Siemens SINAMICS G120 User manual

Power Module PM240-2

SINAMICS
SINAMICS G120
Power Module PM240-2
Hardware Installation Manual
Updated from 01/2019 to 01/2020
01/2020
A5E33294624B AL
Preface
Fundamental safety
instructions
1
Introduction
2
Installing
3
Connecting
4
Service and maintenance
5
Technical data
6
Spare parts
7
Accessories
8
Appendix
A

Siemens AG
Digital Industries
Postfach 48 48
90026 NÜRNBERG
GERMANY
Ⓟ
03/2020 Subject to change
Copyright © Siemens AG 2013 - 2020.
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.

Power Module PM240-2
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Preface
Changes with respect to Edition 01/2019
Added the information about the new option "Control Unit Adapter Kit CUA20"
Control Unit Adapter Kit CUA20 (Page 123)
Added the technical data and dimension information of dv/dt filters
dv/dt filter plus VPL (Page 154)
Removed the dv/dt filter information for 400 V FSA to FSC
dv/dt filter plus VPL (Page 154)
Added the service life data for PM240-2
Service life (Page 113)
Updated dimension and weight data for braking resistor 200 V FSA to FSC
Braking resistor (Page 133)
Updated article numbers for IP20 fan kits for FSD to FSF
Spare parts (Page 115)
Updated the weight data (with and without filter) of PM240-2 all frame sizes
Technical data (Page 73)

Preface
Power Module PM240-2
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Power Module PM240-2
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Table of contents
Preface ................................................................................................................................................... 3
1 Fundamental safety instructions.............................................................................................................. 9
1.1 General safety instructions .......................................................................................................9
1.2 Equipment damage due to electric fields or electrostatic discharge ......................................14
1.3 Warranty and liability for application examples ......................................................................14
1.4 Security information ................................................................................................................15
1.5 Residual risks of power drive systems....................................................................................16
2 Introduction........................................................................................................................................... 17
3 Installing ............................................................................................................................................... 19
3.1 Installation conditions..............................................................................................................19
3.2 EMC-compliant installation of a machine or system...............................................................22
3.2.1 Control cabinet........................................................................................................................23
3.2.2 Cables.....................................................................................................................................25
3.2.3 Electromechanical components..............................................................................................27
3.3 Power losses and air cooling requirements ............................................................................28
3.4 Mounting the Power Modules .................................................................................................29
3.4.1 Sequence for installing the Power Module .............................................................................30
3.4.2 Dimension drawings and drilling dimensions for built-in units - IP20 devices ........................31
3.4.3 Dimension drawings and drilling dimensions for PT Power Modules.....................................33
3.4.4 Mounting the shield plates ......................................................................................................36
3.4.5 Hoisting gear FSD ... FSG ......................................................................................................41
3.4.6 Additional components............................................................................................................42
4 Connecting ........................................................................................................................................... 43
4.1 Permissible line supplies ........................................................................................................46
4.1.1 TN line system ........................................................................................................................47
4.1.2 TT line system.........................................................................................................................48
4.1.3 IT system ................................................................................................................................49
4.1.4 Requirements for the protective conductor.............................................................................50
4.1.5 Using several single-phase converters in machines and plants.............................................51
4.2 Connecting the line and motor cable at the converter ............................................................53
4.2.1 Connection overview...............................................................................................................53
4.2.2 Length of the motor cable .......................................................................................................56
4.2.3 Connection terminals at the converter ....................................................................................57
4.2.4 Establishing connections ........................................................................................................58
4.3 STO via Power Module terminals ...........................................................................................63
4.4 Connecting the motor to the converter in a star or delta connection......................................64

