Siemens SINAMICS S120 Parts list manual

SINAMICS
Function Manual · 01/2013
SINAMICS S120
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SINAMICS
S120
Drive functions
Function Manual
Valid as of:
Firmware Version 4.6
(FH1), 01/2013
6SL3097-4AB00-0BP3
Foreword
Infeed
1
Extended setpoint channel
2
Servo control
3
Vector control
4
U/f control (vector control)
5
Basic functions
6
Function modules
7
Monitoring and protective
functions
8
Safety Integrated basic
functions
9
Communication
10
Applications
11
Basic information about the
drive system
12
Appendix
A

Siemens AG
Industry Sector
Postfach 48 48
90026 NÜRNBERG
GERMANY
Order number: 6SL3097-4AB00-0BP3
Ⓟ 01/2013 Technical data subject to change
Copyright © Siemens AG 2004 - 2013.
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), 01/2013, 6SL3097-4AB00-0BP3 3
Foreword
SINAMICS documentation
The SINAMICS documentation is organized in the following categories:
● General documentation/catalogs
● User documentation
● Manufacturer/service documentation
More information
The following link provides information on the topics:
● Ordering documentation/overview of documentation
● Additional links to download documents
● Using documentation online (find and browse through 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
Under the following link there is information on SITRAIN - training from Siemens for
products, systems and automation engineering solutions:
http://www.siemens.com/sitrain
FAQs
You can find Frequently Asked Questions in the Service&Support pages under Product
Support:
http://support.automation.siemens.com
SINAMICS
You can find information on SINAMICS under:
http://www.siemens.com/sinamics

Foreword
Drive functions
4 Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3
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
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
Usage/operation •SINAMICS S120 Commissioning Manual
•SINAMICS S120/S150 List Manual
Maintenance/servicing •SINAMICS S120 Commissioning Manual
•SINAMICS S120/S150 List Manual
References •SINAMICS S120/S150 List Manual

Foreword
Drive functions
Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3 5
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 the scope of the
functionality 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. This documentation cannot take into consideration every
conceivable type of installation, operation and service/maintenance.
Technical Support
Country-specific telephone numbers for technical support are provided in the Internet under
Contact:
http://www.siemens.com/automation/service&support
EC Declaration of Conformity
The EC Declaration of Conformity for the EMC Directive can be found on the Internet at:
http://support.automation.siemens.com
There – as a search term – enter the number 15257461 or contact your local Siemens office.

Foreword
Drive functions
6 Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3
Structure
The Function Manual is structured as follows:
Chapter 1 Infeed (Page 25)
Chapter 2 Extended setpoint channel (Page 57)
Chapter 3 Servo control (Page 81)
Chapter 4 Vector control (Page 161)
Chapter 5 U/f control (vector control) (Page 253)
Chapter 6 Basic functions (Page 269)
Chapter 7 Function modules (Page 407)
Chapter 8 Monitoring and protective functions (Page 529)
Chapter 9 Safety Integrated basic functions (Page 559)
Chapter 10 Communication (Page 619)
Chapter 11 Applications (Page 815)
Chapter 12 Basic information about the drive system (Page 837)
Advice for beginners:
First read Chapter Basic information about the drive system (Page 837), followed by the
appropriate chapter depending on the particular requirement.
Search guides
The following help is available for better orientation:
● Contents
● List of abbreviations
● Index

Foreword
Drive functions
Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3 7
Notation
The following notation and abbreviations are used in this documentation:
Notation for parameters (examples):
•p0918 Adjustable 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 object 3
•p0795.4 Adjustable parameter 795, bit 4
Notation for faults and alarms (examples):
•F12345 Fault 12345
•A67890 Alarm 67890

