Siemens SINAMICS S120 Parts list manual

Drive functions
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SINAMICS
S120
Drive functions
Function Manual
Valid as of:
Firmware Version 4.7
(FH1), 04/2014
6SL3097
-4AB00-0BP4
Foreword
Fundamental safety
instructions
1
Infeed
2
Extended setpoint channel
3
Servo control
4
Vector control
5
U/f control (vector control)
6
Basic functions
7
Function modules
8
Monitoring and protective
functions
9
Safety Integrated basic
functions
10
Communication
11
Applications
12
Basic information about the
drive system
13
Appendix
A

Siemens AG
Industry Sector
Postfach 48 48
90026 NÜRNBERG
GERMANY
Order number: 6SL3097-4AB00-0BP4
Ⓟ
04/2014 Subject to change
Copyright © Siemens AG 2004 - 2014.
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.

Drive functions
Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4 5
Foreword
SINAMICS documentation
The SINAMICS documentation is organized in the following categories:
●General documentation/catalogs
●User documentation
●Manufacturer/service documentation
Additional information
The following link provides information on the topics:
●Ordering documentation/overview of documentation
●Additional links to download documents
●Using documentation online (find and search in manuals/information)
http://www.siemens.com/motioncontrol/docu
Please send any questions about the technical documentation (e.g. suggestions for
improvement, corrections) to the following e-mail address:
[e-mail]
My Documentation Manager
Under the following link there is information on how to create your own individual
documentation based on Siemens' content, and adapt it for your own machine
documentation:
http://www.siemens.com/mdm
Training
Information about SITRAIN (Siemens training on products, systems and solutions for
automation and drives) is available under the following link:
http://www.siemens.com/sitrain
FAQs
You can find Frequently Asked Questions on the Service&Support pages under
Product
Support
.
http://support.automation.siemens.com
SINAMICS
You can find information on SINAMICS at: http://www.siemens.com/sinamics.

Foreword
Drive functions
6Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4
Usage phases and their documents/tools (as an example)
Table 1 Usage phases and the available documents/tools
Usage phase
Document/tool
Orientation
SINAMICS S Sales Documentation
Planning/configuration •SIZER Engineering Tool
•Configuration Manuals, Motors
Deciding/ordering SINAMICS S120 catalogs
•SIMOTION, SINAMICS S120 and Motors for Production
Machines (Catalog PM 21)
•SINAMICS and Motors for Single-axis Drives (Catalog D 31)
•SINUMERIK & SINAMICS
Equipment for Machine Tools (Catalog NC 61)
•SINUMERIK 840D sl Type 1B
Equipment for Machine Tools (Catalog NC 62)
Installation/assembly •SINAMICS S120 Equipment Manual for Control Units and
Additional System Components
•SINAMICS S120 Equipment Manual for Booksize Power Units
•SINAMICS S120 Equipment Manual for Chassis Power Units
•SINAMICS S120 Equipment Manual for AC Drives
•SINAMICS S120M Equipment Manual Distributed Drive
Technology
•SINAMICS HLA System Manual Hydraulic Drive
Commissioning •STARTER Commissioning Tool
•SINAMICS S120 Getting Started
•SINAMICS S120 Commissioning Manual
•SINAMICS S120 CANopen Commissioning Manual
•SINAMICS S120 Function Manual
•SINAMICS S120 Safety Integrated Function Manual
•SINAMICS S120/S150 List Manual
•SINAMICS HLA System Manual Hydraulic Drive
Usage/operation •SINAMICS S120 Commissioning Manual
•SINAMICS S120/S150 List Manual
•SINAMICS HLA System Manual Hydraulic Drive
Maintenance/servicing •SINAMICS S120 Commissioning Manual
•SINAMICS S120/S150 List Manual
References •SINAMICS S120/S150 List Manual

