Siemens SINAMICS S120 Parts list manual

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SINAMICS
S120
Drive functions
Function Manual
Valid as of:
Firmware version 5.1
11/2017
6SL3097
-4AB00-0BP5
Preface
Fundamental safety
instructions
1
Infeed
2
Extended setpoint channel
3
Servo control
4
Vector control
5
V/f control (vector control)
6
Basic functions
7
Function modules
8
Monitoring functions and
protective functions
9
Safety Integrated Basic
Functions
10
Communication
11
Applications
12
Basic information about the
drive system
13
Appendix
A

Siemens AG
Division Digital Factory
Postfach 48 48
90026 NÜRNBERG
GERMANY
Document order number: 6SL3097-4AB00-0BP5
Ⓟ
11/2017 Subject to change
Copyright © Siemens AG 2004 - 2017.
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, 11/2017, 6SL3097-4AB00-0BP5 5
Preface
SINAMICS documentation
The SINAMICS documentation is organized in the following categories:
●General documentation/catalogs
●User documentation
●Manufacturer/service documentation
Additional information
You can find information on the following topics at the following address
(https://support.industry.siemens.com/cs/de/en/view/108993276):
●Ordering documentation/overview of documentation
●Additional links to download documents
●Using documentation online (find and search in manuals/information)
Please send any questions about the technical documentation (e.g. suggestions for
improvement, corrections) to the following e-mail address
(mailto:[e-mail]).
Siemens MySupport/Documentation
At the following address (https://support.industry.siemens.com/My/ww/en/documentation),
you can find information on how to create your own individual documentation based on
Siemens' content, and adapt it for your own machine documentation.
Training
At the following address (http://www.siemens.com/sitrain), you can find information about
SITRAIN (Siemens training on products, systems and solutions for automation and drives).
FAQs
You can find Frequently Asked Questions in the Service&Support pages under Product
Support (https://support.industry.siemens.com/cs/de/en/ps/faq).
SINAMICS
You can find information about SINAMICS at the following address
(http://www.siemens.com/sinamics).

Preface
Drive functions
6Function Manual, 11/2017, 6SL3097-4AB00-0BP5
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
•SINAMICS S120 and SIMOTICS (Catalog D 21.4)
•SINAMICS Converters for Single-Axis Drives and SIMOTICS Motors (Catalog D 31)
•SINUMERIK 840 Equipment for Machine Tools (Catalog NC 62)
Installation/assembly •SINAMICS S120 Manual for Control Units and Additional System Components
•SINAMICS S120 Manual for Booksize Power Units
•SINAMICS S120 Manual for Booksize Power Units C/D Type
•SINAMICS S120 Manual for Chassis Power Units, Air-cooled
•SINAMICS S120 Manual for Chassis Power Units, Liquid-cooled
•SINAMICS S120 Manual for AC Drives
•SINAMICS S120 Manual Combi
•SINAMICS S120M Manual Distributed Drive Technology
•SINAMICS HLA System Manual Hydraulic Drive
Commissioning •STARTER Commissioning Tool
•Startdrive commissioning tool
•SINAMICS S120 Getting Started with STARTER
•SINAMICS S120 Getting Started with Startdrive
•SINAMICS S120 Commissioning Manual with STARTER
•SINAMICS S120 Commissioning Manual with Startdrive
•SINAMICS S120 CANopen Commissioning Manual
•SINAMICS S120 Function Manual Drive Functions
•SINAMICS S120 Safety Integrated Function Manual
•SINAMICS S120/S150 List Manual
•SINAMICS HLA System Manual Hydraulic Drive
Usage/operation •SINAMICS S120 Commissioning Manual with STARTER
•SINAMICS S120 Commissioning Manual with Startdrive
•SINAMICS S120/S150 List Manual
•SINAMICS HLA System Manual Hydraulic Drive
Maintenance/servicing •SINAMICS S120 Commissioning Manual with STARTER
•SINAMICS S120 Commissioning Manual with Startdrive
•SINAMICS S120/S150 List Manual
References •SINAMICS S120/S150 List Manual

Preface
Drive functions
Function Manual, 11/2017, 6SL3097-4AB00-0BP5 7
Target group
This documentation is intended for machine manufacturers, commissioning engineers, and
service personnel who use the SINAMICS drive system.
Benefits
This manual provides all of the information, procedures and operator actions required for the
particular usage phase.
Standard scope
The scope of the functionality described in this document can differ from that of the drive
system that is actually supplied.
●Other functions not described in this documentation might be able to be executed in the
drive system. However, no claim can be made regarding the availability of these functions
when the equipment is first supplied or in the event of service.
●The documentation can also contain descriptions of functions that are not available in a
particular product version of the drive system. The functionality of the supplied drive
system should only be taken from the ordering documentation.
●Extensions or changes made by the machine manufacturer must be documented by the
machine manufacturer.
For reasons of clarity, this documentation does not contain all of the detailed information on
all of the product types, 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 in the Internet at the
following address (https://support.industry.siemens.com/sc/ww/en/sc/2090) in the "Contact"
area.

