Siemens SINAMICS S120 Parts list manual

SINAMICS
Function Manual · 01/2012
SINAMICS S120
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SINAMICS
S120
Drive functions
Function Manual
Valid from: Firmware version 4.5
(FH1), 01/2012
6SL3097-4AB00-0BP2
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

Legal information
Legal information
Warning notice system
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.
DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.
WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.
CAUTION
with a safety alert symbol, indicates that minor personal injury can result if proper precautions are not taken.
CAUTION
without a safety alert symbol, indicates that property damage can result if proper precautions are not taken.
NOTICE
indicates that an unintended result or situation can occur if the relevant information is not taken into account.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will
be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to
property damage.
Qualified Personnel
The 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.
Siemens AG
Industry Sector
Postfach 48 48
90026 NÜRNBERG
GERMANY
Order number: 6SL3097-4AB00-0BP2
Ⓟ 03/2012 Technical data subject to change
Copyright © Siemens AG 2012.
All rights reserved

Drive functions
Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2 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), 01/2012, 6SL3097-4AB00-0BP2
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 Configuration Tool
•Configuration Manuals, Motors
Deciding/ordering SINAMICS S Catalogs
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/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
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.

Foreword
Drive functions
Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2 5
Standard scope
The scope of the functionality described in this document may 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.
Structure
The Function Manual is structured as follows:
Chapter 1 Infeed (Page 21)
Chapter 2 Extended setpoint channel (Page 49)
Chapter 3 Servo control (Page 69)
Chapter 4 Vector control (Page 139)
Chapter 5 U/f control (vector control) (Page 215)
Chapter 6 Basic functions (Page 231)
Chapter 7 Function modules (Page 317)
Chapter 8 Monitoring and protective functions (Page 427)
Chapter 9 Safety Integrated basic functions (Page 453)
Chapter 10 Communication (Page 501)
Chapter 11 Applications (Page 683)
Chapter 12 Basic information about the drive system (Page 701)

Foreword
Drive functions
6 Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2
Advice for beginners:
First read Chapter Basic information about the drive system (Page 701), 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
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
Drive functions
Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2 7
ESD Notes
CAUTION
Electrostatic sensitive devices (ESD) are single components, integrated circuits or devices
that can be damaged by electrostatic fields or electrostatic discharges.
Regulations for the ESD handling:
During the handling of electronic components, pay attention to the grounding of the person,
workplace and packaging!
Electronic components may be touched by persons only when
•these persons are grounded using an ESD bracelet, or
•these persons in ESD areas with a conducting floor wear ESD shoes or ESD grounding
straps.
Electronic components should be touched only when this is unavoidable. The touching is
permitted only on the front panel or on the circuit board edge.
Electronic components must not be brought into contact with plastics or clothing made of
artificial fibers.
Electronic components may only be placed on conducting surfaces (table with ESD coating,
conducting ESD foamed material, ESD packing bag, ESD transport container).
Electronic components may not be placed near display units, monitors or televisions
(minimum distance from the screen > 10 cm).
Measurements must only be taken on boards when the measuring instrument is grounded
(via protective conductors, for example) or the measuring probe is briefly discharged before
measurements are taken with an isolated measuring device (for example, touching a bare
metal housing).

Foreword
Drive functions
8 Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2
Safety instructions
DANGER
•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 follow 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 of the work carried out on the electrical machine or system must be carried out with it
in a no-voltage condition.
•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 once
verification has been provided that the SINAMICS device is compatible with the
residual-current-operated device in accordance with IEC 61800-5-1.
WARNING
•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 drive units 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
•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
Drive functions
Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2 9
CAUTION
•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 to 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-up according to the circuit diagram provided. otherwise
they can be destroyed.
Note
When operated in dry areas, SINAMICS equipment with three-phase motors conforms to
Low-Voltage Directive 2006/95/EC.