Foreword
Drive functions
Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4 7
Target group
This documentation is intended for machine manufacturers, commissioning engineers, and
service personnel who use the SINAMICS drive system.
Benefits
This manual describes all the information, procedures and operational instructions required
for commissioning and servicing SINAMICS S120.
Standard scope
The scope of the functionality described in this document can differ from that of the drive
system that is actually supplied.
●It may be possible for other functions not described in this documentation to be executed
in the drive system. However, no claim can be made regarding the availability of these
functions when the equipment is first supplied or in the event of servicing.
●Functions that are not available in a particular product version of the drive system may be
described in the documentation. The functionality of the supplied drive system should
only be taken from the ordering documentation.
●Extensions or changes made by the machine manufacturer must be documented by the
machine manufacturer.
For reasons of clarity, this documentation does not contain all of the detailed information on
all of the product types, and cannot take into consideration every conceivable type of
installation, operation and service/maintenance.
Technical Support
Country-specific telephone numbers for technical support are provided on the Internet at
Contact
:
http://www.siemens.com/automation/service&support
EC Declaration of Conformity
The EC Declarations of Conformity for the machinery directive can be found on the
Internet at:
http://support.automation.siemens.com/WW/view/de/21901735/67385845
Alternatively, you can contact the Siemens office in your region in order to obtain the EC
Declaration of Conformity.

Foreword
Drive functions
8Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4
Structure
The Function Manual is structured as follows:
Chapter 1
Basic safety instructions (Page 23)
Chapter 2
Infeed (Page 25)
Chapter 3
Extended setpoint channel (Page 55)
Chapter 4
Servo control (Page 83)
Chapter 5
Vector control (Page 183)
Chapter 6
U/f control (vector control) (Page 263)
Chapter 7
Basic functions (Page 279)
Chapter 8
Function modules (Page 425)
Chapter 9
Monitoring and protective functions (Page 547)
Chapter 10
Safety Integrated basic functions (Page 577)
Chapter 11
Communication (Page 637)
Chapter 12
Applications (Page 773)
Chapter 13
Basic information about the drive system (Page 795)
Advice for beginners:
First read Chapter Basic information about the drive system (Page 795), followed by the
appropriate chapter depending on the particular requirement.
Search guides
The following help is available for better orientation:
●Table of contents
●List of abbreviations
●Index

Foreword
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Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4 9
Notation
The following notation and abbreviations are used in this documentation:
Notation for faults and alarms (examples):
•
F12345
Fault 12345
•
A67890
Alarm 67890
•
C23456
Safety message
Notation for parameters (examples):
•
p0918
Adjust
able parameter 918
•
r1024
Display parameter 1024
•
p1070[1]
Adjustable parameter 1070, index 1
•
p2098[1].3
Adjustable parameter 2098, index 1 bit 3
•
p0099[0...3]
Adjustable parameter 99, indices 0 to 3
•
r0945[2](3)
Display parameter 945, index 2 of drive ob
ject 3
•
p0795.4
Adjustable parameter 795, bit 4

Foreword
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10 Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4

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Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4 11
Contents
Foreword ................................................................................................................................................ 5
1 Fundamental safety instructions ............................................................................................................ 23
1.1 General safety instructions ..........................................................................................................23
1.2 Industrial security .........................................................................................................................24
2 Infeed ................................................................................................................................................... 25
2.1 Active Infeed ................................................................................................................................25
2.1.1 Active Infeed closed-loop control booksize..................................................................................26
2.1.2 Active Infeed closed-loop control chassis....................................................................................28
2.1.3 Function diagrams and parameters .............................................................................................29
2.1.4 Line and DC link identification......................................................................................................31
2.1.5 Active Infeed open-loop control ...................................................................................................32
2.1.6 Reactive current control ...............................................................................................................35
2.1.7 Harmonics controller ....................................................................................................................36
2.1.8 Parameterizable bandstop filters for Active Infeed Controls in chassis format ...........................37
2.2 Smart Infeed.................................................................................................................................39
2.2.1 Line supply and DC link identification routine for Smart Infeed Booksize ...................................42
2.2.2 Smart Infeed open-loop control....................................................................................................43
2.3 Basic Infeed .................................................................................................................................46
2.3.1 Function diagrams and parameters .............................................................................................48
2.3.2 Basic Infeed open-loop control ....................................................................................................49
2.4 Line contactor control...................................................................................................................52
2.5 Pre-charging and bypass contactor chassis ................................................................................54
3 Extended setpoint channel .................................................................................................................... 55
3.1 Activation of the "extended setpoint channel" function module in servo control .........................56
3.2 Description ...................................................................................................................................57
3.3 Fixed speed setpoints ..................................................................................................................59
3.4 Motorized potentiometer ..............................................................................................................60
3.5 Jog ...............................................................................................................................................62
3.6 Main/supplementary setpoint and setpoint modification ..............................................................67
3.7 Direction of rotation limiting and direction of rotation changeover...............................................69
3.8 Suppression bandwidths and setpoint limits................................................................................71
3.9 Ramp-function generator .............................................................................................................73
3.9.1 Ramp-function generator .............................................................................................................73
3.9.2 Ramp-function generator tracking................................................................................................77
3.9.3 Signal overview, function diagrams and important parameters...................................................80

