Siemens SINAMICS S120 Parts list manual

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SINAMICS
S120
Communication
Function Manual
Valid as of:
Firmware version 5.2
12/2018
6SL3097
-5BD00-0BP0
Preface
Fundamental safety
instructions
1
General information
2
Communication according to
PROFIdrive
3
Communication via
PROFIBUS DP
4
Communication via
PROFINET IO
5
Communication via Modbus
TCP
6
Communication via
Ethernet/IP (EIP)
7
Communication via
SINAMICS Link
8
Appendix
A

Siemens AG
Division Digital Factory
Postfach 48 48
90026 NÜRNBERG
GERMANY
Document order number: 6SL3097-5BD00-0BP0
Ⓟ
11/2018 Subject to change
Copyright © Siemens AG 2018.
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.

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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 topics below 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 email 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 at 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).

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Usage phases and their documents/tools (as an example)
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 (Cata-
log D 31)
•SINAMICS Converters for Single-Axis Drives – Built-In Units (D 31.1)
•SINAMICS Converters for Single-Axis Drives – Distributed Converters (D 31.2)
•SINUMERIK 840 Equipment for Machine Tools (Catalog NC 62)
Installation/assembly •SINAMICS S120 Equipment Manual for Control Units and Additional System
Components
•SINAMICS S120 Equipment Manual for Booksize Power Units
•SINAMICS S120 Equipment Manual for Booksize Power Units C/D Type
•SINAMICS S120 Equipment Manual for Chassis Power Units
•SINAMICS S120 Equipment Manual for Chassis Power Units, Liquid-cooled
•SINAMICS S120 Equipment Manual water-cooled chassis power units for com-
mon cooling circuits
•SINAMICS S120 Equipment Manual for Chassis Power Units, Air-cooled
•SINAMICS S120 Equipment Manual for AC Drives
•SINAMICS S120 Equipment Manual Combi
•SINAMICS S120M Equipment Manual Distributed Drive Technology
•SINAMICS HLA System Manual Hydraulic Drives
Commissioning •Startdrive Commissioning Tool
•SINAMICS S120 Getting Started
•SINAMICS S120 Commissioning Manual
•SINAMICS S120 Function Manual Drive Functions
•SINAMICS S120 Safety Integrated Function Manual
•SINAMICS S120 Function Manual Communication
•SINAMICS S120/S150 List Manual
•SINAMICS HLA System Manual Hydraulic Drives
Usage/operation •SINAMICS S120 Commissioning Manual
•SINAMICS S120/S150 List Manual
•SINAMICS HLA System Manual Hydraulic Drives
Maintenance/servicing •SINAMICS S120 Commissioning Manual
•SINAMICS S120/S150 List Manual
References •SINAMICS S120/S150 List Manual

Preface
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Where can the various topics be found?
Software
Manual
Alarms
Described in order of ascending numbers
SINAMICS S120/S150 List Manual
Parameters Described in order of ascending numbers SINAMICS S120/S150 List Manual
Function block
diagrams
Sorted according to topic
SINAMICS S120/S150 List Manual
Described in order of ascending numbers
Drive functions
SINAMICS S120 Function Manual Drive Functions
Communication topics SINAMICS S120 Function Manual Communication (from
firmware V5.2)
Safety Integrated
Basic and Extended Functions
SINAMICS S120 Safety Integrated Function Manual
Basic Functions
SINAMICS S120 Function Manual Drive Functions
Commissioning Of a simple SINAMICS S120 drive with
STARTER
Getting Started (up to Firmware V5.1 SP1)
Commissioning With STARTER
SINAMICS S120 Commissioning Manual (up to firmware
V5.1 SP1)
Commissioning Of a simple SINAMICS S120 drive with
Startdrive
Getting Started (from Firmware V5.2)
Commissioning With Startdrive SINAMICS S120 Commissioning Manual (from firmware
V5.2)
Web server
SINAMICS S120 Function Manual Drive Functions
Hardware
Manual
Control Units And expansion com-
ponents:
•Control Units
•Option Boards
•Terminal Modules
•HUB Modules
•VSM10
•Encoder system
connection
SINAMICS S120 Equipment Manual for Control Units
and Additional System Components
Power units
booksize
•Line connection
•Line Modules
•Motor Modules
•DC link compo-
nents
•Braking resistors
•Control cabinet
design
SINAMICS S120 Equipment Manual for Booksize
Power Units
Power units, booksize C/D type format SINAMICS S120 Equipment Manual for Booksize Power
Units
C/D Type
Chassis power units SINAMICS S120 Equipment Manual for Chassis Power
Units, Air-cooled or Liquid-cooled
AC drive components
SINAMICS S120 Equipment Manual for AC Drives
S120 Combi components
SINAMICS S120 Equipment Manual Combi
Diagnostics via
LEDs
STARTER SINAMICS S120 Commissioning Manual (up to firmware
V5.1 SP1)
Startdrive SINAMICS S120 Commissioning Manual (from firmware
V5.2)
Meaning of the LEDs
Equipment Manuals
High Frequency Drive components
SINAMICS S120 System Manual High Frequency Drives