Table of contents
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5 Service and maintenance...................................................................................................................... 67
5.1 Maintenance........................................................................................................................... 68
5.2 Commissioning after a long storage time .............................................................................. 69
5.3 Replacing a fan ...................................................................................................................... 70
5.3.1 Fan replacement FSA … FSC ............................................................................................... 70
5.3.2 Fan replacement FSD … FSF ............................................................................................... 71
5.3.3 FSG fan replacement............................................................................................................. 72
6 Technical data ...................................................................................................................................... 73
6.1 Electromagnetic compatibility - Overview .............................................................................. 74
6.2 Ambient conditions................................................................................................................. 75
6.3 Overload capability of the converter ...................................................................................... 76
6.4 200 V converters.................................................................................................................... 77
6.4.1 General data, 200 V converters............................................................................................. 78
6.4.2 Specific technical data, 200 V converters.............................................................................. 79
6.4.3 Current derating depending on the pulse frequency, 200 V converters ................................ 86
6.5 400 V converters.................................................................................................................... 87
6.5.1 General data, 400 V converters............................................................................................. 88
6.5.2 Specific technical data, 400 V converters.............................................................................. 89
6.5.3 Current derating depending on the pulse frequency, 400 V converters ................................ 98
6.6 690 V converters.................................................................................................................... 99
6.6.1 General data, 690 V converters........................................................................................... 100
6.6.2 Specific technical data, 690 V converters............................................................................ 101
6.6.3 Current derating depending on the pulse frequency, 690 V converters .............................. 104
6.7 Restrictions for special ambient conditions.......................................................................... 105
6.8 Electromagnetic compatibility of variable-speed drives....................................................... 107
6.8.1 Converter applications ......................................................................................................... 108
6.8.1.1 Operation in the Second Environment................................................................................. 109
6.8.1.2 Operation in the First Environment ...................................................................................... 110
6.8.2 Typical harmonic currents.................................................................................................... 111
6.8.3 Harmonics at the power supply connection point according to IEC 61000-2-2................... 112
6.8.4 EMC limit values in South Korea ......................................................................................... 112
6.9 Service life............................................................................................................................ 113
7 Spare parts ..........................................................................................................................................115
8 Accessories .........................................................................................................................................117
8.1 Top shield plate - FSD … FSG ............................................................................................ 117
8.2 Mounting frames for PT power modules.............................................................................. 118
8.3 Mounting grips for PT Power Modules................................................................................. 122
8.4 Control Unit Adapter Kit CUA20........................................................................................... 123
8.5 Line filter............................................................................................................................... 125
8.6 Line harmonics filter............................................................................................................. 126
8.7 Line reactor .......................................................................................................................... 130

Table of contents
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8.8 Braking resistor .....................................................................................................................133
8.8.1 Connecting a braking resistor ...............................................................................................136
8.8.2 Technical data of the braking resistor...................................................................................138
8.9 Braking relay .........................................................................................................................141
8.9.1 Technical data of the brake relay..........................................................................................141
8.9.2 Connections and circuit diagrams.........................................................................................142
8.9.3 Mounting and connecting the brake relay.............................................................................143
8.10 Output reactor .......................................................................................................................144
8.11 Sine-wave filter .....................................................................................................................150
8.12 dv/dt filter plus VPL...............................................................................................................154
A Appendix............................................................................................................................................. 163
A.1 Manuals and technical support .............................................................................................163
A.1.1 Manuals for your converter ...................................................................................................163
A.1.2 Download a Manual ..............................................................................................................165
A.1.3 Configuring support...............................................................................................................165
A.1.4 Product Support ....................................................................................................................167
A.2 Directives and standards ......................................................................................................168
A.3 Abbreviations ........................................................................................................................170
Index................................................................................................................................................... 171

Table of contents
Power Module PM240-2
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Power Module PM240-2
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Fundamental safety instructions
1
1.1 General safety instructions
WARNING
Electric shock and danger to life due to other energy sources
Touching live components can result in death or severe injury.
•Only work on electrical devices when you are qualified for this job.
•Always observe the country-specific safety rules.
Generally, the following steps apply when establishing safety:
1. Prepare for disconnection. Notify all those who will be affected by the procedure.
2. Isolate the drive system from the power supply and take measures to prevent it being
switched back on again.
3. Wait until the discharge time specified on the warning labels has elapsed.
4. Check that there is no voltage between any of the power connections, and between any
of the power connections and the protective conductor connection.
5. Check whether the existing auxiliary supply circuits are de-energized.
6. Ensure that the motors cannot move.
7. Identify all other dangerous energy sources, e.g. compressed air, hydraulic systems, or
water. Switch the energy sources to a safe state.
8. Check that the correct drive system is completely locked.
After you have completed the work, restore the operational readiness in the inverse
sequence.
WARNING
Risk of electric shock and fire from supply networks with an excessively high impedance
Excessively low short-circuit currents can lead to the protective devices not tripping or
tripping too late, and thus causing electric shock or a fire.
•In the case of a conductor-conductor or conductor-ground short-circuit, ensure that the
short-circuit current at the point where the inverter is connected to the line supply at
least meets the minimum requirements for the response of the protective device used.
•You must use an additional residual-current device (RCD) if a conductor-ground short
circuit does not reach the short-circuit current required for the protective device to
respond. The required short-circuit current can be too low, especially for TT supply
systems.

