Siemens SINAMICS S110 Parts list manual

SINAMICS S110 Drive functions
SINAMICS
Function Manual · 10/2008
SINAMICS S110
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Preface
General information for
commissioning
1
Commissioning preparations
for PROFIBUS
2
Commissioning with
PROFIBUS
3
Commissioning with
CANopen
4
Diagnostics
5
Parameterizing using the
BOP20 (Basic Operator
Panel 20)
6
Drive functions
7
Safety Integrated Functions
8
Communication
PROFIBUS DP
9
Basic information about the
drive system
10
Appendix
11
SINAMICS
S110
SINAMICS S110 Drive functions
Function Manual
10/2008
6SL3097-4AB10-0BP0
Valid for: Firmware version FW4.1

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 corresponding 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 device/system may only be set up and used in conjunction with this documentation. Commissioning and
operation of a device/system may only be performed by qualified personnel. Within the context of the safety notes
in this documentation qualified persons are defined as persons who are authorized to commission, ground and
label devices, systems and circuits in accordance with established safety practices and standards.
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 adhered to. The information in the relevant documentation must be observed.
Trademarks
All names identified by ® are registered trademarks of the 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
Ordernumber: 6SL3097-4AB10-0BP0
Ⓟ 12/2008
Copyright © Siemens AG 2008.
Technical data subject to change

Drive functions
Function Manual, 10/2008, 6SL3097-4AB10-0BP0 5
Preface
Foreword
SINAMICS Documentation
The SINAMICS documentation is organized in 2 parts:
● General documentation / catalogs
● Manufacturer/service documentation
At http://www.siemens.com/motioncontrol/docu information is available on the following
topics:
● Ordering documentation
Here you will find the current overview of publications
● Downloading documentation
Links to more information for downloading files from Service & Support
● Researching documentation online
Information on DOConCD and direct access to the publications in DOConWeb.
● Individually compiling documentation on the basis of Siemens contents with the My
Documentation Manager (MDM), refer to
http://www.siemens.com/mdm
The My Documentation Manager offers you a number of features for compiling your own
machine documenation
● Training and FAQs
Information on the range of training courses and FAQs (frequently asked questions) are
available via the page navigation.

Preface
Drive functions
6 Function Manual, 10/2008, 6SL3097-4AB10-0BP0
Usage phases and the available tools/documents
Table 1 Usage phase and the available tools / documents
Usage phase Tools/documents
Orientation SINAMICS S Sales Documentation
Planning/configuration SIZER engineering tool
Configuration Manuals, Motors
Decision making /
ordering
SINAMICS S Catalogs
Installation / assembly •SINAMICS S110 Equipment Manual
Commissioning •STARTER parameterization and commissioning tool
•SINAMICS S110 Getting Started
•SINAMICS S110 Function Manual Drive Functions
•SINAMICS S110 List Manual
Usage / operation •SINAMICS S110 Function Manual Drive Functions
•SINAMICS S110 List Manual
Maintenance/servicing •SINAMICS S110 Function Manual Drive Functions
•SINAMICS S110 List Manual
Target group
This documentation is aimed at machine manufacturers, commissioning engineers, and
service personnel who use SINAMICS.
Benefits
This documentation contains the comprehensive information about parameters, function
diagrams and faults and alarms required to commission and service the system.
This manual should be used in addition to the other manuals and tools provided for the
product.
Standard scope
The scope of the functionality described in this document can differ from the scope of the
functionality of the drive system that is actually supplied.
● Other functions not described in this documentation might be able to be executed in the
drive system. This does not, however, represent an obligation to supply such functions
with a new control or when servicing.
● Functions can be described in the documentation that are not available in a particular
product version of the drive system. The functionality of the supplied drive system should
only be taken from the ordering documentation.
● Extensions or changes made by the machine manufacturer must be documented by the
machine manufacturer.
For reasons of clarity, this documentation does not contain all of the detailed information on
all of the product types. This documentation cannot take into consideration every
conceivable type of installation, operation and service/maintenance.

