown
PROFIBUS address during the commissioning, the address should be predefined using
the DIP or rotary switches before the commissioning (e.g. "address 4").
Note
When you use a CB10 (CAN bus interface) or CBE20 (PROFINET interface) option module,
the SINAMICS firmware switches off the PROFIBUS interface. It is not possible to run two
different communication interfaces in parallel. It is not possible to switch off a configured
CB10 (CAN bus interface) or CBE20 (PROFINET interface) option module via configuration.

Commissioning
3.2 Connecting hardware components
Connection of the SINAMICS S120 to the Technology CPU
Product Information, 09/2011, A5E00480378-04 17
3.2.2 Interconnection of the DRIVE-CLiQ components
System overview
The SINAMICS S120 components are connected with each other using an integrated bus
system, the DRIVE-CLiQ. Not only can be the individual modules of the drive system,
such as Line Modules and Motor Modules, connected with the Control Unit, but also motor
encoders or external encoders can be connected with the Motor Modules.
Conversion modules (Sensor Module Cabinet) for the conversion of traditional encoder
signals on DRIVE-CLiQ are available for non-Siemens motors and retrofit applications.
The following figure shows a sample configuration with different system components.
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Commissioning
3.2 Connecting hardware components
Connection of the SINAMICS S120 to the Technology CPU
18 Product Information, 09/2011, A5E00480378-04
Rules for the interconnection of DRIVE-CLiQ components
To work with DRIVE-CLiQ technology and to use technology functions,
e.g. the automatic topology recognition, certain rules must be followed for the
commissioning of the SINAMICS S120 drive system. A distinction is made here between
mandatory DRIVE-CLiQ rules that must be adhered to without exception and
recommended rules that should be observed to avoid having to change the
topology created offline in S7T Config. The most important rules are explained briefly in
the following:
Mandatory DRIVE-CLiQ rules for CU 320-2 and higher
The mandatory rules are a prerequisite for error-free operation. The following rules are
generally applicable, provided they are not subject to limitations according to the firmware
version:
● Observe the maximum number of nodes:
– maximum 8 components in series
– maximum 16 on a DRIVE-CLiQ line of the Control Unit
● No duplicated wiring
● No ring wiring
● Only one Active Line Module for each CU320 Control Unit
● Double Motor Module not as single drive
● Max. 9 Sensor Modules
● Preset sampling times must be retained
The following figure illustrates the rules using a DRIVE-CLIQ line as an example.
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The maximum permitted number of SINAMICS S120 drive objects depends on the firmware
version used.

Commissioning
3.2 Connecting hardware components
Connection of the SINAMICS S120 to the Technology CPU
Product Information, 09/2011, A5E00480378-04 19
Recommended DRIVE-CLiQ rules
When the recommended rules for DRIVE-CLiQ wiring are observed, the components will be
automatically assigned to the drives during online configuration or during topology
recognition.
Note
Complete, detailed information about these rules is contained in the documentation for the
SINAMICS S120 drive system available on the Internet
(http://apps01.industry.siemens.com/content/00000100/Content/syn_s120.aspx?rc=1).
Examples
Sample interconnection with an Active Line Module:
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Commissioning
3.2 Connecting hardware components
Connection of the SINAMICS S120 to the Technology CPU
20 Product Information, 09/2011, A5E00480378-04
Sample interconnection with a Smart Line Module:
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