Preface
Drive functions
8Function Manual, 11/2017, 6SL3097-4AB00-0BP5
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
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
Use of OpenSSL
This product contains software (https://www.openssl.org/) that has been developed by the
OpenSSL project for use in the OpenSSL toolkit.
This product contains cryptographic software (mailto:[e-mail]) created by Eric
Young.
This product contains software (mailto:[e-mail]) developed by Eric Young.

Drive functions
Function Manual, 11/2017, 6SL3097-4AB00-0BP5 9
Contents
Preface ................................................................................................................................................... 5
1 Fundamental safety instructions............................................................................................................ 25
1.1 General safety instructions .....................................................................................................25
1.2 Warranty and liability for application examples ......................................................................26
1.3 Industrial security ....................................................................................................................27
2 Infeed ................................................................................................................................................... 29
2.1 Active Infeed ...........................................................................................................................30
2.1.1 Active Infeed closed-loop control booksize ............................................................................31
2.1.2 Active Infeed closed-loop control chassis...............................................................................33
2.1.3 Line supply and DC link identification .....................................................................................35
2.1.4 Active Infeed open-loop control ..............................................................................................36
2.1.5 Reactive current control ..........................................................................................................38
2.1.6 Harmonics controller ...............................................................................................................39
2.1.7 Parameterizable bandstop filters for Active Infeed Controls in chassis format ......................39
2.1.8 Function diagrams and parameters ........................................................................................40
2.2 Smart Infeed ...........................................................................................................................43
2.2.1 Line supply and DC link identification routine for Smart Infeed Booksize ..............................45
2.2.2 Extended Smart Mode ............................................................................................................46
2.2.3 Smart Infeed open-loop control ..............................................................................................46
2.2.4 Function diagrams and parameters ........................................................................................49
2.3 Basic Infeed ............................................................................................................................51
2.3.1 Basic Infeed open-loop control ...............................................................................................53
2.3.2 Function diagrams and parameters ........................................................................................56
2.4 Line contactor control..............................................................................................................57
2.5 Precharging and bypass contactor chassis ............................................................................59
3 Extended setpoint channel .................................................................................................................... 61
3.1 Fundamentals .........................................................................................................................61
3.1.1 Activating the function module for servo control.....................................................................61
3.1.2 Description ..............................................................................................................................62
3.2 Motorized potentiometer .........................................................................................................64
3.3 Fixed setpoints........................................................................................................................66
3.4 Speed setpoint ........................................................................................................................67
3.4.1 Main/supplementary setpoint and setpoint scaling.................................................................67
3.4.2 Jogging ...................................................................................................................................68
3.4.3 Direction of rotation limiting and direction reversal.................................................................72
3.5 Speed limiting .........................................................................................................................74

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3.6 Ramp-function generator ....................................................................................................... 76
3.6.1 Ramp-function generator tracking.......................................................................................... 79
3.6.2 Signal overview, function diagrams and important parameters............................................. 81
4 Servo control ........................................................................................................................................ 83
4.1 Technological application....................................................................................................... 87
4.2 Setpoint addition .................................................................................................................... 88
4.3 Speed setpoint filter ............................................................................................................... 90
4.4 Speed controller ..................................................................................................................... 92
4.4.1 Speed controller ..................................................................................................................... 92
4.4.2 Speed controller adaptation ................................................................................................... 93
4.4.3 Torque-controlled operation................................................................................................... 95
4.5 Torque setpoint limitation....................................................................................................... 98
4.6 Current setpoint filter............................................................................................................ 103
4.6.1 lowpass 2nd order (PT2 filter).............................................................................................. 106
4.6.2 Bandstop with infinite notch depth ....................................................................................... 106
4.6.3 Bandstop with defined notch depth...................................................................................... 107
4.6.4 Bandstop with defined reduction.......................................................................................... 108
4.6.5 General low-pass with reduction.......................................................................................... 109
4.6.6 Transfer function general 2nd order filter............................................................................. 110
4.6.7 Function diagrams and parameters ..................................................................................... 110
4.7 Current controller ................................................................................................................. 112
4.8 Autotuning............................................................................................................................ 115
4.8.1 One button tuning ................................................................................................................ 116
4.8.2 Online tuning ........................................................................................................................ 120
4.8.2.1 "Drive-based" online tuning.................................................................................................. 120
4.8.2.2 Automatic pre-assignment and adaptation during operation ............................................... 123
4.8.2.3 Application examples ........................................................................................................... 125
4.8.2.4 Problem handling ................................................................................................................. 126
4.8.3 Current setpoint filter adaptation.......................................................................................... 127
4.8.3.1 Activating/deactivating the current setpoint filter adaptation ............................................... 127
4.8.3.2 Principle of operation of the current setpoint filter adaptation ............................................. 129
4.8.3.3 Stability of the speed control loop ........................................................................................ 131
4.8.3.4 Lower and upper limit frequencies ....................................................................................... 132
4.8.3.5 Remedy for insufficient adaptation....................................................................................... 132
4.8.4 Function diagrams and parameters ..................................................................................... 133
4.9 Note about the electronic motor model................................................................................ 135
4.10 V/f control ............................................................................................................................. 136
4.11 Optimizing the current and speed controller ........................................................................ 141
4.12 Encoderless operation ......................................................................................................... 143
4.13 Motor data identification....................................................................................................... 149
4.13.1 Motor data identification induction motor ............................................................................. 153
4.13.2 Motor data identification synchronous motor ....................................................................... 154