Preface
Drive functions
Function Manual, 10/2008, 6SL3097-4AB10-0BP0 7
Search tools
The following guides are provided to help you locate information in this manual:
1. General table of contents for the complete manual (after the preface).
2. List of abbreviations
3. References.
4. Index
Technical Support
If you have any questions, please contact our hotline:
Europe/Africa
Telephone [phone] - 222
Fax [phone] - 223
0.14 €/min. from German landlines, mobile phone prices may differ)
Internet http://www.siemens.de/automation/support-request
America
Telephone [phone]
Fax [phone]
E-mail mailto:[email protected]
Asia/Pacific
Telephone [phone]
Fax [phone]
E-mail mailto:support.asia.automatio[email protected]
Note
You will find telephone numbers for other countries for technical support in the Internet:
http://www.automation.siemens.com/partner
Spare parts
You can find spare parts on the Internet at:
http://support.automation.siemens.com/WW/view/de/16612315

Preface
Drive functions
8 Function Manual, 10/2008, 6SL3097-4AB10-0BP0
Questions about the documentation
If you have any questions (suggestions, corrections) regarding this technical documentation,
please fax or e-mail us at:
Fax [phone]
E-mail mailto:[e-mail]
A fax form is at the end of this document.
Internet address for SINAMICS
http://www.siemens.com/sinamics.
EC Declarations of Conformity
The EC Declaration of Conformity for the EMC Directive can be found/obtained:
● in the Internet:
http://support.automation.siemens.com
under the Product/Order No. 15257461
● at the responsible regional office of the I DT MC Business Unit of Siemens AG
The EC Declaration of Conformity for the Low-Voltage Directive can be found/obtained
● in the Internet:
http://support.automation.siemens.com
under the Product/Order No. 22383669
Note
When operated in dry areas, SINAMICS S devices conform to the Low Voltage Directive
73/23/EEC or 2006/95/EEC.
Note
SINAMICS S devices fulfill EMC Directive 89/336/EEC or 2004/108/EEC in the configuration
specified in the associated EC Declaration of Conformity and when the EMC installation
guideline is implemented, Order No. 6FC5297-0AD30-0P.
Note
The Equipment Manual describes a desired state which, if maintained, ensures reliable
operation as desired and compliance with EMC limit values.
Should there be a deviation from the Manual requirements, appropriate actions (e.g.
measurements) must be taken to check/prove that the desired reliable operation is ensured
and EMC limit values are complied with.

Preface
Drive functions
Function Manual, 10/2008, 6SL3097-4AB10-0BP0 9
ESD information
CAUTION
Electrostatic sensitive devices (ESD) are single components, integrated circuits or devices
that can be damaged by electrostatic fields or electrostatic discharges.
Regulations for handling ESD components:
When handling components, make sure that personnel, workplaces, and packaging are
well earthed.
Personnel may only come into contact with electronic components, if
•They are grounded with an ESD wrist band, or
•They are in ESD areas with conductive flooring, ESD shoes or ESD grounding straps.
Electronic boards should only be touched if absolutely necessary. They must only be
handled on the front panel or, in the case of printed circuit boards, at the edge.
Electronic boards must not come into contact with plastics or items of clothing containing
synthetic fibers.
Boards must only be placed on conductive surfaces (work surfaces with ESD surface,
conductive ESD foam, ESD packing bag, ESD transport container).
Do not place boards near display units, monitors, or television sets (minimum distance from
screen: 10 cm).
Measurements must only be taken on boards when the measuring instrument is grounded
(via protective conductors, for example) or the measuring probe is briefly discharged before
measurements are taken with an isolated measuring device (for example, touching a bare
metal housing).