Foreword
Drive functions
10 Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2

Drive functions
Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2 11
Contents
Foreword ................................................................................................................................................... 3
1 Infeed ...................................................................................................................................................... 21
1.1 Active Infeed ................................................................................................................................21
1.1.1 Active Infeed closed-loop control booksize..................................................................................22
1.1.2 Active Infeed closed-loop control chassis....................................................................................24
1.1.3 Function diagrams and parameters .............................................................................................25
1.1.4 Line and DC link identification......................................................................................................26
1.1.5 Active Infeed open-loop control ...................................................................................................27
1.1.6 Reactive current control ...............................................................................................................30
1.1.7 Harmonics controller ....................................................................................................................31
1.2 Smart Infeed.................................................................................................................................31
1.2.1 Line supply and DC link identification routine for Smart Infeed Booksize ...................................34
1.2.2 Smart Infeed open-loop control....................................................................................................35
1.3 Basic Infeed .................................................................................................................................38
1.3.1 Function diagrams and parameters .............................................................................................40
1.3.2 Basic Infeed open-loop control ....................................................................................................41
1.4 Line contactor control...................................................................................................................44
1.5 Pre-charging and bypass contactor chassis................................................................................46
2 Extended setpoint channel ...................................................................................................................... 49
2.1 Activating the "extended setpoint channel" function module in the servo control mode .............49
2.2 Description ...................................................................................................................................50
2.3 Fixed speed setpoints ..................................................................................................................51
2.4 Motorized potentiometer ..............................................................................................................52
2.5 Jog ...............................................................................................................................................54
2.6 Main/supplementary setpoint and setpoint modification..............................................................58
2.7 Direction of rotation limiting and direction of rotation changeover...............................................59
2.8 Suppression bandwidths and setpoint limits................................................................................61
2.9 Ramp-function generator .............................................................................................................63
3 Servo control ........................................................................................................................................... 69
3.1 Speed controller...........................................................................................................................72
3.2 Speed setpoint filter .....................................................................................................................73
3.3 Speed controller adaptation.........................................................................................................74
3.4 Torque-controlled operation.........................................................................................................76
3.5 Torque setpoint limitation.............................................................................................................78
3.6 Current controller .........................................................................................................................82

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Drive functions
12 Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2
3.7 Current setpoint filters................................................................................................................. 85
3.8 Note about the electronic motor model....................................................................................... 91
3.9 V/f control .................................................................................................................................... 91
3.10 Optimizing the current and speed controller ...............................................................................95
3.11 Sensorless operation (without an encoder) ................................................................................ 97
3.12 Motor data identification............................................................................................................ 101
3.12.1 Motor data identification induction motor .................................................................................. 104
3.12.2 Motor data identification synchronous motor ............................................................................ 106
3.13 Pole position identification......................................................................................................... 108
3.14 Vdc control ................................................................................................................................ 114
3.15 Dynamic Servo Control (DSC) .................................................................................................. 118
3.16 Travel to fixed stop.................................................................................................................... 122
3.17 Vertical axes.............................................................................................................................. 126
3.18 Variable signaling function ........................................................................................................ 127
3.19 Central probe evaluation........................................................................................................... 129
3.19.1 Central probe evaluation examples .......................................................................................... 134
4 Vector control ........................................................................................................................................ 139
4.1 Sensorless vector control (SLVC)............................................................................................. 142
4.2 Vector control with encoder....................................................................................................... 150
4.3 Speed controller ........................................................................................................................ 150
4.4 Speed controller adaptation ...................................................................................................... 153
4.5 Speed controller pre-control and reference model ................................................................... 156
4.6 Droop......................................................................................................................................... 160
4.7 Open actual speed value .......................................................................................................... 161
4.8 Torque control ........................................................................................................................... 163
4.9 Torque limiting........................................................................................................................... 165
4.10 Vdc control ................................................................................................................................ 167
4.11 Current setpoint filter................................................................................................................. 171
4.12 Speed actual value filter............................................................................................................ 172
4.13 Current controller adaptation..................................................................................................... 173
4.14 Motor data identification and rotating measurement................................................................. 174
4.15 Efficiency optimization............................................................................................................... 181
4.16 Quick magnetization for induction motors................................................................................. 182
4.17 Instructions for commissioning induction motors (ASM)........................................................... 185
4.18 Instructions for commissioning permanent-magnet synchronous motors ................................ 188
4.18.1 Encoder adjustment in operation .............................................................................................. 191
4.18.2 Automatic encoder adjustment ................................................................................................. 193