Fundamental safety instructions
1.1 General safety instructions
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WARNING
Risk of electric shock and fire from supply networks with an excessively low impedance
Excessively high short-circuit currents can lead to the protective devices not being able to
interrupt these short-circuit currents and being destroyed, and thus causing electric shock
or a fire.
•Ensure that the prospective short-circuit current at the line terminal of the inverter does
not exceed the breaking capacity (SCCR or Icc) of the protective device used.
WARNING
Electric shock if there is no ground connection
For missing or incorrectly implemented protective conductor connection for devices with
protection class I, high voltages can be present at open, exposed parts, which when
touched, can result in death or severe injury.
•
Ground the device in compliance with the applicable regulations.
WARNING
Electric shock due to connection to an unsuitable power supply
When equipment is connected to an unsuitable power supply, exposed components may
carry a hazardous voltage. Contact with hazardous voltage can result in severe injury or
death.
•Only use power supplies that provide SELV (Safety Extra Low Voltage) or PELV-
(Protective Extra Low Voltage) output voltages for all connections and terminals of the
electronics modules.
WARNING
Electric shock due to equipment damage
Improper handling may cause damage to equipment. For damaged devices, hazardous
voltages can be present at the enclosure or at exposed components; if touched, this can
result in death or severe injury.
•Ensure compliance with the limit values specified in the technical data during transport,
storage and operation.
•Do not use any damaged devices.
WARNING
Electric shock due to unconnected cable shield
Hazardous touch voltages can occur through capacitive cross-coupling due to unconnected
cable shields.
•As a minimum, connect cable shields and the conductors of power cables that are not
used (e.g. brake cores) at one end at the grounded housing potential.

Fundamental safety instructions
1.1 General safety instructions
Power Module PM240-2
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WARNING
Arcing when a plug connection is opened during operation
Opening a plug connection when a system is operation can result in arcing that may cause
serious injury or death.
•Only open plug connections when the equipment is in a voltage-free state, unless it has
been explicitly stated that they can be opened in operation.
WARNING
Electric shock due to residual charges in power components
Because of the capacitors, a hazardous voltage is present for up to 5 minutes after the
power supply has been switched off. Contact with live parts can result in death or serious
injury.
•Wait for 5 minutes before you check that the unit really is in a no-voltage condition and
start work.
NOTICE
Damage to equipment due to unsuitable tightening tools.
Unsuitable tightening tools or fastening methods can damage the screws of the equipment.
•Be sure to only use screwdrivers which exactly match the heads of the screws.
•Tighten the screws with the torque specified in the technical documentation.
•Use a torque wrench or a mechanical precision nut runner with a dynamic torque sensor
and speed limitation system.
NOTICE
Property damage due to loose power connections
Insufficient tightening torques or vibration can result in loose power connections. This can
result in damage due to fire, device defects or malfunctions.
•Tighten all power connections to the prescribed torque.
•Check all power connections at regular intervals, particularly after equipment has been
transported.
WARNING
Spread of fire from built-in devices
In the event of fire outbreak, the enclosures of built-in devices cannot prevent the escape of
fire and smoke. This can result in serious personal injury or property damage.
•Install built-in units in a suitable metal cabinet in such a way that personnel are
protected against fire and smoke, or take other appropriate measures to protect
personnel.
•Ensure that smoke can only escape via controlled and monitored paths.

Fundamental safety instructions
1.1 General safety instructions
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WARNING
Active implant malfunctions due to electromagnetic fields
Inverters generate electromagnetic fields (EMF) in operation. Electromagnetic fields may
interfere with active implants, e.g. pacemakers. People with active implants in the
immediate vicinity of an inverter are at risk.
•As the operator of an EMF-emitting installation, assess the individual risks of persons
with active implants.
•
Observe the data on EMF emission provided in the product documentation.
WARNING
Unexpected movement of machines caused by radio devices or mobile phones
Using radio devices or mobile telephones in the immediate vicinity of the components can
result in equipment malfunction. Malfunctions may impair the functional safety of machines
and can therefore put people in danger or lead to property damage.
•Therefore, if you move closer than 20 cm to the components, be sure to switch off radio
devices or mobile telephones.
•Use the "SIEMENS Industry Online Support app" only on equipment that has already
been switched off.
NOTICE
Damage to motor insulation due to excessive voltages
When operated on systems with grounded line conductor or in the event of a ground fault in
the IT system, the motor insulation can be damaged by the higher voltage to ground. If you
use motors that have insulation that is not designed for operation with grounded line
conductors, you must perform the following measures:
•IT system: Use a ground fault monitor and eliminate the fault as quickly as possible.
•TN or TT systems with grounded line conductor: Use an isolating transformer on the line
side.
WARNING
Fire due to inadequate ventilation clearances
Inadequate ventilation clearances can cause overheating of components with subsequent
fire and smoke. This can cause severe injury or even death. This can also result in
increased downtime and reduced service lives for devices/systems.
•Ensure compliance with the specified minimum clearance as ventilation clearance for
the respective component.