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12 Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4
4 Servo control ........................................................................................................................................ 83
4.1 Speed controller .......................................................................................................................... 86
4.2 Speed setpoint filter .................................................................................................................... 87
4.3 Speed controller adaptation ........................................................................................................ 89
4.4 Torque-controlled operation ........................................................................................................ 92
4.5 Torque setpoint limitation ............................................................................................................ 95
4.6 Current controller ...................................................................................................................... 100
4.7 Current setpoint filters ............................................................................................................... 103
4.7.1 Function diagrams and parameters .......................................................................................... 109
4.8 Autotuning ................................................................................................................................. 111
4.8.1 One button tuning...................................................................................................................... 112
4.8.2 Online tuning ............................................................................................................................. 115
4.8.2.1 "Drive-based" online tuning....................................................................................................... 115
4.8.2.2 Automatic pre-assignment and adaptation during operation .................................................... 118
4.8.2.3 Application examples ................................................................................................................ 120
4.8.2.4 Problem handling ...................................................................................................................... 121
4.8.3 Current setpoint filter adaptation............................................................................................... 122
4.8.3.1 Activating/deactivating the current setpoint filter adaptation..................................................... 122
4.8.3.2 Principle of operation of the current setpoint filter adaptation................................................... 124
4.8.3.3 Stability of the speed control loop ............................................................................................. 126
4.8.3.4 Lower and upper limit frequencies ............................................................................................ 127
4.8.3.5 Remedy for insufficient adaptation............................................................................................ 127
4.8.4 Function diagrams and parameters .......................................................................................... 128
4.9 Note about the electronic motor model ..................................................................................... 129
4.10 V/f control .................................................................................................................................. 130
4.11 Optimizing the current and speed controller ............................................................................. 134
4.12 Sensorless operation (without an encoder) .............................................................................. 136
4.13 Motor data identification............................................................................................................ 141
4.13.1 Motor data identification induction motor .................................................................................. 144
4.13.2 Motor data identification synchronous motor ............................................................................ 146
4.14 Pole position identification......................................................................................................... 149
4.15 Vdc control ................................................................................................................................ 156
4.16 Dynamic Servo Control (DSC) .................................................................................................. 160
4.17 Travel to fixed stop.................................................................................................................... 165
4.18 Vertical axes.............................................................................................................................. 170
4.19 Variable signaling function ........................................................................................................ 171
4.20 Central probe evaluation........................................................................................................... 173
4.20.1 Examples................................................................................................................................... 179

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Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4 13
5 Vector control...................................................................................................................................... 183
5.1 Sensorless vector control (SLVC)..............................................................................................187
5.2 Vector control with encoder .......................................................................................................195
5.3 Speed controller .........................................................................................................................196
5.4 Speed controller adaptation .......................................................................................................199
5.5 Speed controller pre-control and reference model ....................................................................202
5.6 Droop .........................................................................................................................................206
5.7 Open actual speed value ...........................................................................................................208
5.8 Torque control ............................................................................................................................210
5.9 Torque limiting............................................................................................................................213
5.10 Vdc control .................................................................................................................................215
5.11 Current setpoint filter..................................................................................................................220
5.12 Speed actual value filter.............................................................................................................221
5.13 Current controller adaptation .....................................................................................................222
5.14 Motor data identification and rotating measurement..................................................................224
5.14.1 Overview ....................................................................................................................................224
5.14.2 Motor data identification.............................................................................................................225
5.14.3 Rotating measurement...............................................................................................................229
5.14.4 Shortened rotating measurement ..............................................................................................231
5.15 Efficiency optimization ...............................................................................................................233
5.16 Quick magnetization for induction motors..................................................................................235
5.17 Flying restart ..............................................................................................................................239
5.17.1 Fast flying restart........................................................................................................................241
5.17.2 Faults and parameters ...............................................................................................................243
5.18 Synchronization..........................................................................................................................244
5.19 Voltage Sensing Module ............................................................................................................246
5.20 Simulation mode ........................................................................................................................248
5.21 Redundance operation power units ...........................................................................................249
5.22 Bypass .......................................................................................................................................250
5.22.1 Bypass with synchronization with overlap .................................................................................251
5.22.2 Bypass with synchronization without overlap ............................................................................254
5.22.3 Bypass without synchronization.................................................................................................255
5.23 Asynchronous pulse frequency..................................................................................................259
6 U/f control (vector control) ................................................................................................................... 263
6.1 Voltage boost .............................................................................................................................267
6.2 Slip compensation......................................................................................................................270
6.3 Resonance damping ..................................................................................................................271
6.4 Vdc control .................................................................................................................................272