Foreword
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8 Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3
ESD Notes
Electrostatic sensitive devices (ESDs) are individual components, integrated circuits,
modules or devices that may be damaged by either electrostatic fields or electrostatic
discharge.
NOTICE
Damage due to electric fields or electrostatic discharge
Electric fields or electrostatic discharge can result in malfunctions as a result of damaged
individual components, integrated circuits, modules or devices.
•Package, store, transport and send the electronic components, modules or devices only
in the original product packaging or in other suitable materials, e.g. conductive foam
rubber or aluminum foil.
•Only touch components, modules and devices, if you are grounded using one of the
following measures:
– Wearing an ESD wrist strap
– Wearing ESD shoes or ESD grounding straps in ESD areas with conductive flooring
•Only place down electronic components, modules or devices on conductive surfaces
(table with ESD surface, conductive ESD foam, ESD packaging, ESD transport
container).

Foreword
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Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3 9
Safety notices
DANGER
Danger to life when live parts are touched
Death or serious injury can result when live parts are touched.
•Only work on electrical devices when you are qualified for this job.
•Always observe the country-specific safety rules.
Generally, six steps apply when establishing safety:
1. Prepare for shutdown and notify team members who will be affected by the procedure.
2. Disconnect the machine from the supply.
– Switch off the machine.
– Wait until the discharge time specified on the warning labels has elapsed.
– Check that it really is in a no-voltage condition, from phase conductor to phase
conductor and phase conductor to protective conductor.
– Check whether the existing auxiliary supply circuits are de-energized.
– Ensure that the motors cannot move.
3. Identify all other hazardous energy sources, e.g. compressed air, hydraulic systems,
water.
4. Isolate or neutralize all hazardous energy sources, e.g. by closing switches, grounding
or short-circuiting or closing valves.
5. Secure the energy sources against switching on again.
6. Make sure that the machine is completely locked out ... and that you have the right
machine!
After you have completed the work, restore the operational readiness in the inverse
sequence.

Foreword
Drive functions
10 Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3
DANGER
General safety notices
•Commissioning is absolutely prohibited until it has been completely ensured that the
machine, in which the components described here are to be installed, is in full
compliance with the provisions of the EC Machinery Directive.
•SINAMICS devices and AC motors must only be commissioned by suitably qualified
personnel.
•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.
•When electrical equipment and motors are operated, the electrical circuits automatically
conduct a dangerous voltage.
•When the machine or system is operated, hazardous axis movements can occur.
•All work carried out on the electrical system must be carried out at zero voltage.
•SINAMICS devices with three-phase motors must only be connected to the power
supply via an AC-DC residual-current-operated device with selective switching if it has
been verified that the SINAMICS device is compatible with the residual-current-operated
device in accordance with IEC 61800-5-1.
•The successful and safe operation of this equipment and motors is dependent on
correct transport, proper storage, installation and mounting as well as careful operator
control, service and maintenance.
•For special versions of the devices and motors, information and data in the catalogs and
quotations additionally apply.
•In addition to the danger and warning information provided in the technical customer
documentation, the applicable national, local, and plant-specific regulations and
requirements must be taken into account.
•Only protective extra-low voltages (PELVs) that comply with EN 60204-1 may be
connected to any connections and terminals between 0 and 48 V.
CAUTION
Danger due to high surface temperatures
•The motors can have surface temperatures of over +80° C.
•This is the reason that temperature-sensitive components, e.g. cables or electronic
components may neither be in contact nor be attached to the motor.
•When attaching the connecting cables, you must ensure that:
– They are not damaged
– They are not under tension
– They cannot come into contact with any rotating parts

Foreword
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Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3 11
NOTICE
Material damage due to incorrect voltage tests
•As part of routine tests, SINAMICS devices with three-phase motors are subject to a
voltage test in accordance with EN 61800-5-1. Before the voltage test is performed on
the electrical equipment of industrial machines in accordance with EN 60204-1, Section
18.4, all connectors of SINAMICS equipment must be disconnected/unplugged to
prevent the equipment from being damaged.
•Motors should be connected according to the circuit diagram provided, otherwise they
can be destroyed.
Note
Low-voltage directive
When operated in dry areas, SINAMICS devices with three-phase motors conform to Low-
Voltage Directive 2006/95/EC.