Preface
Drive functions
10 Function Manual, 10/2008, 6SL3097-4AB10-0BP0
Safety information
DANGER
Commissioning must not start until you have ensured that the machine, in which the
components described here are installed, complies with the Machinery Directive 98/37/EC.
Only appropriately qualified personnel may mount/install, commission and service the
SINAMICS S units.
The personnel must take into account the information provided in the technical customer
documentation for the product, and be familiar with and observe the specified danger and
warning notices.
Operational electrical equipment and motors have parts and components which are at
hazardous voltage levels, that if touched, can result in severe bodily injury or death.
All work on the electrical system must be carried out when the system has been
disconnected from the power supply.
In combination with the drive system, the motors are generally approved for operation on
TN and TT systems with grounded neutral and on IT systems.
In operation on IT systems, the occurrence of a first fault between an active part and
ground must be signaled by a monitoring device. In accordance with IEC 60364-4-41 it is
recommended that the first fault should be eliminated as quickly as practically possible.
In networks with a grounded external conductor, an isolating transformer with grounded
neutral (secondary side) must be connected between the supply and the drive system to
protect the motor insulation from excessive stress. The majority of TT systems have a
grounded external conductor, so in this case an isolating transformer must be used.
DANGER
Correct and safe operation of SINAMICS S drive units assumes correct transportation in
the transportation packaging, correct long-term storage in the transport packaging, setup
and installation, as well as careful operation and maintenance.
The details in the Catalogs and proposals also apply to the design of special equipment
versions.
In addition to the danger and warning information provided in the technical customer
documentation, the applicable national, local, and system-specific regulations and
requirements must be taken into account.
To ensure compliance with EN 61800-5-1 and UL 508, only safety extra-low voltages from
the electronics modules may be connected to connections and terminals.
DANGER
Using protection against direct contact via DVC A (PELV) is only permissible in areas with
equipotential bonding and in dry rooms indoors. If these conditions are not fulfilled, then
other protective measures against electric shock must be used (e.g. protection using
protective impedances or limited voltage or using protective classes I and II).

Preface
Drive functions
Function Manual, 10/2008, 6SL3097-4AB10-0BP0 11
DANGER
Electrical, magnetic and electromagnetic fields (EMF) that occur during operation can pose
a danger to persons who are present in the direct vicinity of the product - especially
persons with pacemakers, implants, or similar devices.
The relevant directives and standards must be observed by the machine/plant operators
and persons present in the vicinity of the product. These are, for example, EMF Directive
2004/40/EEC and standards EN 12198-1 and -3 pertinent to the European Economic Area
(EEA), as well as accident prevention code BGV 11 and the associated rule BGR 11
"Electromagnetic fields" of the German employer's liability accident insurance association.
These state that a hazard analysis must drawn up for every workplace, from which
measures for reducing dangers and their impact on persons are derived and applied, and
exposure and danger zones are defined and observed.
The relevant safety notes in each chapter must be observed.
DANGER
As part of routine tests, SINAMICS S components will undergo a voltage test in accordance
with EN 61800-5-1. Before the voltage test is performed on the electrical equipment of
machines acc. to EN 60204-1, Section 19.4, all connectors of SINAMICS S equipment must
be disconnected/unplugged to prevent the equipment from being damaged.
Motors should be connected up in accordance with the circuit diagram supplied with the
motor (refer to the connection examples for Power Modules). They must not be connected
directly to the three-phase supply because this will damage them.
WARNING
Operating the equipment in the immediate vicinity (< 1.8 m) of mobile telephones with a
transmitter power of > 1 W may cause the equipment to malfunction.
Explanation of symbols
The symbols are in accordance with IEC 617-2.
Table 2 Symbols
Symbol Meaning
Protective earth (PE)
Ground (e.g. M 24 V)
Functional ground
Equipotential bonding

Preface
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12 Function Manual, 10/2008, 6SL3097-4AB10-0BP0