Contents
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7 Basic functions.....................................................................................................................................279
7.1 Changing over units .................................................................................................................. 279
7.2 Reference parameters/normalizations ...................................................................................... 281
7.3 Modular machine concept ......................................................................................................... 285
7.4 Sinusoidal filter.......................................................................................................................... 288
7.5 Motor reactors ........................................................................................................................... 290
7.6 dv/dt filter plus VPL ................................................................................................................... 291
7.7 dv/dt filter compact plus Voltage Peak Limiter.......................................................................... 292
7.8 Pulse frequency wobbling ......................................................................................................... 294
7.9 Direction reversal without changing the setpoint ...................................................................... 295
7.10 Automatic restart ....................................................................................................................... 297
7.11 Armature short-circuit, DC braking............................................................................................ 301
7.11.1 Armature short-circuit braking for permanent-magnet synchronous motors ............................ 302
7.11.1.1 Internal armature short-circuit braking ...................................................................................... 302
7.11.1.2 External armature short-circuit braking ..................................................................................... 303
7.11.2 DC braking ................................................................................................................................ 306
7.11.2.1 Activation via parameters.......................................................................................................... 306
7.11.2.2 Activation via fault response ..................................................................................................... 307
7.11.2.3 Activation via OFF fault responses ........................................................................................... 308
7.11.2.4 Activation via a speed threshold ............................................................................................... 308
7.11.3 Configuring the fault response .................................................................................................. 309
7.11.4 Function diagrams and parameters .......................................................................................... 310
7.12 Motor Module as a Braking Module .......................................................................................... 311
7.12.1 Features .................................................................................................................................... 311
7.12.2 Configuring resistors ................................................................................................................. 312
7.12.3 Activating the "Braking Module" function .................................................................................. 316
7.12.4 Protective equipment ................................................................................................................ 318
7.12.5 Overview of the important parameters...................................................................................... 319
7.13 OFF3 torque limits..................................................................................................................... 320
7.14 Technology function: friction characteristic ............................................................................... 321
7.15 Simple brake control ................................................................................................................. 323
7.16 Runtime (operating hours counter) ........................................................................................... 326
7.17 Energy-saving display ............................................................................................................... 328
7.18 Encoder diagnostics.................................................................................................................. 331
7.18.1 Datalogger................................................................................................................................. 331
7.18.2 Encoder dirty signal................................................................................................................... 332
7.19 Tolerant encoder monitoring ..................................................................................................... 333
7.19.1 Encoder track monitoring .......................................................................................................... 334
7.19.2 Zero mark tolerance .................................................................................................................. 335
7.19.3 Freezing the speed raw value................................................................................................... 336
7.19.4 Adjustable hardware filter.......................................................................................................... 337
7.19.5 Edge evaluation of the zero mark ............................................................................................. 338
7.19.6 Pole position adaptation............................................................................................................ 339