Foreword
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12 Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3

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Contents
Foreword ................................................................................................................................................... 3
1 Infeed ...................................................................................................................................................... 25
1.1 Active Infeed ................................................................................................................................25
1.1.1 Active Infeed closed-loop control booksize..................................................................................26
1.1.2 Active Infeed closed-loop control chassis....................................................................................28
1.1.3 Function diagrams and parameters .............................................................................................29
1.1.4 Parameterizable bandstop filters for Active Infeed Controls in chassis format ...........................31
1.1.5 Line and DC link identification......................................................................................................33
1.1.6 Active Infeed open-loop control ...................................................................................................34
1.1.7 Reactive current control ...............................................................................................................37
1.1.8 Harmonics controller ....................................................................................................................38
1.2 Smart Infeed.................................................................................................................................39
1.2.1 Line supply and DC link identification routine for Smart Infeed Booksize ...................................42
1.2.2 Smart Infeed open-loop control....................................................................................................43
1.3 Basic Infeed .................................................................................................................................47
1.3.1 Function diagrams and parameters .............................................................................................49
1.3.2 Basic Infeed open-loop control ....................................................................................................50
1.4 Line contactor control...................................................................................................................53
1.5 Pre-charging and bypass contactor chassis................................................................................56
2 Extended setpoint channel ...................................................................................................................... 57
2.1 Activation of the "extended setpoint channel" function module in servo control .........................58
2.2 Description ...................................................................................................................................59
2.3 Fixed speed setpoints ..................................................................................................................61
2.4 Motorized potentiometer ..............................................................................................................62
2.5 Jog ...............................................................................................................................................64
2.6 Main/supplementary setpoint and setpoint modification..............................................................69
2.7 Direction of rotation limiting and direction of rotation changeover...............................................71
2.8 Suppression bandwidths and setpoint limits................................................................................73
2.9 Ramp-function generator .............................................................................................................75
3 Servo control ........................................................................................................................................... 81
3.1 Speed controller...........................................................................................................................84
3.2 Speed setpoint filter .....................................................................................................................85
3.3 Speed controller adaptation.........................................................................................................87
3.4 Torque-controlled operation.........................................................................................................90
3.5 Torque setpoint limitation.............................................................................................................93

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3.6 Current controller ........................................................................................................................ 98
3.7 Current setpoint filters............................................................................................................... 101
3.8 Note about the electronic motor model..................................................................................... 108
3.9 V/f control .................................................................................................................................. 109
3.10 Optimizing the current and speed controller ............................................................................. 113
3.11 Sensorless operation (without an encoder) .............................................................................. 115
3.12 Motor data identification............................................................................................................ 119
3.12.1 Motor data identification induction motor .................................................................................. 122
3.12.2 Motor data identification synchronous motor ............................................................................ 124
3.13 Pole position identification......................................................................................................... 127
3.14 Vdc control ................................................................................................................................ 134
3.15 Dynamic Servo Control (DSC) .................................................................................................. 138
3.16 Travel to fixed stop.................................................................................................................... 143
3.17 Vertical axes.............................................................................................................................. 148
3.18 Variable signaling function ........................................................................................................ 149
3.19 Central probe evaluation........................................................................................................... 151
3.19.1 Examples................................................................................................................................... 157
4 Vector control ........................................................................................................................................ 161
4.1 Sensorless vector control (SLVC)............................................................................................. 165
4.2 Vector control with encoder....................................................................................................... 173
4.3 Speed controller ........................................................................................................................ 174
4.4 Speed controller adaptation ...................................................................................................... 177
4.5 Speed controller pre-control and reference model ................................................................... 181
4.6 Droop......................................................................................................................................... 185
4.7 Open actual speed value .......................................................................................................... 187
4.8 Torque control ........................................................................................................................... 189
4.9 Torque limiting........................................................................................................................... 192
4.10 Vdc control ................................................................................................................................ 194
4.11 Current setpoint filter................................................................................................................. 199
4.12 Speed actual value filter............................................................................................................ 200
4.13 Current controller adaptation..................................................................................................... 201
4.14 Motor data identification and rotating measurement................................................................. 203
4.14.1 Overview ................................................................................................................................... 203
4.14.2 Motor data identification............................................................................................................ 204
4.14.3 Rotating measurement.............................................................................................................. 207
4.14.4 Shortened rotating measurement ............................................................................................. 209
4.15 Efficiency optimization............................................................................................................... 211