Drive functions
Function Manual, 10/2008, 6SL3097-4AB10-0BP0 13
Table of contents
Preface ...................................................................................................................................................... 5
1 General information for commissioning.................................................................................................... 21
1.1 The STARTER user interface ......................................................................................................21
1.2 BICO interconnection procedure in STARTER............................................................................22
1.3 Notes on the commissioning of a 2-pole resolver as absolute encoder ......................................32
1.4 Temperature sensors for SINAMICS components ......................................................................33
2 Commissioning preparations for PROFIBUS ........................................................................................... 37
2.1 Requirements for commissioning.................................................................................................37
2.2 PROFIBUS components..............................................................................................................40
2.3 Connection via serial interface.....................................................................................................41
2.4 DRIVE-CLiQ interface for CU305 ................................................................................................42
2.5 Powering-up/powering-down the drive system............................................................................43
3 Commissioning with PROFIBUS.............................................................................................................. 47
3.1 Sequence of operations during commissioning...........................................................................47
3.1.1 Safety guidelines..........................................................................................................................47
3.2 STARTER commissioning tool.....................................................................................................48
3.2.1 Important STARTER functions.....................................................................................................48
3.2.2 Activating online operation: STARTER via PROFIBUS...............................................................51
3.3 Basic Operator Panel 20 (BOP20)...............................................................................................52
3.3.1 Important functions via BOP20 ....................................................................................................53
3.4 Creating a project in STARTER...................................................................................................54
3.4.1 Creating a project offline ..............................................................................................................54
3.4.2 Searching for a drive unit online ..................................................................................................56
3.4.3 Searching for nodes that can be accessed..................................................................................58
3.5 Example of first commissioning with STARTER ..........................................................................58
3.5.1 Task .............................................................................................................................................59
3.5.2 Commissioning with Starter (example) ........................................................................................60
3.6 Initial commissioning: Servo AC DRIVE with BOP20 as an example..........................................61
3.6.1 Task .............................................................................................................................................61
3.6.2 Component wiring (example).......................................................................................................62
3.6.3 Quick commissioning using the BOP (example)..........................................................................63

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14 Function Manual, 10/2008, 6SL3097-4AB10-0BP0
4 Commissioning with CANopen ................................................................................................................ 65
4.1 Requirements for commissioning................................................................................................ 65
4.1.1 Pre-requisites for commissioning the CANopen interface .......................................................... 65
4.1.2 Previous knowledge .................................................................................................................... 65
4.1.3 Prerequisites for commissioning CU305 with CANopen............................................................. 66
4.1.4 CAN bus on the CU305............................................................................................................... 67
4.1.5 CAN bus interface X126.............................................................................................................. 68
4.1.6 CANopen functionality CU305 CAN............................................................................................ 69
4.1.7 Diagnostics LED "COM".............................................................................................................. 70
4.2 Commissioning............................................................................................................................ 70
4.2.1 Procedure when commissioning the drive for the first time ........................................................ 70
4.2.2 CANopen object directory ........................................................................................................... 71
4.2.3 Commissioning options............................................................................................................... 72
4.2.4 Configuring the drive unit with STARTER (overview) ................................................................. 73
4.2.5 Searching for the drive unit ONLINE........................................................................................... 74
4.2.6 Configuring a drive unit ............................................................................................................... 75
4.2.7 CAN settings ............................................................................................................................... 81
4.2.7.1 Monitoring.................................................................................................................................... 81
4.2.8 Loading the project to the drive unit............................................................................................ 82
4.3 Configuring COB-IDs and process data objects ......................................................................... 83
4.3.1 Configuring COB-IDs and process data...................................................................................... 83
4.4 Interconnecting process data...................................................................................................... 83
4.4.1 Interconnecting process data...................................................................................................... 83
4.5 Loading and managing projects ONLINE ................................................................................... 84
4.5.1 Load the projects from the drive unit to the PC/PG in ONLINE mode and save them ............... 84
5 Diagnostics .............................................................................................................................................. 85
5.1 Diagnostics via LEDs .................................................................................................................. 85
5.1.1 LEDs when the Control Unit is booted........................................................................................ 85
5.1.2 LEDs after the Control Unit CU305 has booted.......................................................................... 86
5.1.3 Sensor Module Cabinet SMC10 / SMC20 .................................................................................. 88
5.1.4 SMC30 Sensor Module Cabinet ................................................................................................. 89
5.2 Diagnostics via STARTER .......................................................................................................... 90
5.2.1 Function generator ...................................................................................................................... 90
5.2.2 Trace function ............................................................................................................................. 94
5.2.3 Measuring function...................................................................................................................... 96
5.2.4 Measuring sockets ...................................................................................................................... 98
5.3 Fault and alarm messages........................................................................................................ 102
5.3.1 General information about faults and alarms............................................................................ 102
5.3.2 Buffer for faults and alarms....................................................................................................... 103
5.3.3 Configuring messages .............................................................................................................. 106
5.3.4 Parameters and function diagrams for faults and alarms ......................................................... 108
5.3.5 Forwarding of faults and alarms................................................................................................ 109
6 Parameterizing using the BOP20........................................................................................................... 111
6.1 General information about the BOP20...................................................................................... 111
6.2 Displays and using the BOP20 ................................................................................................. 113
6.3 Fault and alarm displays ........................................................................................................... 117
6.4 Controlling the drive using the BOP20......................................................................................118