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Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4 15
7.19.7 Pulse number correction for faults .............................................................................................339
7.19.8 "Tolerance band pulse number" monitoring...............................................................................340
7.19.9 Signal edge evaluation (1x, 4x)..................................................................................................342
7.19.10 Setting the measuring time to evaluate speed "0" .....................................................................343
7.19.11 Sliding averaging of the speed actual value ..............................................................................343
7.19.12 Troubleshooting .........................................................................................................................344
7.19.13 Tolerance window and correction ..............................................................................................346
7.19.14 Dependencies ............................................................................................................................346
7.19.15 Overview of important parameters.............................................................................................349
7.20 Parking axis and parking encoder..............................................................................................350
7.21 Position tracking.........................................................................................................................353
7.21.1 General Information ...................................................................................................................353
7.21.2 Measuring gear ..........................................................................................................................354
7.22 Creating an encoder as drive object ..........................................................................................359
7.22.1 Preconditions for creating an ENCODER drive object using STARTER ...................................359
7.22.2 Creating an ENCODER drive object..........................................................................................360
7.23 Terminal Module 41 ...................................................................................................................362
7.23.1 SIMOTION mode .......................................................................................................................362
7.23.2 SINAMICS mode........................................................................................................................363
7.23.3 Zero mark emulation (SINAMICS mode) ...................................................................................365
7.23.4 Synchronization of the zero marks (SINAMICS mode)..............................................................368
7.23.5 Limit frequencies for TM41 ........................................................................................................369
7.23.6 Example in the SINAMICS mode...............................................................................................370
7.23.7 Function diagrams and parameters ...........................................................................................371
7.24 Upgrade the firmware and project..............................................................................................373
7.24.1 Overview ....................................................................................................................................373
7.24.2 Updating the firmware via the Web server.................................................................................375
7.24.2.1 Overview ....................................................................................................................................375
7.24.2.2 Updating firmware/configuration on the memory card...............................................................375
7.24.3 Updating the firmware................................................................................................................378
7.24.4 Downgrade lock .........................................................................................................................380
7.24.5 Protection against power failure while updating via the Web server .........................................381
7.25 Pulse/direction interface.............................................................................................................382
7.26 Derating function for chassis units.............................................................................................384
7.27 Connecting the motors in parallel ..............................................................................................385
7.28 Web server.................................................................................................................................388
7.28.1 Overview ....................................................................................................................................388
7.28.2 Requirements and addressing ...................................................................................................390
7.28.3 Configuring the Web server .......................................................................................................391
7.28.3.1 Performing the basic configuration ............................................................................................391
7.28.3.2 Assigning a password ................................................................................................................393
7.28.4 Access protection and rights......................................................................................................396
7.28.4.1 SINAMICS access protection.....................................................................................................396
7.28.4.2 Additional access protection ......................................................................................................396
7.28.4.3 Access rights for parameter lists................................................................................................398
7.28.5 Starting the Web server .............................................................................................................399
7.28.6 Displaying device information ....................................................................................................403

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7.28.7 Displaying diagnostic functions................................................................................................. 404
7.28.7.1 Status and operating display of the drive object ....................................................................... 404
7.28.7.2 Loading a multiple trace............................................................................................................ 405
7.28.8 Displaying messages ................................................................................................................ 407
7.28.8.1 Displaying the diagnostic buffer ................................................................................................ 407
7.28.8.2 Displaying faults and alarms ..................................................................................................... 409
7.28.9 Displaying and changing drive parameters............................................................................... 410
7.28.9.1 Creating a parameter list........................................................................................................... 410
7.28.9.2 Deleting a parameter list ........................................................................................................... 413
7.28.9.3 Changing drive parameters....................................................................................................... 415
7.28.10 Updating the firmware or configuration ..................................................................................... 417
7.28.11 Certificates for the secure data transfer.................................................................................... 418
7.28.11.1 Overview .............................................................................................................................. 418
7.28.11.2 Using the certificate default configuration............................................................................ 420
7.28.11.3 Using self-created certificates.............................................................................................. 421
7.28.11.4 Using certificates from a certification authority .................................................................... 423
7.28.12 Overview of important parameters ............................................................................................ 424
8 Function modules.................................................................................................................................425
8.1 Technology controller................................................................................................................ 428
8.2 Extended monitoring functions.................................................................................................. 433
8.3 Extended Brake Control ............................................................................................................ 435
8.4 Braking Module External ........................................................................................................... 441
8.5 Cooling unit ............................................................................................................................... 443
8.6 Extended torque control (kT estimator, servo).......................................................................... 445
8.7 Closed-loop position control...................................................................................................... 448
8.7.1 General features ....................................................................................................................... 448
8.7.2 Position actual value conditioning............................................................................................. 448
8.7.2.1 Features .................................................................................................................................... 448
8.7.2.2 Description ................................................................................................................................ 448
8.7.2.3 Indexed actual value acquisition ............................................................................................... 451
8.7.2.4 Load gear position tracking ....................................................................................................... 453
8.7.2.5 Commissioning position tracking load gear using STARTER................................................... 460
8.7.2.6 Function diagrams and parameters .......................................................................................... 461
8.7.3 Position controller...................................................................................................................... 462
8.7.4 Monitoring functions .................................................................................................................. 463
8.7.5 Measuring probe evaluation and reference mark search ......................................................... 465
8.7.6 Commissioning.......................................................................................................................... 467
8.8 Basic positioner......................................................................................................................... 468
8.8.1 Mechanical system.................................................................................................................... 470
8.8.2 Limits ......................................................................................................................................... 472
8.8.3 EPOS and safe setpoint velocity limitation ............................................................................... 477
8.8.4 Referencing............................................................................................................................... 477
8.8.5 Referencing with several zero marks per revolution................................................................. 487
8.8.6 Safely referencing under EPOS................................................................................................ 490
8.8.7 Traversing blocks ...................................................................................................................... 492
8.8.8 Travel to fixed stop.................................................................................................................... 498
8.8.9 Direct setpoint input (MDI) ........................................................................................................ 502
8.8.10 Jog............................................................................................................................................. 505