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Function Manual, 11/2017, 6SL3097-4AB00-0BP5 11
4.14 Pole position identification ....................................................................................................158
4.14.1 Notes regarding pole position identification ..........................................................................159
4.14.2 Pole position identification technique....................................................................................161
4.14.3 Commutation angle offset commissioning support (p1990) .................................................163
4.14.4 Overview of important parameters (see SINAMICS S120/S150 List Manual) .....................163
4.15 Vdc control ............................................................................................................................165
4.16 Dynamic Servo Control (DSC)..............................................................................................169
4.17 Travel to fixed stop................................................................................................................174
4.18 Vertical axes .........................................................................................................................179
4.19 Variable signaling function....................................................................................................180
4.20 Central probe evaluation.......................................................................................................182
4.20.1 Examples ..............................................................................................................................188
4.20.2 Function diagrams and parameters ......................................................................................191
4.21 Voltage precontrol.................................................................................................................192
4.21.1 Configuring the voltage precontrol........................................................................................192
4.21.2 Function diagrams and parameters ......................................................................................201
5 Vector control...................................................................................................................................... 203
5.1 Technological application .....................................................................................................208
5.2 Vector control without encoder (SLVC) ................................................................................209
5.2.1 Three-phase induction motor................................................................................................209
5.2.2 Torque setpoint setting .........................................................................................................210
5.2.3 Passive loads........................................................................................................................212
5.2.4 Blocking drives......................................................................................................................213
5.2.5 Active loads...........................................................................................................................213
5.2.6 Permanent-magnet synchronous motors..............................................................................214
5.2.7 Synchronous reluctance motors ...........................................................................................214
5.2.7.1 Overview ...............................................................................................................................214
5.2.7.2 Closed-loop controlled operation down to f = 0 Hz with test signal ......................................215
5.2.8 Extended method: Closed-loop controlled operation down to 0 Hz .....................................216
5.3 Vector control with encoder ..................................................................................................219
5.4 Speed controller....................................................................................................................220
5.4.1 Speed controller....................................................................................................................220
5.4.2 Speed controller adaptation..................................................................................................223
5.4.3 Speed controller precontrol and reference model ................................................................226
5.5 Droop ....................................................................................................................................230
5.6 Open actual speed value ......................................................................................................232
5.7 Closed-loop torque control....................................................................................................234
5.8 Torque limiting ......................................................................................................................237
5.9 Vdc control ............................................................................................................................239
5.10 Current setpoint filter.............................................................................................................244
5.11 Speed actual value filter .......................................................................................................246
5.12 Current controller adaptation ................................................................................................247

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5.13 Motor data identification and rotating measurement............................................................ 249
5.13.1 Overview .............................................................................................................................. 249
5.13.2 Motor data identification....................................................................................................... 251
5.13.3 Rotating measurement......................................................................................................... 254
5.13.4 Shortened rotating measurement ........................................................................................ 256
5.13.5 Overview of important parameters....................................................................................... 257
5.14 Pole position identification ................................................................................................... 258
5.14.1 Operation without an encoder.............................................................................................. 258
5.14.2 Operation with encoder........................................................................................................ 258
5.14.3 Notes regarding pole position identification ......................................................................... 261
5.14.4 Messages and parameters .................................................................................................. 261
5.15 Efficiency optimization ......................................................................................................... 263
5.15.1 Efficiency optimization for induction motors......................................................................... 263
5.15.2 Efficiency optimization for reluctance motors ...................................................................... 265
5.15.3 Function diagrams and parameters ..................................................................................... 266
5.16 Fast magnetization for induction motors.............................................................................. 267
5.17 Flying restart ........................................................................................................................ 271
5.17.1 Fast flying restart.................................................................................................................. 273
5.17.2 Flying restart for a synchronous reluctance motor............................................................... 275
5.17.3 Messages and parameters .................................................................................................. 276
5.18 Synchronization.................................................................................................................... 277
5.19 Voltage Sensing Module ...................................................................................................... 279
5.20 Simulation mode .................................................................................................................. 281
5.21 Redundancy mode power units ........................................................................................... 282
5.22 Bypass ................................................................................................................................. 283
5.22.1 Overview .............................................................................................................................. 283
5.22.2 Bypass with synchronization with overlap ........................................................................... 284
5.22.3 Bypass with synchronization without overlap ...................................................................... 288
5.22.4 Bypass without synchronization........................................................................................... 290
5.22.5 Function diagrams and parameters ..................................................................................... 292
5.23 Asynchronous pulse frequency............................................................................................ 293
6 V/f control (vector control) ....................................................................................................................297
6.1 Technological application..................................................................................................... 301
6.2 Voltage boost ....................................................................................................................... 302
6.3 Slip compensation................................................................................................................ 305
6.4 Resonance damping ............................................................................................................ 306
6.5 Vdc control ........................................................................................................................... 307
7 Basic functions.....................................................................................................................................313
7.1 Switching over units ............................................................................................................. 313
7.2 Reference parameters/scaling ............................................................................................. 315
7.3 Configuring the short-circuit/ground fault test mode ............................................................ 320
7.4 Modular machine concept.................................................................................................... 321