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Function Manual, 10/2008, 6SL3097-4AB10-0BP0 15
7 Drive functions....................................................................................................................................... 119
7.1 Servo control..............................................................................................................................119
7.1.1 Speed controller.........................................................................................................................119
7.1.2 Speed setpoint filter ...................................................................................................................120
7.1.3 Speed controller adaptation.......................................................................................................121
7.1.4 Torque-controlled operation.......................................................................................................123
7.1.5 Torque setpoint limitation...........................................................................................................126
7.1.6 Current controller .......................................................................................................................130
7.1.7 Current setpoint filter..................................................................................................................132
7.1.7.1 Description .................................................................................................................................132
7.1.7.2 Integration ..................................................................................................................................138
7.1.8 Note about the electronic motor model......................................................................................138
7.1.9 V/f control for diagnostics...........................................................................................................139
7.1.10 Optimizing the current and speed controller..............................................................................142
7.1.11 Sensorless operation (without an encoder) ...............................................................................143
7.1.12 Motor data identification.............................................................................................................147
7.1.12.1 Motor data identification.............................................................................................................147
7.1.12.2 Motor data identification - induction motor.................................................................................150
7.1.12.3 Motor data identification - synchronous motor...........................................................................152
7.1.13 Pole position identification .........................................................................................................155
7.1.14 Vdc control .................................................................................................................................159
7.1.15 Dynamic Servo Control (DSC)...................................................................................................162
7.1.16 Travel to fixed stop.....................................................................................................................165
7.1.17 Vertical axes...............................................................................................................................170
7.1.18 Variable signaling function.........................................................................................................171
7.2 Basic functions...........................................................................................................................173
7.2.1 Changing over units ...................................................................................................................173
7.2.2 Reference parameters/normalizations.......................................................................................175
7.2.3 Automatic restart........................................................................................................................177
7.2.4 Armature short-circuit brake, DC brake .....................................................................................179
7.2.5 OFF3 torque limits .....................................................................................................................183
7.2.6 Simple brake control ..................................................................................................................184
7.2.6.1 Description .................................................................................................................................184
7.2.7 Runtime (operating hours counter) ............................................................................................186
7.2.8 Parking axis and parking encoder .............................................................................................187
7.2.8.1 Description .................................................................................................................................187
7.2.8.2 Example: parking axis and parking sensor................................................................................189
7.2.9 Updating the firmware................................................................................................................190
7.2.9.1 Upgrading firmware and the project in STARTER.....................................................................190
7.2.10 Changing the direction of rotation without changing the setpoint ..............................................192
7.3 Function modules.......................................................................................................................193
7.3.1 Function modules - Definition and commissioning ....................................................................193
7.3.2 Technology controller.................................................................................................................194
7.3.2.1 Features .....................................................................................................................................194
7.3.2.2 Description .................................................................................................................................194
7.3.2.3 Integration ..................................................................................................................................197
7.3.2.4 Commissioning with STARTER .................................................................................................198
7.3.3 Extended monitoring functions...................................................................................................199
7.3.3.1 Description .................................................................................................................................199
7.3.3.2 Integration ..................................................................................................................................200
7.3.3.3 Commissioning...........................................................................................................................201
7.3.4 Extended brake control..............................................................................................................202
7.3.4.1 Features .....................................................................................................................................202
7.3.4.2 Integration ..................................................................................................................................202