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8.8.11 Status signals.............................................................................................................................506
8.9 Master/slave function for Active Infeed......................................................................................509
8.9.1 Operating principle.....................................................................................................................509
8.9.2 Basic structure ...........................................................................................................................509
8.9.3 Types of communication ............................................................................................................512
8.9.4 Description of functions..............................................................................................................513
8.9.5 Commissioning...........................................................................................................................516
8.9.6 Function diagrams and parameters ...........................................................................................517
8.10 Parallel connection of power units .............................................................................................519
8.10.1 Applications of parallel connections...........................................................................................522
8.10.1.1 Parallel connection of Basic Line Modules ................................................................................524
8.10.1.2 Parallel connection of Smart Line Modules ...............................................................................526
8.10.1.3 Parallel connection of Active Line Modules ...............................................................................527
8.10.1.4 Parallel connection of Motor Modules........................................................................................528
8.10.2 Commissioning...........................................................................................................................530
8.10.3 Additional drive in addition to the parallel connection................................................................531
8.11 Extended stop and retract..........................................................................................................534
8.11.1 Activating and enabling the ESR function module.....................................................................535
8.11.2 Valid sources for triggering the ESR functions ..........................................................................535
8.11.3 Invalid sources ...........................................................................................................................536
8.11.4 ESR responses ..........................................................................................................................537
8.11.4.1 Extended stopping .....................................................................................................................537
8.11.4.2 Extended retract.........................................................................................................................538
8.11.4.3 Regenerative operation..............................................................................................................539
8.11.5 Restrictions for ESR...................................................................................................................540
8.11.6 PROFIdrive telegram for ESR....................................................................................................540
8.11.7 Function diagrams and parameters ...........................................................................................541
8.12 Inertia estimator .........................................................................................................................542
9 Monitoring and protective functions ..................................................................................................... 547
9.1 Power unit protection, general ...................................................................................................547
9.2 Thermal monitoring and overload responses ............................................................................548
9.3 Block protection..........................................................................................................................550
9.4 Stall protection (only for vector control) .....................................................................................551
9.5 Thermal motor protection...........................................................................................................552
9.5.1 Thermal motor models ...............................................................................................................552
9.5.1.1 Thermal motor model 1..............................................................................................................553
9.5.1.2 Thermal motor model 2..............................................................................................................554
9.5.1.3 Thermal motor model 3..............................................................................................................554
9.5.1.4 Function diagrams and parameters ...........................................................................................555
9.5.2 Motor temperature sensing ........................................................................................................556
9.5.3 Sensor Modules .........................................................................................................................558
9.5.3.1 Sensor Module Cabinet-Mounted ..............................................................................................558
9.5.3.2 Sensor Module External.............................................................................................................559
9.5.3.3 Sensor Module SME 20/25 ........................................................................................................559
9.5.3.4 Sensor Module External 120/125...............................................................................................559
9.5.4 Terminal Modules.......................................................................................................................561
9.5.5 Terminal Module 31 ...................................................................................................................562