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Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3 15
4.16 Quick magnetization for induction motors..................................................................................212
4.17 Instructions for commissioning induction motors (ASM)............................................................216
4.18 Instructions for commissioning permanent-magnet synchronous motors .................................219
4.18.1 Encoder adjustment in operation ...............................................................................................224
4.18.2 Automatic encoder adjustment ..................................................................................................225
4.18.3 Pole position identification .........................................................................................................226
4.18.4 Function diagrams and parameters ...........................................................................................228
4.19 Instructions for commissioning separately-excited synchronous motors ..................................229
4.20 Flying restart ..............................................................................................................................230
4.21 Synchronization..........................................................................................................................235
4.22 Voltage Sensing Module............................................................................................................237
4.23 Simulation mode ........................................................................................................................239
4.24 Redundance operation power units ...........................................................................................240
4.25 Bypass .......................................................................................................................................241
4.25.1 Bypass with synchronization with overlap .................................................................................242
4.25.2 Bypass with synchronization without overlap ............................................................................245
4.25.3 Bypass without synchronization.................................................................................................246
4.26 Asynchronous pulse frequency..................................................................................................250
5 U/f control (vector control) ..................................................................................................................... 253
5.1 Voltage boost .............................................................................................................................257
5.2 Slip compensation......................................................................................................................260
5.3 Resonance damping ..................................................................................................................261
5.4 Vdc control .................................................................................................................................262
6 Basic functions ...................................................................................................................................... 269
6.1 Changing over units...................................................................................................................269
6.2 Reference parameters/normalizations.......................................................................................271
6.3 Modular machine concept..........................................................................................................275
6.4 Sinusoidal filter...........................................................................................................................278
6.5 Motor reactors............................................................................................................................280
6.6 dv/dt filter plus VPL ....................................................................................................................281
6.7 dv/dt filter compact plus Voltage Peak Limiter...........................................................................282
6.8 Pulse frequency wobbling..........................................................................................................284
6.9 Direction reversal without changing the setpoint .......................................................................285
6.10 Automatic restart........................................................................................................................287
6.11 Armature short-circuit braking, DC braking................................................................................290
6.11.1 Armature short-circuit braking for permanent-magnet synchronous motors .............................291
6.11.1.1 Internal armature short-circuit braking.......................................................................................291
6.11.1.2 External armature short-circuit braking......................................................................................292