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7.3.4.3 Description ................................................................................................................................ 204
7.3.4.4 Examples................................................................................................................................... 204
7.3.4.5 Commissioning.......................................................................................................................... 206
7.3.5 Closed-loop position control...................................................................................................... 207
7.3.5.1 General features ....................................................................................................................... 207
7.3.5.2 Position actual value conditioning............................................................................................. 207
7.3.5.3 Position controller...................................................................................................................... 216
7.3.5.4 Monitoring functions .................................................................................................................. 217
7.3.5.5 Measuring probe evaluation and reference mark search ......................................................... 220
7.3.5.6 Integration ................................................................................................................................. 221
7.3.6 Basic Positioner ........................................................................................................................ 222
7.3.6.1 Mechanical system.................................................................................................................... 224
7.3.6.2 Limits ......................................................................................................................................... 226
7.3.6.3 Referencing............................................................................................................................... 231
7.3.6.4 Traversing blocks ...................................................................................................................... 238
7.3.6.5 Travel to fixed stop.................................................................................................................... 244
7.3.6.6 Direct setpoint input (MDI) ........................................................................................................ 247
7.3.6.7 Jog............................................................................................................................................. 250
7.3.6.8 Status signals............................................................................................................................ 251
7.3.7 Extended setpoint channel........................................................................................................ 253
7.3.7.1 Activation of the "extended setpoint channel" function module ................................................ 253
7.3.7.2 Description ................................................................................................................................ 254
7.3.7.3 Jog............................................................................................................................................. 255
7.3.7.4 Fixed speed setpoints ............................................................................................................... 259
7.3.7.5 Motorized potentiometer ........................................................................................................... 260
7.3.7.6 Main/supplementary setpoint and setpoint modification........................................................... 262
7.3.7.7 Direction limitation and setpoint inversion................................................................................. 263
7.3.7.8 Suppression bandwidths and setpoint limits.............................................................................264
7.3.7.9 Ramp-function generator .......................................................................................................... 266
8 Safety Integrated Functions................................................................................................................... 271
8.1 Standards and regulations ........................................................................................................ 271
8.1.1 General information................................................................................................................... 271
8.1.1.1 Aims .......................................................................................................................................... 271
8.1.1.2 Functional safety ....................................................................................................................... 272
8.1.2 Safety of machinery in Europe.................................................................................................. 272
8.1.2.1 Machinery Directive (98/37/EC) ................................................................................................ 273
8.1.2.2 Harmonized European Standards............................................................................................. 273
8.1.2.3 Standards for implementing safety-related controllers ............................................................. 275
8.1.2.4 EN ISO 13849-1 (previously EN 954-1).................................................................................... 277
8.1.2.5 EN 62061 .................................................................................................................................. 278
8.1.2.6 Series of standards EN 61508 (VDE 0803) .............................................................................. 280
8.1.2.7 Risk analysis/assessment......................................................................................................... 280
8.1.2.8 Risk reduction ........................................................................................................................... 282
8.1.2.9 Residual risk.............................................................................................................................. 282
8.1.3 Machine safety in the USA........................................................................................................ 282
8.1.3.1 Minimum requirements of the OSHA ........................................................................................ 283
8.1.3.2 NRTL listing............................................................................................................................... 283
8.1.3.3 NFPA 79.................................................................................................................................... 284
8.1.3.4 ANSI B11................................................................................................................................... 284
8.1.4 Machine safety in Japan ........................................................................................................... 285
8.1.5 Equipment regulations .............................................................................................................. 285
8.1.6 Other safety-related issues ....................................................................................................... 286
8.1.6.1 Information sheets issued by the Employer's Liability Insurance Association.......................... 286
8.1.6.2 Additional references ................................................................................................................ 286