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7.5 Sine-wave filter .....................................................................................................................324
7.6 Motor reactors.......................................................................................................................326
7.7 dv/dt filter plus Voltage Peak Limiter ....................................................................................328
7.8 dv/dt filter compact plus Voltage Peak Limiter......................................................................330
7.9 Pulse frequency wobbling.....................................................................................................332
7.10 Direction reversal without changing the setpoint ..................................................................333
7.11 Automatic restart...................................................................................................................335
7.12 Armature short-circuit, DC braking .......................................................................................339
7.12.1 Armature short-circuit braking for permanent-magnet synchronous motors ........................340
7.12.1.1 Internal armature short-circuit braking..................................................................................340
7.12.1.2 External armature short-circuit braking.................................................................................341
7.12.2 DC braking ............................................................................................................................344
7.12.2.1 Activation via parameters .....................................................................................................344
7.12.2.2 Activation via fault response .................................................................................................345
7.12.2.3 Activation via OFF fault responses .......................................................................................346
7.12.2.4 Activation via a speed threshold ...........................................................................................346
7.12.3 Internal voltage protection ....................................................................................................347
7.12.4 Configuring the fault response..............................................................................................348
7.12.5 Function diagrams and parameters ......................................................................................348
7.13 Motor Module as a Braking Module ......................................................................................350
7.13.1 Features................................................................................................................................350
7.13.2 Configuring resistors .............................................................................................................351
7.13.3 Activating the "Braking Module" function ..............................................................................354
7.13.4 Protective equipment ............................................................................................................356
7.13.5 Overview of the important parameters..................................................................................357
7.14 OFF3 torque limits ................................................................................................................358
7.15 Technology function friction characteristic............................................................................359
7.16 Simple brake control .............................................................................................................361
7.17 Runtime (operating hours counter) .......................................................................................364
7.18 Energy-saving display...........................................................................................................366
7.19 Encoder diagnostics..............................................................................................................369
7.19.1 Datalogger ............................................................................................................................369
7.19.2 Encoder dirty signal ..............................................................................................................370
7.20 Tolerant encoder monitoring.................................................................................................371
7.20.1 Encoder track monitoring......................................................................................................372
7.20.2 Zero mark tolerance..............................................................................................................373
7.20.3 Freezing the speed raw value...............................................................................................374
7.20.4 Adjustable hardware filter .....................................................................................................374
7.20.5 Edge evaluation of the zero mark .........................................................................................375
7.20.6 Pole position adaptation .......................................................................................................376
7.20.7 Pulse number correction for faults ........................................................................................377
7.20.8 "Tolerance band pulse number" monitoring..........................................................................378
7.20.9 Signal edge evaluation (1x, 4x) ............................................................................................379
7.20.10 Setting the measuring time to evaluate speed "0"................................................................380
7.20.11 Sliding averaging of the speed actual value .........................................................................380

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7.20.12 Troubleshooting ................................................................................................................... 381
7.20.13 Tolerance window and correction ........................................................................................ 383
7.20.14 Dependencies ...................................................................................................................... 384
7.20.15 Overview of important parameters....................................................................................... 386
7.21 Parking axis and parking encoder........................................................................................ 387
7.22 Position tracking................................................................................................................... 390
7.22.1 General information ............................................................................................................. 390
7.22.2 Measuring gearbox .............................................................................................................. 391
7.23 Creating an encoder as drive object .................................................................................... 396
7.23.1 Requirements for creating a project..................................................................................... 396
7.23.2 Creating an ENCODER drive object.................................................................................... 397
7.24 Terminal Module 41 ............................................................................................................. 398
7.24.1 SIMOTION mode ................................................................................................................. 398
7.24.2 SINAMICS mode.................................................................................................................. 399
7.24.3 Zero mark emulation (SINAMICS mode) ............................................................................. 401
7.24.4 Synchronization of the zero marks (SINAMICS mode)........................................................ 404
7.24.5 Limit frequencies for TM41 .................................................................................................. 405
7.24.6 Example in the SINAMICS mode......................................................................................... 406
7.24.7 Function diagrams and parameters ..................................................................................... 407
7.25 Upgrade the firmware and project........................................................................................ 409
7.25.1 Overview .............................................................................................................................. 409
7.25.2 Updating the firmware via the Web server........................................................................... 410
7.25.2.1 Overview .............................................................................................................................. 410
7.25.2.2 Updating firmware/configuration on the memory card......................................................... 411
7.25.3 Updating the firmware.......................................................................................................... 413
7.25.4 Downgrade lock ................................................................................................................... 415
7.25.5 Protection against power failure while updating via the Web server ................................... 415
7.26 Extended service mode for CU310-2 connected to blocksize power units.......................... 417
7.26.1 Overview .............................................................................................................................. 417
7.26.2 Configuring the essential service mode............................................................................... 420
7.26.3 Function diagrams and parameters ..................................................................................... 421
7.27 Pulse/direction interface....................................................................................................... 422
7.28 Derating function for chassis units ....................................................................................... 424
7.29 Parallel connection of motors............................................................................................... 425
7.30 Web server........................................................................................................................... 428
7.30.1 Overview .............................................................................................................................. 428
7.30.2 Requirements and addressing ............................................................................................. 429
7.30.3 Configuring the Web server ................................................................................................. 431
7.30.3.1 Performing the basic configuration ...................................................................................... 431
7.30.3.2 Assigning a password .......................................................................................................... 433
7.30.4 Access protection and rights................................................................................................ 436
7.30.4.1 SINAMICS access protection............................................................................................... 436
7.30.4.2 Web server access protection.............................................................................................. 437
7.30.4.3 Access protection for parameter lists in the web server ...................................................... 439
7.30.5 Starting the Web server ....................................................................................................... 440
7.30.6 Displaying device information .............................................................................................. 444