Preface
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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. Please refer to the ordering documentation
only for the functionality of the supplied drive system.
●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.
Information about CANopen
Information about communication via CANopen is provided in the following Manual:
●SINAMICS S120 Commissioning Manual CANopen Interface
Compliance with the General Data Protection Regulation
Siemens respects the principles of data protection, in particular the data minimization rules
(privacy by design).
For this product, this means:
The product does not process neither store any person-related data, only technical function
data (e.g. time stamps). If the user links these data with other data (e.g. shift plans) or if he
stores person-related data on the same data medium (e.g. hard disk), thus personalizing
these data, he has to ensure compliance with the applicable data protection stipulations.

Preface
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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 1
070, 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

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Table of contents
Preface ................................................................................................................................................... 3
1 Fundamental safety instructions............................................................................................................ 13
1.1 General safety instructions .....................................................................................................13
1.2 Warranty and liability for application examples ......................................................................13
1.3 Industrial security ....................................................................................................................14
2 General information .............................................................................................................................. 17
2.1 Field of application ..................................................................................................................17
2.2 Platform Concept and Totally Integrated Automation.............................................................18
2.3 System overview.....................................................................................................................20
2.4 X127 LAN (Ethernet)...............................................................................................................22
2.5 Communication services and used port numbers ..................................................................23
2.6 Time synchronization between the control and converter ......................................................26
2.6.1 Setting SINAMICS time synchronization ................................................................................28
2.6.2 Set NTP time synchronization ................................................................................................29
2.6.3 Messages and parameters .....................................................................................................30
3 Communication according to PROFIdrive.............................................................................................. 31
3.1 PROFIdrive application classes..............................................................................................34
3.2 Cyclic communication .............................................................................................................37
3.2.1 Telegrams and process data ..................................................................................................37
3.2.2 Information about control words and status words .................................................................41
3.2.3 Examples ................................................................................................................................42
3.2.4 Motion control with PROFIdrive ..............................................................................................45
3.3 Parallel operation of communication interfaces......................................................................48
3.4 Acyclic communication............................................................................................................51
3.4.1 General information about acyclic communication .................................................................51
3.4.2 Structure of requests and responses......................................................................................53
3.4.3 Determining the drive object numbers ....................................................................................59
3.4.4 Example 1: read parameters ..................................................................................................60
3.4.5 Example 2: Writing parameters (multi-parameter request).....................................................62
3.5 Diagnostics channels..............................................................................................................66
3.5.1 PROFINET-based diagnostics................................................................................................67
3.5.2 PROFIBUS-based diagnostics ...............................................................................................70
3.5.2.1 Standard diagnostics ..............................................................................................................71
3.5.2.2 Identifier-related diagnostics...................................................................................................71
3.5.2.3 Status messages/module status.............................................................................................72
3.5.2.4 Channel-related diagnostics ...................................................................................................73
3.5.2.5 Data sets DS0/DS1 and diagnostics alarm.............................................................................74