Contents
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18 Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4
9.5.6 Terminal Module 120 ................................................................................................................ 563
9.5.7 Terminal Module 150 ................................................................................................................ 565
9.5.7.1 Measurement with up to 6 channels ......................................................................................... 566
9.5.7.2 Measurement with up to 12 channels ....................................................................................... 567
9.5.7.3 Forming groups of temperature sensors................................................................................... 567
9.5.7.4 Evaluating temperature channels ............................................................................................. 568
9.5.8 Motor Module/Power Module chassis format............................................................................ 569
9.5.9 Connection of the CU310-2 and the CUA31/CUA32 adapters................................................. 570
9.5.10 Motor with DRIVE-CLiQ ............................................................................................................ 571
9.5.11 Temperature sensor evaluation ................................................................................................ 572
9.5.12 Function diagrams and parameters .......................................................................................... 573
10 Safety Integrated basic functions .........................................................................................................577
10.1 Latest information...................................................................................................................... 577
10.2 General information................................................................................................................... 579
10.2.1 Explanations, standards, and terminology ................................................................................ 579
10.2.2 Supported functions .................................................................................................................. 582
10.2.3 Control possibilities ................................................................................................................... 583
10.2.4 Parameter, Checksum, Version, Password .............................................................................. 584
10.2.5 Test stop / forced dormant error detection................................................................................ 586
10.3 Safety instructions..................................................................................................................... 588
10.4 Safe Torque Off (STO).............................................................................................................. 591
10.5 Safe Stop 1 (SS1, time controlled)............................................................................................ 595
10.5.1 SS1 with OFF3.......................................................................................................................... 595
10.5.2 SS1 with external stop .............................................................................................................. 597
10.5.3 Function diagrams and parameters .......................................................................................... 598
10.6 Safe Brake Control (SBC) ......................................................................................................... 599
10.6.1 SBC for Motor Modules in the chassis format........................................................................... 601
10.7 Response times ........................................................................................................................ 603
10.8 Control via terminals on the Control Unit and Motor/Power Module......................................... 606
10.8.1 Simultaneity and tolerance time of the two monitoring channels.............................................. 609
10.8.2 Bit pattern test ........................................................................................................................... 610
10.9 Commissioning the "STO", "SBC" and "SS1" functions............................................................ 611
10.9.1 General information about commissioning safety functions ..................................................... 611
10.9.2 Commissioning via direct parameter access ............................................................................ 613
10.9.3 Safety faults .............................................................................................................................. 616
10.10 Acceptance test and certificate ................................................................................................. 618
10.10.1 Acceptance test structure.......................................................................................................... 618
10.10.1.1 Content of the complete acceptance test ............................................................................ 620
10.10.1.2 Content of the partial acceptance test ................................................................................. 621
10.10.1.3 Test scope for specific measures ........................................................................................ 623
10.10.2 Safety logbook .......................................................................................................................... 624
10.10.3 Documentation .......................................................................................................................... 625
10.10.4 Acceptance tests....................................................................................................................... 628
10.10.4.1 General information about acceptance tests ....................................................................... 628
10.10.4.2 Acceptance test for Safe Torque Off (STO)......................................................................... 628
10.10.4.3 Acceptance test for Safe Stop 1, time controlled (SS1) ...................................................... 629
10.10.4.4 Acceptance test for "Safe Brake Control" (SBC) ................................................................. 631

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Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4 19
10.10.5 Completion of certificate ............................................................................................................632
10.11 Overview of parameters and function diagrams ........................................................................634
11 Communication................................................................................................................................... 637
11.1 Communication according to PROFIdrive .................................................................................637
11.1.1 Application classes ....................................................................................................................639
11.1.2 Cyclic communication ................................................................................................................641
11.1.2.1 Telegrams and process data .....................................................................................................641
11.1.2.2 Information about control words and status words ....................................................................646
11.1.2.3 Examples ...................................................................................................................................647
11.1.2.4 Motion Control with PROFIdrive ................................................................................................650
11.1.3 Parallel operation of communication interfaces .........................................................................653
11.1.4 Acyclic communication...............................................................................................................656
11.1.4.1 General information about acyclic communication ....................................................................656
11.1.4.2 Structure of orders and responses.............................................................................................658
11.1.4.3 Determining the drive object numbers .......................................................................................663
11.1.4.4 Example 1: read parameters......................................................................................................664
11.1.4.5 Example 2: write parameters (multi-parameter request) ...........................................................667
11.1.5 Diagnostics channels .................................................................................................................670
11.2 Communication via PROFIBUS DP ...........................................................................................672
11.2.1 General information about PROFIBUS......................................................................................672
11.2.1.1 General information about PROFIBUS for SINAMICS ..............................................................672
11.2.1.2 Example: telegram structure for cyclic data transmission .........................................................675
11.2.2 Commissioning PROFIBUS .......................................................................................................678
11.2.2.1 Setting the PROFIBUS interface................................................................................................678
11.2.2.2 PROFIBUS interface in operation ..............................................................................................680
11.2.2.3 Commissioning PROFIBUS .......................................................................................................682
11.2.2.4 Diagnostics options....................................................................................................................682
11.2.2.5 SIMATIC HMI addressing ..........................................................................................................683
11.2.2.6 Monitoring: telegram failure .......................................................................................................685
11.2.3 Motion Control with PROFIBUS.................................................................................................687
11.2.4 Slave-to-slave communication ...................................................................................................691
11.2.4.1 Setpoint assignment in the subscriber .......................................................................................693
11.2.4.2 Activating/parameterizing slave-to-slave communication..........................................................693
11.2.4.3 Commissioning of the PROFIBUS slave-to-slave communication ............................................695
11.2.4.4 Diagnosing the PROFIBUS slave-to-slave communication in STARTER .................................704
11.2.5 Messages via diagnostics channels...........................................................................................705
11.3 Communication via PROFINET IO ............................................................................................707
11.3.1 General information about PROFINET IO .................................................................................707
11.3.1.1 Real-time (RT) and isochronous real-time (IRT) communication ..............................................708
11.3.1.2 Addresses ..................................................................................................................................709
11.3.1.3 Data transfer ..............................................................................................................................711
11.3.1.4 Communication channels for PROFINET ..................................................................................713
11.3.2 Drive control with PROFINET ....................................................................................................715
11.3.2.1 Media redundancy .....................................................................................................................718
11.3.3 RT classes for PROFINET IO ....................................................................................................718
11.3.4 PROFINET GSDML ...................................................................................................................724
11.3.5 Motion Control with PROFINET .................................................................................................726
11.3.6 Communication with CBE20 ......................................................................................................729
11.3.6.1 EtherNet/IP.................................................................................................................................729