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7.30.7 Displaying diagnostic functions.............................................................................................445
7.30.7.1 Status and operating display of the drive object...................................................................445
7.30.7.2 Loading trace files.................................................................................................................446
7.30.8 Displaying messages............................................................................................................448
7.30.8.1 Displaying the diagnostic buffer............................................................................................448
7.30.8.2 Displaying faults and alarms.................................................................................................450
7.30.9 Displaying and changing drive parameters...........................................................................451
7.30.9.1 Creating a parameter list ......................................................................................................451
7.30.9.2 Deleting a parameter list .......................................................................................................454
7.30.9.3 Displaying and changing drive parameters...........................................................................456
7.30.10 Updating the firmware or configuration.................................................................................459
7.30.11 Certificates for the secure data transfer................................................................................460
7.30.11.1 Overview ...............................................................................................................................460
7.30.11.2 Using the certificate default configuration.............................................................................462
7.30.11.3 Generating your own certificates ..........................................................................................463
7.30.12 Messages and parameters ...................................................................................................464
8 Function modules................................................................................................................................ 465
8.1 Technology controller............................................................................................................467
8.2 Extended monitoring functions .............................................................................................472
8.3 Extended Brake Control........................................................................................................474
8.4 Braking Module External.......................................................................................................480
8.5 Cooling unit ...........................................................................................................................483
8.6 Extended torque control (kT estimator, servo) .....................................................................485
8.7 Position control .....................................................................................................................488
8.7.1 General features ...................................................................................................................488
8.7.2 Position actual value conditioning.........................................................................................488
8.7.2.1 Features ................................................................................................................................488
8.7.2.2 Description ............................................................................................................................488
8.7.2.3 Indexed actual value acquisition...........................................................................................491
8.7.2.4 Load gear position tracking...................................................................................................493
8.7.2.5 Commissioning position tracking load gear using STARTER...............................................499
8.7.2.6 Function diagrams and parameters ......................................................................................500
8.7.3 Position controller .................................................................................................................500
8.7.4 Monitoring functions..............................................................................................................502
8.7.5 Measuring probe evaluation and reference mark search .....................................................504
8.7.6 Commissioning .....................................................................................................................506
8.8 Basic positioner.....................................................................................................................507
8.8.1 Mechanical system ...............................................................................................................509
8.8.2 Limits.....................................................................................................................................511
8.8.3 EPOS and safe setpoint velocity limitation ...........................................................................516
8.8.4 Referencing...........................................................................................................................517
8.8.4.1 Function diagrams and parameters ......................................................................................527
8.8.5 Referencing with several zero marks per revolution.............................................................528
8.8.6 Safely referencing under EPOS............................................................................................531
8.8.7 Traversing blocks..................................................................................................................533
8.8.8 Travel to fixed stop................................................................................................................539
8.8.9 Direct setpoint input (MDI) ....................................................................................................542