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3.6 Configuring telegrams in Startdrive........................................................................................ 75
3.6.1 Displaying telegram configuration.......................................................................................... 75
3.6.2 Settings for SINAMICS S120, S150, G150, G130, MV ......................................................... 76
4 Communication via PROFIBUS DP....................................................................................................... 79
4.1 General information about PROFIBUS.................................................................................. 79
4.1.1 General information about PROFIBUS for SINAMICS .......................................................... 79
4.1.2 Example: telegram structure for cyclic data transmission ..................................................... 82
4.2 Commissioning PROFIBUS ................................................................................................... 85
4.2.1 Setting the PROFIBUS interface............................................................................................ 85
4.2.2 PROFIBUS interface in operation .......................................................................................... 88
4.2.3 Commissioning PROFIBUS ................................................................................................... 89
4.2.4 Diagnostics options ................................................................................................................ 90
4.2.5 SIMATIC HMI addressing ...................................................................................................... 90
4.2.6 Monitoring telegram failure .................................................................................................... 92
4.3 Motion Control with PROFIBUS............................................................................................. 94
4.4 Slave-to-slave communication............................................................................................... 98
4.4.1 Setpoint assignment in the subscriber ................................................................................. 100
4.4.2 Activating/parameterizing slave-to-slave communication.................................................... 100
4.4.3 Commissioning PROFIBUS slave-to-slave communication ................................................ 102
4.4.4 Diagnosing PROFIBUS slave-to-slave communication ....................................................... 108
4.5 Messages via diagnostics channels..................................................................................... 108
5 Communication via PROFINET IO .......................................................................................................111
5.1 General information about PROFINET IO ........................................................................... 111
5.1.1 Real-time (RT) and isochronous real-time (IRT) communication ........................................ 113
5.1.2 Addresses ............................................................................................................................ 114
5.1.3 Dynamic IP address assignment ......................................................................................... 116
5.1.4 DCP flashing ........................................................................................................................ 118
5.1.5 Data transfer ........................................................................................................................ 118
5.1.6 Communication channels for PROFINET ............................................................................ 120
5.1.7 References........................................................................................................................... 121
5.1.8 Overview of important parameters....................................................................................... 122
5.2 RT classes for PROFINET IO .............................................................................................. 124
5.3 PROFINET GSDML ............................................................................................................. 129
5.4 Motion Control with PROFINET ........................................................................................... 131
5.5 Communication with CBE20 ................................................................................................ 135
5.6 Communication via PROFINET Gate .................................................................................. 136
5.6.1 Functions supported by PN Gate......................................................................................... 137
5.6.2 Preconditions for PN Gate ................................................................................................... 138
5.7 PROFINET with 2 controllers............................................................................................... 139
5.7.1 Control Unit settings............................................................................................................. 139
5.7.2 Configuring Shared Device .................................................................................................. 141
5.7.3 Overview of important parameters....................................................................................... 150
5.8 PROFINET media redundancy ............................................................................................ 151
5.9 PROFINET system redundancy........................................................................................... 152