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6.11.2 DC braking ................................................................................................................................ 295
6.11.2.1 Activation via parameters.......................................................................................................... 296
6.11.2.2 Activation via fault response ..................................................................................................... 297
6.11.2.3 Activation via OFF fault responses ........................................................................................... 297
6.11.2.4 Activation via a speed threshold ............................................................................................... 298
6.11.3 Configuring the fault response .................................................................................................. 299
6.11.4 Function diagrams and parameters .......................................................................................... 299
6.12 Motor Module as a Braking Module ..........................................................................................301
6.12.1 Features .................................................................................................................................... 301
6.12.2 Configuring resistors ................................................................................................................. 302
6.12.3 Activating the "Braking Module" function .................................................................................. 306
6.12.4 Protective equipment ................................................................................................................ 308
6.12.5 Function diagrams and parameters .......................................................................................... 309
6.13 OFF3 torque limits..................................................................................................................... 310
6.14 Technology function: friction characteristic ............................................................................... 311
6.15 Simple brake control ................................................................................................................. 313
6.16 Runtime (operating hours counter) ........................................................................................... 316
6.17 Energy-saving display ............................................................................................................... 317
6.18 Encoder diagnostics.................................................................................................................. 321
6.18.1 Datalogger................................................................................................................................. 321
6.18.2 Encoder dirty signal................................................................................................................... 322
6.19 Tolerant encoder monitoring ..................................................................................................... 323
6.19.1 Encoder track monitoring .......................................................................................................... 324
6.19.2 Zero mark tolerance.................................................................................................................. 325
6.19.3 Freezing the speed raw value................................................................................................... 326
6.19.4 Adjustable hardware filter.......................................................................................................... 326
6.19.5 Edge evaluation of the zero mark ............................................................................................. 328
6.19.6 Pole position adaptation............................................................................................................ 329
6.19.7 Pulse number correction for faults ............................................................................................ 329
6.19.8 "Tolerance band pulse number" monitoring.............................................................................. 330
6.19.9 Signal edge evaluation (1x, 4x)................................................................................................. 332
6.19.10 Setting the measuring time to evaluate speed "0" .................................................................... 333
6.19.11 Sliding averaging of the speed actual value ............................................................................. 333
6.19.12 Troubleshooting ........................................................................................................................ 334
6.19.13 Tolerance window and correction ............................................................................................. 336
6.19.14 Dependencies ........................................................................................................................... 336
6.19.15 Overview of important parameters............................................................................................ 338
6.20 Parking axis and parking encoder............................................................................................. 339
6.21 Position tracking........................................................................................................................ 342
6.21.1 General Information .................................................................................................................. 342
6.21.2 Measuring gear ......................................................................................................................... 343
6.22 Creating an encoder as drive object ......................................................................................... 348
6.22.1 Preconditions for creating an ENCODER drive object using STARTER .................................. 348
6.22.2 Creating an ENCODER drive object ......................................................................................... 349

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6.23 Terminal Module 41 ...................................................................................................................351
6.23.1 SIMOTION mode .......................................................................................................................351
6.23.2 SINAMICS mode........................................................................................................................352
6.23.3 Zero mark emulation ..................................................................................................................354
6.23.4 Zero mark synchronization.........................................................................................................357
6.23.5 Limit frequencies for TM41 ........................................................................................................358
6.23.6 Example in the SINAMICS mode...............................................................................................359
6.23.7 Function diagrams and parameters ...........................................................................................360
6.24 Upgrade the firmware and project..............................................................................................362
6.24.1 Overview ....................................................................................................................................362
6.24.2 Updating the firmware via the Web server.................................................................................363
6.24.2.1 Overview ....................................................................................................................................363
6.24.2.2 Updating firmware/configuration on the memory card...............................................................364
6.24.3 Updating the firmware................................................................................................................366
6.24.4 Downgrade lock .........................................................................................................................368
6.24.5 Protection against power failure while updating via the Web server .........................................368
6.25 Pulse/direction interface.............................................................................................................370
6.26 Derating function for chassis units.............................................................................................372
6.27 Connecting the motors in parallel ..............................................................................................373
6.28 Web server.................................................................................................................................376
6.28.1 Overview ....................................................................................................................................376
6.28.2 Requirements and addressing...................................................................................................377
6.28.3 Configuring the Web server .......................................................................................................378
6.28.3.1 Performing the basic configuration ............................................................................................378
6.28.3.2 Assigning a password ................................................................................................................380
6.28.4 Access protection and rights......................................................................................................383
6.28.4.1 SINAMICS access protection.....................................................................................................383
6.28.4.2 Additional access protection ......................................................................................................383
6.28.4.3 Access rights for parameter lists................................................................................................385
6.28.5 Starting the Web server .............................................................................................................386
6.28.6 Displaying device information ....................................................................................................390
6.28.7 Displaying diagnostic functions..................................................................................................391
6.28.7.1 Status and operating display of the drive object........................................................................391
6.28.8 Displaying messages .................................................................................................................392
6.28.8.1 Displaying the diagnostic buffer.................................................................................................392
6.28.8.2 Displaying faults and alarms......................................................................................................394
6.28.9 Displaying and changing drive parameters................................................................................395
6.28.9.1 Creating a parameter list............................................................................................................395
6.28.9.2 Deleting a parameter list ............................................................................................................398
6.28.9.3 Changing drive parameters........................................................................................................400
6.28.10 Updating the firmware or configuration......................................................................................402
6.28.11 Certificates for the secure data transfer.....................................................................................403
6.28.11.1 Introduction ...........................................................................................................................403
6.28.11.2 Key files ................................................................................................................................404
6.28.11.3 Transferring key files to the SINAMICS drive .......................................................................404
6.28.11.4 Creating key files with a script ..............................................................................................405
6.28.11.5 Importing certificates into the browser..................................................................................406
6.28.12 Overview of important parameters.............................................................................................406