Fundamental safety instructions
1.1 General safety instructions
Power Module PM240-2
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NOTICE
Overheating due to inadmissible mounting position
The device may overheat and therefore be damaged if mounted in an inadmissible position.
•Only operate the device in admissible mounting positions.
WARNING
Unrecognized dangers due to missing or illegible warning labels
Dangers might not be recognized if warning labels are missing or illegible. Unrecognized
dangers may cause accidents resulting in serious injury or death.
•Check that the warning labels are complete based on the documentation.
•Attach any missing warning labels to the components, where necessary in the national
language.
•
Replace illegible warning labels.
NOTICE
Device damage caused by incorrect voltage/insulation tests
Incorrect voltage/insulation tests can damage the device.
•Before carrying out a voltage/insulation check of the system/machine, disconnect the
devices as all converters and motors have been subject to a high voltage test by the
manufacturer, and therefore it is not necessary to perform an additional test within the
system/machine.
WARNING
Unexpected movement of machines caused by inactive safety functions
Inactive or non-adapted safety functions can trigger unexpected machine movements that
may result in serious injury or death.
•Observe the information in the appropriate product documentation before
commissioning.
•Carry out a safety inspection for functions relevant to safety on the entire system,
including all safety-related components.
•Ensure that the safety functions used in your drives and automation tasks are adjusted
and activated through appropriate parameterizing.
•Perform a function test.
•Only put your plant into live operation once you have guaranteed that the functions
relevant to safety are running correctly.
Note
Important safety notices for Safety Integrated functions
If you want to use Safe
ty Integrated functions, you must observe the safety notices in the
Safety Integrated manuals.

Fundamental safety instructions
1.2 Equipment damage due to electric fields or electrostatic discharge
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1.2 Equipment damage due to electric fields or electrostatic discharge
Electrostatic sensitive devices (ESD) are individual components, integrated circuits, modules
or devices that may be damaged by either electric fields or electrostatic discharge.
NOTICE
Equipment damage due to electric fields or electrostatic discharge
Electric fields or electrostatic discharge can cause malfunctions through damaged
individual components, integrated circuits, modules or devices.
•Only pack, store, transport and send electronic components, modules or devices in their
original packaging or in other suitable materials, e.g conductive foam rubber of
aluminum foil.
•Only touch components, modules and devices when you are grounded by one of the
following methods:
–Wearing an ESD wrist strap
–Wearing ESD shoes or ESD grounding straps in ESD areas with conductive flooring
•Only place electronic components, modules or devices on conductive surfaces (table
with ESD surface, conductive ESD foam, ESD packaging, ESD transport container).
1.3 Warranty and liability for application examples
Application examples are not binding and do not claim to be complete regarding
configuration, equipment or any eventuality which may arise. Application examples do not
represent specific customer solutions, but are only intended to provide support for typical
tasks.
As the user you yourself are responsible for ensuring that the products described are
operated correctly. Application examples do not relieve you of your responsibility for safe
handling when using, installing, operating and maintaining the equipment.

Fundamental safety instructions
1.4 Security information
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1.4 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 (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 customer’s exposure
to cyber threats.
To stay informed about product updates, subscribe to the Siemens Industrial Security RSS
Feed under
https://www.siemens.com/industrialsecurity
(https://new.siemens.com/global/en/products/services/cert.html#Subscriptions).
Further information is provided on the Internet:
Industrial Security Configuration Manual
(https://support.industry.siemens.com/cs/ww/en/view/108862708)
WARNING
Unsafe operating states resulting from software manipulation
Software manipulations, e.g. viruses, Trojans, or worms, can cause unsafe operating states
in your system that may lead to death, serious injury, and property damage.
•Keep the software up to date.
•Incorporate the automation and drive components into a holistic, state-of-the-art
industrial security concept for the installation or machine.
•Make sure that you include all installed products into the holistic industrial security
concept.
•Protect files stored on exchangeable storage media from malicious software by with
suitable protection measures, e.g. virus scanners.
•On completion of commissioning, check all security-related settings.
•Protect the drive against unauthorized changes by activating the "Know-how protection"
converter function.