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5.9.1 Overview ...............................................................................................................................152
5.9.2 Design, configuring and diagnostics .....................................................................................153
5.9.3 Messages and parameters ...................................................................................................154
5.10 PROFIenergy ........................................................................................................................155
5.10.1 Tasks of PROFIenergy .........................................................................................................157
5.10.2 PROFIenergy commands .....................................................................................................158
5.10.3 PROFIenergy measured values ...........................................................................................159
5.10.4 PROFIenergy energy-saving mode ......................................................................................160
5.10.5 PROFIenergy inhibit and pause time....................................................................................160
5.10.6 Function diagrams and parameters ......................................................................................161
5.11 Messages via diagnostics channels .....................................................................................161
5.12 Support of I&M data sets 1...4 ..............................................................................................163
6 Communication via Modbus TCP ........................................................................................................ 165
6.1 Overview ...............................................................................................................................165
6.2 Configuring Modbus TCP via interface X150 .......................................................................167
6.3 Configuring Modbus TCP via interface X1400 .....................................................................168
6.4 Mapping tables......................................................................................................................169
6.5 Write and read access using function codes ........................................................................172
6.6 Communication via data set 47 ............................................................................................175
6.6.1 Communication details..........................................................................................................176
6.6.2 Examples: Read parameter ..................................................................................................176
6.6.3 Examples: Write parameter ..................................................................................................178
6.7 Communication procedure....................................................................................................180
6.8 Messages and parameters ...................................................................................................181
7 Communication via Ethernet/IP (EIP) .................................................................................................. 183
7.1 Overview ...............................................................................................................................183
7.2 Connecting the drive device to EIP.......................................................................................184
7.3 Requirements for communication .........................................................................................185
7.4 Configuring EIP via the onboard PROFINET X150 interface ...............................................186
7.5 Configuring EIP via the X1400 interface at the CBE20 ........................................................187
7.6 Supported objects .................................................................................................................188
7.7 Integrating the drive device into the EIP network via DHCP ................................................200
7.8 Messages and parameters ...................................................................................................201
8 Communication via SINAMICS Link .................................................................................................... 203
8.1 Basic principles of SINAMICS Link.......................................................................................203
8.2 Topology ...............................................................................................................................205
8.3 Configuring and commissioning............................................................................................207
8.4 Example ................................................................................................................................211
8.5 Communication failure when booting or in cyclic operation..................................................214

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8.6 Examples: Transmission times for SINAMICS Link............................................................. 214
8.7 Function diagrams and parameters ..................................................................................... 215
A Appendix .............................................................................................................................................217
A.1 List of abbreviations ............................................................................................................. 217
A.2 Documentation overview...................................................................................................... 227
Index ...................................................................................................................................................229

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Fundamental safety instructions
1
1.1 General safety instructions
WARNING
Danger to life if the safety instructions and residual risks are not observed
If the safety instructions and residual risks in the associated hardware documentation are
not observed, accidents involving severe injuries or death can occur.
•Observe the safety instructions given in the hardware documentation.
•Consider the residual risks for the risk evaluation.
WARNING
Malfunctions of the machine as a result of incorrect or changed parameter settings
As a result of incorrect or changed parameterization, machines can malfunction, which in
turn can lead to injuries or death.
•Protect the parameterization (parameter assignments) against unauthorized access.
•Handle possible malfunctions by taking suitable measures, e.g. emergency stop or
emergency off.
1.2 Warranty and liability for application examples
Application examples are not binding and do not claim to be complete regarding
configuration, equipment or any eventuality which may arise. Application examples do not
represent specific customer solutions, but are only intended to provide support for typical
tasks.
As the user you yourself are responsible for ensuring that the products described are
operated correctly. Application examples do not relieve you of your responsibility for safe
handling when using, installing, operating and maintaining the equipment.

Fundamental safety instructions
1.3 Industrial security
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1.3 Industrial security
Note
Industrial security
Siemens provides products and solutions with industrial security functions that support the
secure operation of plants, systems, machines and net
works.
In order to protect plants, systems, machines and networks against cyber threats, it is
necessary to implement
– and continuously maintain – a holistic, state-of-the-art industrial
security concept. Siemens’ products and solutions constitute one ele
ment of such a concept.
Customers are responsible for preventing unauthorized access to their plants, systems,
machines and networks. Such systems, machines and components should only be
connected to an enterprise network or the Internet if and to the exte
nt such a connection is
necessary and only when appropriate security measures (e.g. firewalls and/or network
segmentation) are in place.
For additional information on industrial security measures that may be implemented, please
visit:
Industrial security
(http://www.siemens.com/industrialsecurity)
Siemens’ products and solutions undergo continuous development to make them more
secure. Siemens strongly recommends that product updates are applied as soon as they are
available and that the latest product versions are used. Use of product versions that are no
longer supported, and failure to apply the latest updates may increase customer’s exposure
to cyber threats.
To stay informed about product upd
ates, subscribe to the Siemens Industrial Security RSS
Feed at:
Industrial security (
http://www.siemens.com/industrialsecurity)
Further information is provided on the Internet:
Industrial Security Configuration Manual
(https://support.industry.siemens.com/cs/ww/en/view/108862708)

