Siemens SINAMICS S120 Parts list manual

SINAMICS S120 Drive functions
SINAMICS
Function Manual · 10/2008
SINAMICS S120
s

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Foreword
Infeed
1
Extended setpoint channel
2
Servo control
3
Vector control
4
Vector V/f control (r0108.2 =
0)
5
Basic functions
6
Function modules
7
Monitoring and protective
functions
8
Safety Integrated basic
functions
9
Communication PROFIBUS
DP/PROFINET IO
10
Applications
11
Basic information about the
drive system
12
Appendix
A
SINAMICS
S120
Drive functions
Function Manual
(FH1), 10/2008
6SL3097-2AB00-0BP5
A
pplies to:
Firmware version 2.6 SP1

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 corresponding 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 device/system may only be set up and used in conjunction with this documentation. Commissioning and
operation of a device/system may only be performed by qualified personnel. Within the context of the safety notes
in this documentation qualified persons are defined as persons who are authorized to commission, ground and
label devices, systems and circuits in accordance with established safety practices and standards.
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 adhered to. The information in the relevant documentation must be observed.
Trademarks
All names identified by ® are registered trademarks of the 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
Ordernumber: 6SL3097-2AB00-0BP5
Ⓟ 12/2008
Copyright © Siemens AG 2007,
2008.
Technical data subject to change

Drive functions
Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5 5
Foreword
SINAMICS documentation
The SINAMICS documentation is organized in 2 parts:
● General documentation / Catalogs
● Manufacturer / Service documentation
A current overview of the documentation in the available languages is provided in the
Internet:
http://www.siemens.com/motioncontrol
Select the menu items "Support" --> "Technical Documentation" --> "Overview of
Publications."
The Internet version of DOConCD (DOConWEB) is available on the Internet:
http://www.automation.siemens.com/doconweb
Information on the range of training courses and FAQs (Frequently Asked Questions) is
available on the Internet:
http://www.siemens.com/motioncontrol
Follow the menu item "Support".
Usage phases and their tools/documents (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
Decision/ordering SINAMICS S Catalogs
Installation/assembly •SINAMICS S110 Equipment Manual
•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 Compact
Power Units
•SINAMICS S120 Equipment Manual for Chassis Power
Units
•SINAMICS S120 Equipment Manual for AC Drives

Foreword
Drive functions
6 Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5
Usage phase Document/tool
Commissioning •STARTER parameterization and 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 S drive system.
Benefits
The Function Manual describes all the procedures and operational instructions required for
the commissioning of functions and servicing of SINAMICS S120.
The Function Manual is structured as follows:
Chapter 1 Infeed
Chapter 2 Extended setpoint channel
Chapter 3 Servo control
Chapter 4 Vector control
Chapter 5 Vector V/f control (r0108.2 = 0)
Chapter 6 Basic functions
Chapter 7 Function modules
Chapter 8 Monitoring and protective functions
Chapter 9 Safety Integrated Basic Functions
Chapter 10 Communication PROFIBUS DP/PROFINET IO
Chapter 11 Applications
Chapter 12 Basic information about the drive system
Advice for beginners:
First read the chapter on basic functions and then read the relevant chapters.

Foreword
Drive functions
Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5 7
Search guides
The following guides are provided to help you locate information in this manual:
1. Contents
2. List of abbreviations
3. Index
Standard scope
The scope of the functionality described in this document can differ from the scope of the
functionality of the drive system that is actually supplied.
● 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 servicing.
● Functions can be described in the documentation that are not available in a particular
product version of the drive system. The functionality of the supplied drive system should
only be taken from the ordering documentation.
● Extensions or changes made by the machine manufacturer must be documented by the
machine manufacturer.
For reasons of clarity, this documentation does not contain all of the detailed information on
all of the product types. This documentation cannot take into consideration every
conceivable type of installation, operation and service/maintenance.
Technical Support
In case of questions, please contact us through the following hotline:
Europe/Africa
Phone [phone] - 222
Fax [phone] - 223
Internet http://www.siemens.de/automation/support-request
America
Phone [phone]
Fax [phone]
E-mail mailto:[email protected]
Asia/Pacific
Phone [phone]
Fax [phone]
E-mail mailto:[e-mail]

Foreword
Drive functions
8 Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5
Note
Country-specific telephone numbers for technical support are provided under the following
Internet address:
http://www.siemens.com/automation/service&support
Calls are subject to charge (e.g. € 0.14/min from fixed lines within Germany).
Tariffs of other phone providers may differ.
Questions on the manual
If you have any questions (suggestions, corrections) regarding this documentation, please
fax
or e-mail us at:
Fax [phone]
E-mail E-mail to: [email protected]
A fax form is available in the appendix of this document.
Internet address for SINAMICS
http://www.siemens.com/sinamics.
EC Declaration of Conformity
The EC Declaration of Conformity for the EMC Directive can be obtained from:
● Internet
http://www.ad.siemens.de/csinfo
Product/Order no: 15257461
● Branch offices
For the responsible regional offices of the A&D MC business division of Siemens AG.
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

Foreword
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Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5 9
● 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
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
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10 Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5
Safety instructions
DANGER
•Commissioning must not start until you have ensured that the machine in which the
components described here are to be installed complies with Directive 98/37/EC.
•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 AC 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 EN 50178, Chapter 5.2.11.2.
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 (PELV) that comply with EN60204-1 may be
connected to all 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), 10/2008, 6SL3097-2AB00-0BP5 11
CAUTION
•As part of routine tests, SINAMICS devices with AC motors undergo a voltage test in
accordance with EN 50178. Before the voltage test is performed on the electrical
equipment of industrial machines to EN 60204-1, Section 19.4, 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 proper condition and in dry operating areas, SINAMICS devices with
three-phase motors conform to Low-Voltage Directive 73/23/EEC.