Contents
Drive functions
Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2 13
4.18.3 Pole position identification .........................................................................................................194
4.18.4 Function diagrams and parameters ...........................................................................................196
4.19 Instructions for commissioning separately-excited synchronous motors ..................................196
4.20 Flying restart ..............................................................................................................................197
4.21 Synchronization..........................................................................................................................199
4.22 Voltage Sensing Module............................................................................................................200
4.23 Simulation mode ........................................................................................................................202
4.23.1 Description .................................................................................................................................202
4.23.2 Features.....................................................................................................................................203
4.23.3 Commissioning...........................................................................................................................203
4.24 Redundance operation power units ...........................................................................................203
4.25 Bypass .......................................................................................................................................204
4.25.1 Bypass with synchronization with overlap .................................................................................205
4.25.2 Bypass with synchronization without overlap ............................................................................208
4.25.3 Bypass without synchronization.................................................................................................209
4.26 Asynchronous pulse frequency..................................................................................................212
4.26.1 Asynchronous pulse frequency..................................................................................................212
4.26.2 Boundary conditions for asynchronous pulse frequency ...........................................................213
5 U/f control (vector control) ..................................................................................................................... 215
5.1 Voltage boost .............................................................................................................................218
5.2 Slip compensation......................................................................................................................222
5.3 Resonance damping ..................................................................................................................223
5.4 Vdc control .................................................................................................................................224
6 Basic functions ...................................................................................................................................... 231
6.1 Changing over units...................................................................................................................231
6.2 Reference parameters/normalizations.......................................................................................232
6.3 Modular machine concept..........................................................................................................236
6.4 Sinusoidal filter...........................................................................................................................238
6.5 dv/dt filter plus VPL ....................................................................................................................240
6.6 dv/dt filter compact plus Voltage Peak Limiter...........................................................................241
6.7 Pulse frequency wobbling..........................................................................................................243
6.8 Direction reversal without changing the setpoint .......................................................................244
6.9 Automatic restart (vector, servo, infeed)....................................................................................245
6.10 Armature short-circuit braking, DC braking................................................................................248
6.10.1 Armature short-circuit braking for permanent-magnet synchronous motors .............................249
6.10.1.1 Internal armature short-circuit braking.......................................................................................249
6.10.1.2 External armature short-circuit braking......................................................................................250
6.10.2 DC braking .................................................................................................................................253
6.10.2.1 Activation via parameters...........................................................................................................253
6.10.2.2 Activation via fault response ......................................................................................................254

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14 Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2
6.10.2.3 Activation via OFF command.................................................................................................... 254
6.10.2.4 Activation via a speed threshold ............................................................................................... 255
6.10.3 Configuring the fault response .................................................................................................. 255
6.10.4 Function diagrams and parameters .......................................................................................... 256
6.11 Motor Module as braking module.............................................................................................. 257
6.11.1 Features .................................................................................................................................... 257
6.11.2 Configuring the resistors ........................................................................................................... 258
6.11.3 Activating the function ............................................................................................................... 262
6.11.4 Protective equipment ................................................................................................................ 263
6.11.5 Function diagrams and parameters .......................................................................................... 264
6.12 OFF3 torque limits..................................................................................................................... 265
6.13 Technology function: friction characteristic ............................................................................... 265
6.14 Simple brake control ................................................................................................................. 267
6.15 Runtime (operating hours counter) ........................................................................................... 269
6.16 Energy-saving display ............................................................................................................... 270
6.17 Encoder diagnostics.................................................................................................................. 274
6.17.1 Datalogger................................................................................................................................. 274
6.17.2 Encoder dirty signal................................................................................................................... 275
6.18 Tolerant encoder monitoring ..................................................................................................... 275
6.18.1 Encoder track monitoring .......................................................................................................... 276
6.18.2 Zero mark tolerance .................................................................................................................. 277
6.18.3 Freezing the speed raw value................................................................................................... 278
6.18.4 Adjustable hardware filter.......................................................................................................... 278
6.18.5 Edge evaluation of the zero mark ............................................................................................. 279
6.18.6 Pole position adaptation............................................................................................................ 280
6.18.7 Pulse number correction for faults ............................................................................................ 281
6.18.8 "Tolerance band pulse number" monitoring.............................................................................. 282
6.18.9 Signal edge evaluation (1x, 4x)................................................................................................. 283
6.18.10 Setting the measuring time to evaluate speed "0" .................................................................... 284
6.18.11 Sliding averaging of the speed actual value ............................................................................. 284
6.18.12 Troubleshooting ........................................................................................................................ 285
6.18.13 Tolerance window and correction ............................................................................................. 287
6.18.14 Dependencies ........................................................................................................................... 287
6.18.15 Overview of important parameters............................................................................................ 289
6.19 Parking axis and parking encoder............................................................................................. 290
6.20 Position tracking........................................................................................................................ 293
6.20.1 General Information .................................................................................................................. 293
6.20.2 Measuring gear ......................................................................................................................... 294
6.21 ENCODER as drive object........................................................................................................ 298
6.21.1 Preconditions for creating an ENCODER drive object using STARTER .................................. 298
6.21.2 Creating an ENCODER drive object with STARTER, offline.................................................... 299
6.22 Terminal Module 41 .................................................................................................................. 300
6.22.1 SIMOTION mode ...................................................................................................................... 300
6.22.2 SINAMICS mode....................................................................................................................... 301
6.22.3 Zero mark emulation ................................................................................................................. 302
6.22.4 Zero mark synchronization........................................................................................................ 305