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8.8.10 Jog ....................................................................................................................................... 545
8.8.11 Status signals....................................................................................................................... 546
8.9 Master/slave function for Active Infeed................................................................................ 549
8.9.1 Operating principle............................................................................................................... 549
8.9.2 Basic structure ..................................................................................................................... 549
8.9.3 Types of communication ...................................................................................................... 552
8.9.4 Description of functions........................................................................................................ 553
8.9.5 Commissioning..................................................................................................................... 556
8.9.6 Function diagrams and parameters ..................................................................................... 558
8.10 Parallel connection of power units ....................................................................................... 559
8.10.1 Applications of parallel connections..................................................................................... 562
8.10.1.1 Parallel connection of Basic Line Modules .......................................................................... 564
8.10.1.2 Parallel connection of Smart Line Modules ......................................................................... 566
8.10.1.3 Parallel connection of Active Line Modules ......................................................................... 567
8.10.1.4 Parallel connection of Motor Modules.................................................................................. 568
8.10.2 Commissioning..................................................................................................................... 571
8.10.3 Additional drive in addition to the parallel connection.......................................................... 571
8.11 Extended stop and retract.................................................................................................... 575
8.11.1 Activating and enabling the ESR function module............................................................... 576
8.11.2 Valid sources for triggering the ESR functions .................................................................... 576
8.11.3 Invalid sources ..................................................................................................................... 577
8.11.4 ESR responses .................................................................................................................... 578
8.11.4.1 Extended stopping ............................................................................................................... 578
8.11.4.2 Extended retract................................................................................................................... 578
8.11.4.3 Regenerative operation........................................................................................................ 580
8.11.5 Restrictions for ESR............................................................................................................. 580
8.11.6 PROFIdrive telegram for ESR.............................................................................................. 581
8.11.7 Function diagrams and parameters ..................................................................................... 581
8.12 Moment of inertia estimator ................................................................................................. 583
8.12.1 Introduction .......................................................................................................................... 583
8.12.2 Commissioning..................................................................................................................... 587
8.12.3 Supplementary functions of the moment of inertia estimator for vector control .................. 588
8.12.4 Function diagrams and parameters ..................................................................................... 589
8.13 Additional controls for Active Infeed..................................................................................... 591
8.14 Advanced Position Control (including Active Vibration Suppression).................................. 592
8.14.1 Introduction .......................................................................................................................... 592
8.14.2 Commissioning the function module.................................................................................... 595
8.14.3 Active Vibration Suppression (APC without sensor on the load side) ................................. 597
8.14.4 APC with encoder combination and differential position feedback:..................................... 604
8.14.5 APC with acceleration feedback .......................................................................................... 609
8.14.6 APC with load velocity control.............................................................................................. 616
8.14.7 Additional Information .......................................................................................................... 619
8.14.8 Measuring frequency responses.......................................................................................... 622
8.14.9 Function diagrams and parameters ..................................................................................... 626
8.15 Cogging torque compensation ............................................................................................. 628
8.15.1 Overview .............................................................................................................................. 628
8.15.2 Commissioning..................................................................................................................... 629
8.15.3 Filling compensation tables.................................................................................................. 630
8.15.4 Examples ............................................................................................................................. 632

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Function Manual, 11/2017, 6SL3097-4AB00-0BP5 17
8.15.5 Messages and parameters ...................................................................................................634
9 Monitoring functions and protective functions ...................................................................................... 635
9.1 Power unit protection, general ..............................................................................................635
9.2 Thermal monitoring and overload responses .......................................................................636
9.3 Blocking protection................................................................................................................638
9.4 Stall protection (vector control only) .....................................................................................639
9.5 Thermal motor protection......................................................................................................640
9.5.1 Thermal motor models ..........................................................................................................640
9.5.1.1 Thermal motor model 1.........................................................................................................641
9.5.1.2 Thermal motor model 2.........................................................................................................643
9.5.1.3 Thermal motor model 3.........................................................................................................643
9.5.1.4 Function diagrams and parameters ......................................................................................644
9.5.2 Motor temperature sensing...................................................................................................646
9.5.3 Sensor Modules ....................................................................................................................648
9.5.3.1 Sensor Module Cabinet-Mounted .........................................................................................648
9.5.3.2 Sensor Module External........................................................................................................649
9.5.3.3 Sensor Module SME 20/25...................................................................................................649
9.5.3.4 Sensor Module External 120/125 .........................................................................................649
9.5.4 Terminal Modules .................................................................................................................651
9.5.5 Terminal Module 31 ..............................................................................................................652
9.5.6 Terminal Module 120 ............................................................................................................653
9.5.7 Terminal Module 150 ............................................................................................................655
9.5.7.1 Measurement with up to 6 channels .....................................................................................657
9.5.7.2 Measurement with up to 12 channels ...................................................................................657
9.5.7.3 Forming groups of temperature sensors...............................................................................658
9.5.7.4 Evaluating temperature channels .........................................................................................658
9.5.7.5 Setting the smoothing time for temperature channels ..........................................................659
9.5.8 Motor Module/Power Module chassis format .......................................................................660
9.5.9 Connection of the CU310-2 and the CUA31/CUA32 adapters.............................................662
9.5.10 Motor with DRIVE-CLiQ ........................................................................................................663
9.5.11 Temperature sensor evaluation ............................................................................................663
9.5.12 Function diagrams and parameters ......................................................................................664
10 Safety Integrated Basic Functions ....................................................................................................... 667
10.1 Latest information .................................................................................................................667
10.2 General information ..............................................................................................................669
10.2.1 Explanations, standards and terminology.............................................................................669
10.2.2 Supported functions ..............................................................................................................672
10.2.3 Control possibilities ...............................................................................................................674
10.2.4 Parameter, Checksum, Version, Password ..........................................................................674
10.2.5 Forced checking procedure (test stop) .................................................................................677
10.3 Safety instructions.................................................................................................................679
10.4 Safe Torque Off (STO)..........................................................................................................681
10.5 Safe Stop 1 (SS1, time controlled) .......................................................................................685
10.5.1 SS1 with OFF3......................................................................................................................685
10.5.2 SS1 with external stop ..........................................................................................................687
10.5.3 Function diagrams and parameters ......................................................................................688