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8.2 General information about SINAMICS Safety Integrated ..........................................................287
8.2.1 Supported functions ...................................................................................................................287
8.2.2 Parameter, Checksum, Version, Password ...............................................................................288
8.3 System features .........................................................................................................................291
8.3.1 Certification ................................................................................................................................291
8.3.2 Safety instructions......................................................................................................................291
8.3.3 Probability of failure of the safety functions (PFH value)...........................................................294
8.3.4 Response times .........................................................................................................................295
8.3.5 Residual risk...............................................................................................................................296
8.4 Basic Functions..........................................................................................................................298
8.4.1 Safe Torque Off (STO)...............................................................................................................298
8.4.2 Safe Stop 1 (SS1, time controlled) ............................................................................................301
8.4.3 Safe Brake Control (SBC)..........................................................................................................302
8.4.4 Safety faults ...............................................................................................................................304
8.4.5 Forced checking procedure .......................................................................................................306
8.5 Extended Functions ...................................................................................................................307
8.5.1 Safe Stop 1 (SS1, time and acceleration controlled).................................................................307
8.5.2 Safe Stop 2 (SS2) ......................................................................................................................310
8.5.3 Safe Operating Stop (SOS) .......................................................................................................312
8.5.4 Safely Limited Speed (SLS).......................................................................................................313
8.5.5 Safe Speed Monitor (SSM)........................................................................................................316
8.5.6 Safe Acceleration Monitor (SBR)...............................................................................................318
8.5.7 Safety faults ...............................................................................................................................320
8.5.8 Message buffer ..........................................................................................................................324
8.5.9 Safe actual value acquisition .....................................................................................................326
8.5.10 Forced dormant error detection .................................................................................................329
8.6 Controlling the safety functions..................................................................................................331
8.6.1 Overview of F-DI/F-DOs and of their structure ..........................................................................331
8.6.2 Control of the Basic Functions via a safe input terminal pair.....................................................332
8.6.2.1 Control via terminals on the Control Unit and the power unit ....................................................332
8.6.3 Control of the Safety Integrated Extended Functions using safe input terminals......................332
8.6.4 Overview of the F-DOs ..............................................................................................................337
8.6.5 Control by way of PROFIsafe ....................................................................................................339
8.7 Commissioning...........................................................................................................................342
8.7.1 Safety Integrated firmware versions ..........................................................................................342
8.7.2 General commissioning information ..........................................................................................343
8.7.2.1 Introduction ................................................................................................................................343
8.7.2.2 Setting the sampling times.........................................................................................................344
8.7.3 Commissioning the safety terminals by means of STARTER/SCOUT......................................345
8.7.3.1 Basic sequence of commissioning.............................................................................................345
8.7.3.2 Configuration start screen..........................................................................................................346
8.7.3.3 Configuration of the safety terminals .........................................................................................347
8.7.3.4 F-DI/F-DO configuration.............................................................................................................348
8.7.3.5 Control interface.........................................................................................................................350
8.7.4 Commissioning PROFIsafe via PROFIBUS ..............................................................................351
8.7.5 Information pertaining to component replacements...................................................................355
8.7.6 Information pertaining to series commissioning.........................................................................355
8.8 Application examples .................................................................................................................356
8.8.1 Input/output interconnections for a safety switching device with CU305...................................356
8.8.2 Interconnection of F-DO with redundant contactors with positively driven auxiliary
contacts......................................................................................................................................358