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Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2 15
6.22.5 Limit frequencies for TM41 ........................................................................................................306
6.22.6 Example in the SINAMICS mode...............................................................................................307
6.22.7 Function diagrams and parameters ...........................................................................................308
6.23 Upgrade the firmware and project..............................................................................................309
6.23.1 Firmware/project upgrade using the STARTER ........................................................................310
6.23.2 Downgrade lock .........................................................................................................................312
6.24 Pulse/direction interface.............................................................................................................312
6.25 Derating function for chassis units.............................................................................................314
7 Function modules .................................................................................................................................. 317
7.1 Technology controller.................................................................................................................317
7.2 Extended monitoring functions...................................................................................................321
7.3 Extended Brake Control.............................................................................................................323
7.4 Braking Module ..........................................................................................................................328
7.5 Cooling unit ................................................................................................................................329
7.6 Extended torque control (kT estimator, servo)...........................................................................331
7.7 Closed-loop position control.......................................................................................................333
7.7.1 General features ........................................................................................................................333
7.7.2 Position actual value conditioning..............................................................................................333
7.7.2.1 Features.....................................................................................................................................333
7.7.2.2 Description .................................................................................................................................333
7.7.2.3 Indexed actual value acquisition................................................................................................336
7.7.2.4 Load gear position tracking........................................................................................................337
7.7.2.5 Commissioning position tracking load gear using STARTER....................................................345
7.7.2.6 Function diagrams and parameters ...........................................................................................346
7.7.3 Position controller ......................................................................................................................346
7.7.4 Monitoring functions...................................................................................................................348
7.7.5 Measuring probe evaluation and reference mark search ..........................................................350
7.7.6 Commissioning...........................................................................................................................351
7.8 Basic positioner..........................................................................................................................352
7.8.1 Mechanical system ....................................................................................................................355
7.8.2 Limits..........................................................................................................................................357
7.8.3 EPOS and safe setpoint velocity limitation ................................................................................361
7.8.4 Referencing................................................................................................................................362
7.8.5 Referencing with several zero marks per revolution..................................................................371
7.8.6 Safely referencing under EPOS.................................................................................................374
7.8.7 Traversing blocks.......................................................................................................................376
7.8.8 Travel to fixed stop.....................................................................................................................381
7.8.9 Direct setpoint input (MDI) .........................................................................................................384
7.8.10 Jog .............................................................................................................................................387
7.8.11 Status signals.............................................................................................................................388
7.9 Master/slave for Active Infeed....................................................................................................390
7.9.1 Operating principle.....................................................................................................................390
7.9.2 Basic structure ...........................................................................................................................391
7.9.3 Types of communication ............................................................................................................393
7.9.4 Description of functions..............................................................................................................394
7.9.5 Commissioning...........................................................................................................................397