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7 Function modules .................................................................................................................................. 407
7.1 Technology controller................................................................................................................ 409
7.2 Extended monitoring functions.................................................................................................. 414
7.3 Extended Brake Control............................................................................................................ 416
7.4 Braking Module External........................................................................................................... 422
7.5 Cooling unit ............................................................................................................................... 424
7.6 Extended torque control (kT estimator, servo).......................................................................... 426
7.7 Closed-loop position control...................................................................................................... 429
7.7.1 General features ....................................................................................................................... 429
7.7.2 Position actual value conditioning............................................................................................. 429
7.7.2.1 Features .................................................................................................................................... 429
7.7.2.2 Description ................................................................................................................................ 429
7.7.2.3 Indexed actual value acquisition ............................................................................................... 432
7.7.2.4 Load gear position tracking....................................................................................................... 433
7.7.2.5 Commissioning position tracking load gear using STARTER................................................... 441
7.7.2.6 Function diagrams and parameters .......................................................................................... 442
7.7.3 Position controller...................................................................................................................... 443
7.7.4 Monitoring functions.................................................................................................................. 444
7.7.5 Measuring probe evaluation and reference mark search ......................................................... 446
7.7.6 Commissioning.......................................................................................................................... 448
7.8 Basic positioner......................................................................................................................... 449
7.8.1 Mechanical system.................................................................................................................... 451
7.8.2 Limits......................................................................................................................................... 454
7.8.3 EPOS and safe setpoint velocity limitation ...............................................................................458
7.8.4 Referencing............................................................................................................................... 459
7.8.5 Referencing with several zero marks per revolution................................................................. 469
7.8.6 Safely referencing under EPOS................................................................................................ 472
7.8.7 Traversing blocks ...................................................................................................................... 474
7.8.8 Travel to fixed stop.................................................................................................................... 481
7.8.9 Direct setpoint input (MDI) ........................................................................................................ 484
7.8.10 Jog............................................................................................................................................. 488
7.8.11 Status signals............................................................................................................................ 489
7.9 Master/slave function for Active Infeed ..................................................................................... 492
7.9.1 Operating principle .................................................................................................................... 492
7.9.2 Basic structure .......................................................................................................................... 492
7.9.3 Types of communication ........................................................................................................... 495
7.9.4 Description of functions............................................................................................................. 496
7.9.5 Commissioning.......................................................................................................................... 499
7.9.6 Function diagrams and parameters .......................................................................................... 501
7.10 Parallel connection of power units ............................................................................................ 502
7.10.1 Applications of parallel connections.......................................................................................... 504
7.10.1.1 Parallel connection of Basic Line Modules ............................................................................... 506
7.10.1.2 Parallel connection of Smart Line Modules............................................................................... 508
7.10.1.3 Parallel connection of Active Line Modules .............................................................................. 510
7.10.1.4 Parallel connection of Motor Modules....................................................................................... 511
7.10.2 Commissioning.......................................................................................................................... 513
7.10.3 Additional drive in addition to the parallel connection............................................................... 514