Contents
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20 Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4
11.3.7 PN gate ..................................................................................................................................... 730
11.3.7.1 Functions supported by PN Gate.............................................................................................. 731
11.3.7.2 Preconditions for PN Gate ........................................................................................................ 732
11.3.8 PROFINET with 2 controllers.................................................................................................... 734
11.3.8.1 Control Unit settings.................................................................................................................. 734
11.3.8.2 Configuring Shared Device ....................................................................................................... 736
11.3.8.3 Overview of important parameters ............................................................................................ 745
11.3.9 PROFIenergy ............................................................................................................................ 745
11.3.9.1 Tasks of PROFIenergy.............................................................................................................. 747
11.3.9.2 PROFIenergy properties of the SINAMICS S120 drive system................................................ 748
11.3.9.3 PROFIenergy commands.......................................................................................................... 748
11.3.9.4 PROFIenergy measured values................................................................................................ 750
11.3.9.5 PROFIenergy energy-saving mode .......................................................................................... 750
11.3.9.6 Block PROFIenergy .................................................................................................................. 750
11.3.9.7 Function diagrams and parameters .......................................................................................... 751
11.3.10 Messages via diagnostics channels.......................................................................................... 751
11.3.11 Support of I&M data sets 1...4 .................................................................................................. 753
11.3.12 Dynamic IP address assignment .............................................................................................. 755
11.4 Communication via SINAMICS Link ......................................................................................... 757
11.4.1 Basic principles of SINAMICS Link ........................................................................................... 757
11.4.2 Topology.................................................................................................................................... 759
11.4.3 Configuring and commissioning................................................................................................ 760
11.4.4 Example .................................................................................................................................... 764
11.4.5 Communication failure when booting or in cyclic operation...................................................... 767
11.4.6 Example: Transmission times for SINAMICS Link.................................................................... 767
11.4.7 Function diagrams and parameters .......................................................................................... 768
11.5 Communication services and used port numbers..................................................................... 769
12 Applications .........................................................................................................................................773
12.1 Application examples ................................................................................................................ 773
12.2 Infeed switch on by a drive........................................................................................................ 776
12.3 Control Units without infeed control .......................................................................................... 778
12.4 Quick stop in the event of a power failure or emergency stop (servo) ..................................... 780
12.5 Description ................................................................................................................................ 782
12.6 Application examples with DMC20 ........................................................................................... 788
12.7 DCC and DCB extension applications ...................................................................................... 792
13 Basic information about the drive system .............................................................................................795
13.1 Parameter.................................................................................................................................. 795
13.2 Data sets ................................................................................................................................... 798
13.2.1 CDS: Command Data Set......................................................................................................... 798
13.2.2 DDS: Drive Data Set ................................................................................................................. 799
13.2.3 EDS: Encoder Data Set ............................................................................................................ 800
13.2.4 MDS: Motor Data Set ................................................................................................................ 802
13.2.5 Function diagrams and parameters .......................................................................................... 803
13.3 Drive objects ............................................................................................................................. 805