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7.9.6 Function diagrams and parameters .......................................................................................... 398
7.10 Connecting the motors in parallel ............................................................................................. 399
7.11 Parallel connection of power units ............................................................................................ 401
7.11.1 Applications of parallel connections.......................................................................................... 403
7.11.1.1 Parallel connection of Basic Line Modules ............................................................................... 405
7.11.1.2 Parallel connection of Smart Line Modules............................................................................... 407
7.11.1.3 Parallel connection of Active Line Modules .............................................................................. 408
7.11.1.4 Parallel connection of Motor Modules....................................................................................... 410
7.11.2 Commissioning.......................................................................................................................... 412
7.11.3 Additional drive in addition to the parallel connection............................................................... 412
7.12 Extended stop and retract......................................................................................................... 415
7.12.1 Preconditions for extended stop and retract .............................................................................416
7.12.2 Activating and enabling the ESR function................................................................................. 416
7.12.3 Valid sources for triggering the ESR functions ......................................................................... 417
7.12.4 Invalid sources .......................................................................................................................... 418
7.12.5 ESR responses ......................................................................................................................... 418
7.12.5.1 Extended stopping .................................................................................................................... 418
7.12.5.2 Extended retract........................................................................................................................ 419
7.12.5.3 Regenerative operation............................................................................................................. 420
7.12.6 Restrictions for ESR.................................................................................................................. 420
7.12.7 PROFIdrive telegram for ESR................................................................................................... 421
7.12.8 Function diagrams and parameters .......................................................................................... 421
7.13 Moment of inertia estimator....................................................................................................... 422
8 Monitoring and protective functions ....................................................................................................... 427
8.1 Power unit protection, general .................................................................................................. 427
8.2 Thermal monitoring and overload responses............................................................................ 427
8.3 Block protection......................................................................................................................... 430
8.4 Stall protection (only for vector control) .................................................................................... 431
8.5 Thermal motor protection.......................................................................................................... 432
8.5.1 Thermal motor models .............................................................................................................. 432
8.5.1.1 Thermal motor model 1............................................................................................................. 433
8.5.1.2 Thermal motor model 2............................................................................................................. 433
8.5.1.3 Thermal motor model 3............................................................................................................. 434
8.5.2 Motor temperature sensing ....................................................................................................... 436
8.5.3 Sensor Modules ........................................................................................................................ 437
8.5.4 Sensor Module Cabinet-Mounted ............................................................................................. 437
8.5.5 Sensor Module External............................................................................................................ 438
8.5.6 Sensor Module SME 20/25 ....................................................................................................... 438
8.5.7 Sensor Module External 120/125.............................................................................................. 438
8.5.8 Terminal Modules...................................................................................................................... 440
8.5.9 Terminal Module 31 .................................................................................................................. 440
8.5.10 Terminal Module 120 ................................................................................................................ 441
8.5.11 Terminal Module 150 ................................................................................................................ 443
8.5.11.1 Measurement with up to 6 channels: ........................................................................................ 444
8.5.11.2 Measurement with up to 12 channels: ...................................................................................... 445
8.5.11.3 Forming groups of temperature sensors................................................................................... 445
8.5.11.4 Evaluating temperature channels ............................................................................................. 446

Contents
Drive functions
Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2 17
8.5.12 Motor Module/Power Module chassis format.............................................................................447
8.5.13 CU310-2/CUA31/CUA32 ...........................................................................................................448
8.5.14 Motor with DRIVE-CLiQ.............................................................................................................449
8.5.15 Temperature sensor evaluation .................................................................................................449
8.5.16 Function diagrams and parameters ...........................................................................................450
9 Safety Integrated basic functions........................................................................................................... 453
9.1 Latest information ......................................................................................................................453
9.2 General information ...................................................................................................................454
9.2.1 Explanations, standards, and terminology.................................................................................454
9.2.2 Supported functions ...................................................................................................................457
9.2.3 Controlling the Safety Integrated functions................................................................................458
9.2.4 Parameter, Checksum, Version, Password ...............................................................................459
9.2.5 Forced dormant error detection .................................................................................................461
9.3 Safety instructions......................................................................................................................462
9.4 Safe Torque Off (STO)...............................................................................................................463
9.5 Safe Stop 1 (SS1, time controlled) ............................................................................................466
9.5.1 SS1 (time controlled) with OFF3................................................................................................466
9.5.2 SS1 (time controlled) without OFF3...........................................................................................467
9.5.3 Function diagrams and parameters ...........................................................................................468
9.6 Safe Brake Control (SBC)..........................................................................................................470
9.7 Response times .........................................................................................................................472
9.8 Control via terminals on the Control Unit and Motor/Power Module..........................................473
9.8.1 Simultaneity and tolerance time of the two monitoring channels...............................................476
9.8.2 Bit pattern test............................................................................................................................477
9.9 Commissioning the "STO", "SBC" and "SS1" functions ............................................................478
9.9.1 General information about commissioning safety functions ......................................................478
9.9.2 Procedure for commissioning "STO", "SBC" and "SS1"............................................................480
9.9.3 Safety faults ...............................................................................................................................484
9.10 Acceptance test and certificate..................................................................................................486
9.10.1 Acceptance test structure ..........................................................................................................487
9.10.1.1 Content of the complete acceptance test ..................................................................................488
9.10.1.2 Content of the partial acceptance test .......................................................................................488
9.10.1.3 Test scope for specific measures ..............................................................................................490
9.10.2 Safety logbook ...........................................................................................................................491
9.10.3 Documentation...........................................................................................................................491
9.10.4 Acceptance tests........................................................................................................................494
9.10.4.1 General information about acceptance tests .............................................................................494
9.10.4.2 Acceptance test for Safe Torque Off (STO)...............................................................................494
9.10.4.3 Acceptance test for Safe Stop 1, time controlled (SS1) ............................................................495
9.10.4.4 Acceptance test for "Safe Brake Control" (SBC) .......................................................................497
9.10.5 Completion of certificate ............................................................................................................498
9.11 Overview of parameters and function diagrams ........................................................................500
10 Communication...................................................................................................................................... 501
10.1 Communication according to PROFIdrive .................................................................................501
10.1.1 Application classes ....................................................................................................................504