Fundamental safety instructions
1.3 Industrial security
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WARNING
Unsafe operating states resulting from software manipulation
Software manipulations (e.g. viruses, trojans, malware or worms) can cause unsafe
operating states in your system that may lead to death, serious injury, and property
damage.
•Keep the software up to date.
•Incorporate the automation and drive components into a holistic, state-of-the-art
industrial security concept for the installation or machine.
•Make sure that you include all installed products into the holistic industrial security
concept.
•Protect files stored on exchangeable storage media from malicious software by with
suitable protection measures, e.g. virus scanners.
•Protect the drive against unauthorized changes by activating the "know-how protection"
drive function.

Fundamental safety instructions
1.3 Industrial security
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General information
2
2.1 Field of application
SINAMICS is the family of drives from Siemens designed for machine and plant engineering
applications. SINAMICS offers solutions for all drive tasks:
●Simple pump and fan applications in the process industry
●Complex single drives in centrifuges, presses, extruders, elevators, as well as conveyor
and transport systems
●Drive line-ups in textile, plastic film, and paper machines as well as in rolling mill plants
●High-precision servo drives in the manufacture of wind turbines
●Highly dynamic servo drives for machine tools, as well as packaging and printing
machines
Figure 2-1 SINAMICS applications

General information
2.2 Platform Concept and Totally Integrated Automation
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Depending on the application, the SINAMICS range offers the ideal variant for any drive
task.
●SINAMICS S handles complex drive tasks with synchronous motors and induction motors
and fulfills stringent requirements regarding:
–the dynamic performance and accuracy
–the integration of extensive technological functions in the drive control system
●SINAMICS G is designed for standard applications with induction motors. These
applications have less stringent requirements regarding the dynamic performance of the
motor speed.
●SINAMICS V is designed to address applications where basic drive functions are
available quickly and at a favorable cost - and which are easy to handle.
2.2 Platform Concept and Totally Integrated Automation
All SINAMICS versions are based on a platform concept. Joint hardware and software
components, as well as standardized tools for design, configuration, and commissioning
tasks ensure high-level integration across all components. SINAMICS handles a wide variety
of drive tasks with no system gaps. The different SINAMICS versions can be easily
combined with each other.
Totally Integrated Automation (TIA) with SINAMICS S120
Apart from SIMATIC, SIMOTION and SINUMERIK, SINAMICS is one of the core
components of TIA. It is thus possible to parameterize, program and commission all
components in the automation system via the Startdrive commissioning tool using a
standardized engineering platform and without any system transitions (seamless
engineering). The system-wide data management functions ensure consistent data and
simplify archiving of the entire plant project.
From V14, the Startdrive commissioning tool is an integral element of the TIA platform.
SINAMICS S120 supports communication via PROFINET and PROFIBUS DP.
Communication via PROFINET
This Ethernet-based bus enables control data to be exchanged at high speed via
PROFINET IO with IRT or RT and makes SINAMICS S120 a suitable choice for integration
in high-performance multi-axis applications. At the same time, PROFINET also uses
standard IT mechanisms (TCP/IP) to transport information, e.g. operating and diagnostic
data, to higher-level systems. This makes it easy to integrate into an IT corporate network.
Communication via PROFIBUS DP
This bus provides a high-performance, system-wide and integrated communication network
which links all automation components of the automation solution:
●HMI (operator control and monitoring)
●Control
●Drives and I/O