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18 Function Manual, 11/2017, 6SL3097-4AB00-0BP5
10.6 Safe Brake Control (SBC).................................................................................................... 689
10.6.1 SBC for Motor Modules in the chassis format ..................................................................... 691
10.7 Response times ................................................................................................................... 693
10.7.1 Controlling via terminals on the Control Unit and Motor Module ......................................... 694
10.7.2 Control via PROFIsafe ......................................................................................................... 694
10.7.3 Control via TM54F................................................................................................................ 695
10.8 Control via terminals on the Control Unit and Motor/Power Module.................................... 696
10.8.1 Simultaneity and tolerance time of the two monitoring channels......................................... 700
10.8.2 Bit pattern test...................................................................................................................... 701
10.9 Control via TM54F................................................................................................................ 702
10.9.1 Design .................................................................................................................................. 702
10.9.2 Fault acknowledgment ......................................................................................................... 703
10.9.3 F-DI function......................................................................................................................... 703
10.9.4 Function of the F-DO ........................................................................................................... 705
10.10 Commissioning the "STO", "SBC" and "SS1" functions ...................................................... 709
10.10.1 General information about commissioning safety functions ................................................ 709
10.10.2 Commissioning via direct parameter access ....................................................................... 711
10.10.3 Safety faults ......................................................................................................................... 714
10.11 Acceptance test and acceptance report .............................................................................. 716
10.11.1 Acceptance test structure .................................................................................................... 716
10.11.1.1 Content of the complete acceptance test ............................................................................ 718
10.11.1.2 Content of the partial acceptance test ................................................................................. 719
10.11.1.3 Test scope for specific measures ........................................................................................ 721
10.11.2 Safety logbook ..................................................................................................................... 722
10.11.3 Documentation..................................................................................................................... 722
10.11.3.1 Machine description and overview diagram......................................................................... 722
10.11.3.2 SI functions for each drive ................................................................................................... 723
10.11.4 Acceptance tests.................................................................................................................. 724
10.11.4.1 General information about acceptance tests ....................................................................... 724
10.11.4.2 Acceptance test for Safe Torque Off (STO)......................................................................... 725
10.11.4.3 Acceptance test for Safe Stop 1, time controlled (SS1) ...................................................... 726
10.11.4.4 Acceptance test for "Safe Brake Control" (SBC) ................................................................. 728
10.11.5 Completion of certificate ...................................................................................................... 729
10.12 Overview of parameters and function diagrams .................................................................. 731
11 Communication....................................................................................................................................733
11.1 Communication according to PROFIdrive ........................................................................... 733
11.1.1 PROFIdrive application classes........................................................................................... 736
11.1.2 Cyclic communication .......................................................................................................... 738
11.1.2.1 Telegrams and process data ............................................................................................... 738
11.1.2.2 Information about control words and status words .............................................................. 743
11.1.2.3 Examples ............................................................................................................................. 743
11.1.2.4 Motion control with PROFIdrive ........................................................................................... 746
11.1.3 Parallel operation of communication interfaces ................................................................... 749
11.1.4 Acyclic communication......................................................................................................... 752
11.1.4.1 General information about acyclic communication .............................................................. 752
11.1.4.2 Structure of requests and responses................................................................................... 754
11.1.4.3 Determining the drive object numbers ................................................................................. 759