Contents
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18 Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2
10.1.2 Cyclic communication ............................................................................................................... 509
10.1.2.1 Telegrams and process data .................................................................................................... 509
10.1.2.2 Description of control words and setpoints ............................................................................... 515
10.1.2.3 MOMRED.................................................................................................................................. 525
10.1.2.4 Description of status words and actual values.......................................................................... 532
10.1.2.5 Control and status words for encoder....................................................................................... 553
10.1.2.6 Extended encoder evaluation.................................................................................................... 562
10.1.2.7 Central control and status words .............................................................................................. 563
10.1.2.8 Motion Control with PROFIdrive ............................................................................................... 572
10.1.2.9 Diagnostics channel for cyclic communication..........................................................................575
10.1.3 Parallel operation of communication interfaces ........................................................................ 577
10.1.4 Acyclic communication.............................................................................................................. 581
10.1.4.1 General information about acyclic communication ................................................................... 581
10.1.4.2 Structure of orders and responses............................................................................................ 583
10.1.4.3 Determining the drive object numbers ...................................................................................... 588
10.1.4.4 Example 1: read parameters..................................................................................................... 589
10.1.4.5 Example 2: write parameters (multi-parameter request) .......................................................... 591
10.2 Communication via PROFIBUS DP .......................................................................................... 594
10.2.1 General information about PROFIBUS..................................................................................... 594
10.2.1.1 General information about PROFIBUS for SINAMICS ............................................................. 594
10.2.1.2 Example: telegram structure for cyclic data transmission......................................................... 597
10.2.2 Commissioning PROFIBUS ...................................................................................................... 600
10.2.2.1 Setting the PROFIBUS interface............................................................................................... 600
10.2.2.2 PROFIBUS interface in operation ............................................................................................. 602
10.2.2.3 Commissioning PROFIBUS ...................................................................................................... 604
10.2.2.4 Diagnostics options ................................................................................................................... 605
10.2.2.5 SIMATIC HMI addressing ......................................................................................................... 605
10.2.2.6 Monitoring: telegram failure....................................................................................................... 607
10.2.3 Motion Control with PROFIBUS................................................................................................ 609
10.2.4 Slave-to-slave communication .................................................................................................. 612
10.2.4.1 Setpoint assignment in the subscriber ...................................................................................... 615
10.2.4.2 Activating/parameterizing slave-to-slave communication ......................................................... 615
10.2.4.3 Commissioning of the PROFIBUS slave-to-slave communication ........................................... 616
10.2.4.4 GSD in operation....................................................................................................................... 625
10.2.4.5 Diagnosing the PROFIBUS slave-to-slave communication in STARTER ................................ 627
10.3 Communication via PROFINET IO ........................................................................................... 628
10.3.1 General information about PROFINET IO ................................................................................ 628
10.3.1.1 Real-time (RT) and isochronous real-time (IRT) communication ............................................. 629
10.3.1.2 Addresses ................................................................................................................................. 630
10.3.1.3 Data transfer ............................................................................................................................. 632
10.3.1.4 Communication channels for PROFINET ................................................................................. 633
10.3.2 Drive control with PROFINET ................................................................................................... 635
10.3.2.1 Media redundancy..................................................................................................................... 638
10.3.3 RT classes for PROFINET IO ................................................................................................... 638
10.3.4 PROFINET GSDML .................................................................................................................. 643
10.3.5 Motion Control with PROFINET ................................................................................................ 645
10.3.6 Communication with CBE20 ..................................................................................................... 648
10.3.6.1 EtherNet/IP................................................................................................................................ 649
10.3.7 PN gate ..................................................................................................................................... 649
10.3.7.1 Functions transferred from PN Gate ......................................................................................... 650
10.3.7.2 Preconditions for PN Gate ........................................................................................................ 651