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8.9 Acceptance test and acceptance report.................................................................................... 359
8.9.1 General information................................................................................................................... 359
8.9.2 Safety logbook .......................................................................................................................... 364
8.9.3 Acceptance report..................................................................................................................... 365
8.9.3.1 Plant description - Documentation part 1.................................................................................. 365
8.9.3.2 Description of safety functions - Documentation Part 2............................................................ 366
8.9.4 Acceptance tests....................................................................................................................... 368
8.9.4.1 Acceptance test for Safe Torque Off (STO)..............................................................................368
8.9.4.2 Acceptance test for Safe Stop 1, time controlled (SS1)............................................................ 370
8.9.4.3 Acceptance test for "Safe Brake Control" (SBC) ...................................................................... 371
8.9.4.4 Acceptance test for Safe Stop 1, time and acceleration controlled .......................................... 373
8.9.4.5 Acceptance test for Safe Stop 2 (SS2) ..................................................................................... 375
8.9.4.6 Acceptance test for Safe Operating Stop (SOS) ...................................................................... 377
8.9.4.7 Acceptance test for Safely Limited Speed (SLS)...................................................................... 379
8.9.4.8 Acceptance test for Safe Speed Monitor (SSM) ....................................................................... 380
8.9.5 Completion of certificate............................................................................................................ 382
9 Communication PROFIBUS DP............................................................................................................. 383
9.1 Communication according to PROFIdrive................................................................................. 383
9.1.1 General information about PROFIdrive for SINAMICS............................................................. 383
9.1.2 Application classes.................................................................................................................... 384
9.1.3 Cyclic communication ............................................................................................................... 388
9.1.3.1 Telegrams and process data .................................................................................................... 388
9.1.3.2 Description of control words and setpoints ............................................................................... 392
9.1.3.3 Description of status words and actual values..........................................................................404
9.1.3.4 Control and status words for encoder ....................................................................................... 417
9.1.3.5 Example 2: Flying measurement .............................................................................................. 421
9.1.3.6 Central control and status words .............................................................................................. 428
9.1.3.7 Motion Control with PROFIdrive ............................................................................................... 434
9.1.4 Acyclic communication.............................................................................................................. 437
9.1.4.1 General information about acyclic communication ................................................................... 437
9.1.4.2 Structure of orders and responses............................................................................................ 439
9.1.4.3 Determining the drive object numbers ...................................................................................... 444
9.1.4.4 Example 1: read parameters..................................................................................................... 445
9.1.4.5 Example 2: write parameters (multi-parameter request) .......................................................... 447
9.2 Communication via PROFIBUS DP .......................................................................................... 450
9.2.1 General information about PROFIBUS..................................................................................... 450
9.2.1.1 General information about PROFIBUS for SINAMICS ............................................................. 450
9.2.2 Commissioning PROFIBUS ...................................................................................................... 452
9.2.2.1 General information about commissioning................................................................................452
9.2.2.2 Commissioning procedure ........................................................................................................ 455
9.2.2.3 Diagnostics options ................................................................................................................... 455
9.2.2.4 SIMATIC HMI addressing ......................................................................................................... 455
9.2.2.5 Monitoring: telegram failure....................................................................................................... 457
9.2.3 Motion Control with PROFIBUS................................................................................................ 458

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10 Basic information about the drive system .............................................................................................. 463
10.1 Parameter ..................................................................................................................................463
10.2 Data sets ....................................................................................................................................466
10.2.1 CDS: Command Data Set..........................................................................................................466
10.2.2 DDS: Drive Data Set ..................................................................................................................467
10.2.3 EDS: Encoder Data Set .............................................................................................................468
10.2.4 MDS: Motor Data Set.................................................................................................................468
10.2.5 Integration ..................................................................................................................................469
10.2.6 Using data sets ..........................................................................................................................470
10.3 Working with the memory card ..................................................................................................472
10.3.1 Functions of the memory card ...................................................................................................472
10.4 BICO technology: Interconnecting signals.................................................................................475
10.4.1 Description .................................................................................................................................475
10.4.2 Binectors, connectors ................................................................................................................476
10.4.3 Interconnecting signals using BICO technology ........................................................................477
10.4.4 Internal encoding of the binector/connector output parameters ................................................478
10.4.5 Sample interconnections............................................................................................................478
10.4.6 BICO technology:.......................................................................................................................479
10.4.7 Scaling .......................................................................................................................................480
10.5 Inputs/outputs.............................................................................................................................481
10.5.1 Overview of inputs/outputs.........................................................................................................481
10.5.2 Digital inputs/outputs..................................................................................................................482
10.5.3 Analog Input...............................................................................................................................485
10.6 System sampling times ..............................................................................................................486
10.7 Licensing ....................................................................................................................................487
11 Appendix................................................................................................................................................ 491
11.1 List of abbreviations ...................................................................................................................491
Index...................................................................................................................................................... 505

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