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Function Manual, 11/2017, 6SL3097-4AB00-0BP5 19
11.1.4.4 Example 1: read parameters ................................................................................................760
11.1.4.5 Example 2: Writing parameters (multi-parameter request)...................................................762
11.1.5 Diagnostics channels ............................................................................................................765
11.1.5.1 PROFINET-based diagnostics..............................................................................................767
11.1.5.2 PROFIBUS-based diagnostics .............................................................................................769
11.2 Communication via PROFIBUS DP......................................................................................774
11.2.1 General information about PROFIBUS.................................................................................774
11.2.1.1 General information about PROFIBUS for SINAMICS .........................................................774
11.2.1.2 Example: telegram structure for cyclic data transmission ....................................................777
11.2.2 Commissioning PROFIBUS..................................................................................................780
11.2.2.1 Setting the PROFIBUS interface ..........................................................................................780
11.2.2.2 PROFIBUS interface in operation.........................................................................................782
11.2.2.3 Commissioning PROFIBUS..................................................................................................783
11.2.2.4 Diagnostics options...............................................................................................................784
11.2.2.5 SIMATIC HMI addressing .....................................................................................................784
11.2.2.6 Monitoring telegram failure ...................................................................................................786
11.2.3 Motion Control with PROFIBUS............................................................................................788
11.2.4 Slave-to-slave communication..............................................................................................792
11.2.4.1 Setpoint assignment in the subscriber..................................................................................794
11.2.4.2 Activating/parameterizing slave-to-slave communication.....................................................794
11.2.4.3 Commissioning PROFIBUS slave-to-slave communication .................................................796
11.2.4.4 Diagnosing the PROFIBUS slave-to-slave communication in STARTER ............................801
11.2.5 Messages via diagnostics channels .....................................................................................802
11.3 Communication via PROFINET IO .......................................................................................804
11.3.1 General information about PROFINET IO ............................................................................804
11.3.1.1 Real-time (RT) and isochronous real-time (IRT) communication .........................................805
11.3.1.2 Addresses .............................................................................................................................806
11.3.1.3 Dynamic IP address assignment ..........................................................................................808
11.3.1.4 DCP flashing .........................................................................................................................810
11.3.1.5 Data transfer .........................................................................................................................810
11.3.1.6 Communication channels for PROFINET.............................................................................812
11.3.1.7 References............................................................................................................................813
11.3.2 RT classes for PROFINET IO...............................................................................................815
11.3.3 PROFINET GSDML..............................................................................................................821
11.3.4 Motion Control with PROFINET............................................................................................822
11.3.5 Communication with CBE20 .................................................................................................826
11.3.6 Communication via PROFINET Gate ...................................................................................827
11.3.6.1 Functions supported by PN Gate..........................................................................................828
11.3.6.2 Preconditions for PN Gate ....................................................................................................829
11.3.7 PROFINET with 2 controllers................................................................................................831
11.3.7.1 Control Unit settings..............................................................................................................831
11.3.7.2 Configuring Shared Device...................................................................................................832
11.3.7.3 Overview of important parameters........................................................................................841
11.3.8 PROFINET media redundancy .............................................................................................842
11.3.9 PROFINET system redundancy ...........................................................................................842
11.3.9.1 Overview ...............................................................................................................................842
11.3.9.2 Design, configuring and diagnostics .....................................................................................844
11.3.9.3 Messages and parameters ...................................................................................................845

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20 Function Manual, 11/2017, 6SL3097-4AB00-0BP5
11.3.10 PROFIenergy ....................................................................................................................... 846
11.3.10.1 Tasks of PROFIenergy ........................................................................................................ 848
11.3.10.2 PROFIenergy commands .................................................................................................... 849
11.3.10.3 PROFIenergy measured values........................................................................................... 851
11.3.10.4 PROFIenergy energy-saving mode ..................................................................................... 851
11.3.10.5 PROFIenergy inhibit and pause time ................................................................................... 852
11.3.10.6 Function diagrams and parameters ..................................................................................... 852
11.3.11 Messages via diagnostics channels..................................................................................... 853
11.3.12 Support of I&M data sets 1...4 ............................................................................................. 854
11.4 Communication via MODBUS TCP ..................................................................................... 857
11.4.1 Overview .............................................................................................................................. 857
11.4.2 Configuring Modbus TCP via interface X150....................................................................... 859
11.4.3 Configuring Modbus TCP via interface X1400..................................................................... 860
11.4.4 Mapping tables..................................................................................................................... 861
11.4.5 Write and read access using function codes ....................................................................... 864
11.4.6 Communication via data set 47............................................................................................ 866
11.4.6.1 Communication details......................................................................................................... 867
11.4.6.2 Examples: Read parameter ................................................................................................. 868
11.4.6.3 Examples: Write parameter ................................................................................................. 869
11.4.7 Communication procedure................................................................................................... 870
11.4.8 Messages and parameters .................................................................................................. 871
11.5 Communication via EtherNet/IP........................................................................................... 873
11.5.1 Overview .............................................................................................................................. 873
11.5.2 Connect drive device to Ethernet/IP .................................................................................... 873
11.5.3 Requirements for communication ........................................................................................ 875
11.5.4 Configuring communication ................................................................................................. 875
11.5.5 Supported objects ................................................................................................................ 876
11.5.6 Integrate the drive device into the Ethernet network via DHCP .......................................... 886
11.5.7 Messages and parameters .................................................................................................. 887
11.6 Communication via SINAMICS Link .................................................................................... 888
11.6.1 Basic principles of SINAMICS Link...................................................................................... 888
11.6.2 Topology .............................................................................................................................. 890
11.6.3 Configuring and commissioning........................................................................................... 892
11.6.4 Example ............................................................................................................................... 896
11.6.5 Communication failure when booting or in cyclic operation................................................. 899
11.6.6 Examples: Transmission times for SINAMICS Link............................................................. 899
11.6.7 Function diagrams and parameters ..................................................................................... 900
11.7 Communication services and used port numbers................................................................ 901
11.8 Time synchronization between the control and converter ................................................... 905
11.8.1 Overview .............................................................................................................................. 905
11.8.2 Setting SINAMICS time synchronization ............................................................................. 907
11.8.3 Set NTP time synchronization.............................................................................................. 908
11.8.4 Messages and parameters .................................................................................................. 910