Fundamental safety instructions
1.5 Residual risks of power drive systems
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1.5 Residual risks of power drive systems
When assessing the machine- or system-related risk in accordance with the respective local
regulations (e.g., EC Machinery Directive), the machine manufacturer or system installer
must take into account the following residual risks emanating from the control and drive
components of a drive system:
1. Unintentional movements of driven machine or system components during
commissioning, operation, maintenance, and repairs caused by, for example,
–Hardware and/or software errors in the sensors, control system, actuators, and cables
and connections
–Response times of the control system and of the drive
–Operation and/or environmental conditions outside the specification
–Condensation/conductive contamination
–Parameterization, programming, cabling, and installation errors
–Use of wireless devices/mobile phones in the immediate vicinity of electronic
components
–External influences/damage
–X-ray, ionizing radiation and cosmic radiation
2. Unusually high temperatures, including open flames, as well as emissions of light, noise,
particles, gases, etc., can occur inside and outside the components under fault conditions
caused by, for example:
–Component failure
–Software errors
–Operation and/or environmental conditions outside the specification
–External influences/damage
3. Hazardous shock voltages caused by, for example:
–Component failure
–Influence during electrostatic charging
–Induction of voltages in moving motors
–Operation and/or environmental conditions outside the specification
–Condensation/conductive contamination
–External influences/damage
4. Electrical, magnetic and electromagnetic fields generated in operation that can pose a
risk to people with a pacemaker, implants or metal replacement joints, etc., if they are too
close
5. Release of environmental pollutants or emissions as a result of improper operation of the
system and/or failure to dispose of components safely and correctly
6. Influence of network-connected communication systems, e.g. ripple-control transmitters
or data communication via the network
For more information about the residual risks of the drive system components, see the
relevant sections in the technical user documentation.

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Introduction
2
Overview
The Power Modules belong to the modular family of SINAMICS G120 converters. A modular
converter comprises a Control Unit and a Power Module.
Depending on the power rating in frame sizes FSA … FSG, the following Power Module
versions are supplied:
•
1 AC 200 V
0.55
kW … 4 kW
for line voltages from 1
AC 200 V … 240 V
•
3 AC 200 V
0.55
kW … 55 kW
f
or line voltages from 3 AC 200 V … 240 V
•
3 AC 400 V
0.55
kW … 250 kW
for line voltages from 3
AC 380 V … 480 V
•
3 AC 690 V
11
kW … 250 kW
for line voltages from 3
AC 500 V … 690 V
Control Units for the Power Modules
You can operate the Power Modules with a Control Unit from one of the following listed
families:
●CU230P-2
●CU240B-2
●CU240E-2
●CU250S-2
For Power Modules FSA … FSC, you require a Control Unit with firmware version V4.4 or
higher.
For Power Modules FSD … FSF, you require a Control Unit with firmware version V4.7 HF8
or higher.
For Power Modules FSG, you require a Control Unit with firmware version V4.7 SP9 or
higher.
Note
Commissioning the converter
You must first commission the converter before you can use it. Commissioning is described
in the
Operating Instructions of the relevant Control Unit.
Manuals for your converter (Page 163)

Introduction
Power Module PM240-2
18 Hardware Installation Manual, 01/2020, A5E33294624B AL
STO independent of the Control Unit
Using the PM240-2 Power Modules, frame sizes FSD, FSE, FSF and FSG, you can
implement the "Safe Torque Off" safety function (STO), corresponding to PL e according to
EN 13849-1 and SIL 3 according to IEC61508.
STO via Power Module terminals (Page 63)
Note that when using the STO function, the mission time of the converter is restricted. For
more information, see the "Safety Integrated" Function Manual.
Manuals for your converter (Page 163)
Permissible motors
Note
Motors for converter operation
Only use motors that are suitable for operation with converters with a DC link.
Motors for 200 V Power Modules
For the 200 V Power Modules, induction motors are permissible in the range from
25% … 150% of the converter power without any restrictions.
Motors for 400 V Power Modules
For the 400 V Power Modules, induction motors are permissible in the range from
25 % … 150 % of the converter power without any restrictions.
Motors for 690 V Power Modules
For the 690 V Power Modules, induction motors are permissible in the range from 50
% … 150 % of the converter power without any restrictions.
Continuous development within the scope of product maintenance
Converter components are being continuously developed within the scope of product
maintenance. Product maintenance includes, for example, measures to increase the
ruggedness or hardware changes which become necessary as components are
discontinued.
These further developments are "spare parts-compatible" and do not change the article
number.
In the scope of such spare parts-compatible ongoing development, plug connector or
connection positions are sometimes slightly modified. This does not cause any problems
when the components are properly used. Please take this fact into consideration in special
installation situations (e.g. allow sufficient reserve regarding the cable length).