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Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5 13
Contents
Foreword ................................................................................................................................................... 5
1 Infeed ...................................................................................................................................................... 21
1.1 Active Infeed ................................................................................................................................21
1.1.1 Introduction ..................................................................................................................................21
1.1.2 Active Infeed closed-loop control Booksize .................................................................................22
1.1.3 Active Infeed closed-loop control Chassis...................................................................................24
1.1.4 Integration ....................................................................................................................................25
1.1.5 Line and DC link identification......................................................................................................26
1.1.6 Active Infeed open-loop control ...................................................................................................27
1.1.7 Reactive current control ...............................................................................................................29
1.1.8 Harmonics controller ....................................................................................................................30
1.2 Smart Infeed.................................................................................................................................30
1.2.1 Smart Infeed closed-loop control .................................................................................................30
1.2.2 Line supply and DC link identification routine for Smart Infeed Booksize ...................................33
1.2.3 Smart Infeed open-loop control....................................................................................................34
1.3 Basic Infeed .................................................................................................................................37
1.3.1 Basic Infeed open-loop control ....................................................................................................37
1.3.2 Basic Infeed open-loop control ....................................................................................................39
1.4 Line contactor control...................................................................................................................42
1.5 Pre-charging and bypass contactor chassis................................................................................44
2 Extended setpoint channel ...................................................................................................................... 45
2.1 Activating the "extended setpoint channel" function module in servo mode ...............................45
2.2 Description ...................................................................................................................................46
2.3 Jog ...............................................................................................................................................47
2.4 Fixed speed setpoints ..................................................................................................................51
2.5 Motorized potentiometer ..............................................................................................................52
2.6 Main/supplementary setpoint and setpoint modification..............................................................54
2.7 Direction of rotation limiting and direction of rotation changeover...............................................56
2.8 Suppression bandwidths and setpoint limits................................................................................57
2.9 Ramp-function generator .............................................................................................................59
3 Servo control ........................................................................................................................................... 65
3.1 Speed controller...........................................................................................................................68
3.2 Speed setpoint filter .....................................................................................................................68
3.3 Speed controller adaptation.........................................................................................................70
3.4 Torque-controlled operation.........................................................................................................72
3.5 Torque setpoint limitation.............................................................................................................74
3.6 Current controller .........................................................................................................................79

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14 Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5
3.7 Current setpoint filters ................................................................................................................. 82
3.8 Note about the electronic motor model ....................................................................................... 87
3.9 V/f control for diagnostics............................................................................................................ 87
3.10 Optimizing the current and speed controller ...............................................................................90
3.11 Sensorless operation (without an encoder) ................................................................................ 91
3.12 Motor data identification.............................................................................................................. 95
3.12.1 Motor data identification - induction motor .................................................................................. 98
3.12.2 Motor data identification - synchronous motor............................................................................ 99
3.13 Pole position identification......................................................................................................... 102
3.14 Vdc control ................................................................................................................................ 106
3.15 Dynamic Servo Control (DSC) .................................................................................................. 109
3.16 Travel to fixed stop.................................................................................................................... 112
3.17 Vertical axes.............................................................................................................................. 116
3.18 Variable signaling function ........................................................................................................ 117
4 Vector control ........................................................................................................................................ 119
4.1 Sensorless vector control (SLVC)............................................................................................. 122
4.2 Vector control with encoder....................................................................................................... 126
4.3 Speed controller ........................................................................................................................ 126
4.4 Speed controller adaptation ...................................................................................................... 129
4.5 Speed controller pre-control and reference model ................................................................... 131
4.6 Droop......................................................................................................................................... 135
4.7 Torque control ........................................................................................................................... 137
4.8 Torque limiting........................................................................................................................... 140
4.9 Vdc control ................................................................................................................................ 141
4.10 Current setpoint filter................................................................................................................. 145
4.11 Current controller adaptation..................................................................................................... 145
4.12 Motor data identification and rotating measurement................................................................. 146
4.13 Efficiency optimization............................................................................................................... 153
4.14 Quick magnetization for induction motors................................................................................. 154
4.15 Instructions for commissioning induction motors (ASM)........................................................... 158
4.16 Instructions for commissioning permanent-magnet synchronous motors ................................ 160
4.16.1 Automatic encoder adjustment ................................................................................................. 164
4.16.2 Pole position identification......................................................................................................... 165
4.17 Flying restart ............................................................................................................................. 166
4.18 Synchronization......................................................................................................................... 168
4.19 Use of the Voltage Sensing Module in vector drives ................................................................ 170
4.20 Simulation mode ....................................................................................................................... 172
4.20.1 Description ................................................................................................................................ 172

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Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5 15
4.20.2 Features.....................................................................................................................................172
4.20.3 Commissioning...........................................................................................................................172
4.21 Redundance operation power units ...........................................................................................173
4.22 Bypass .......................................................................................................................................174
4.22.1 Bypass with synchronization with overlap (p1260 = 1)..............................................................175
4.22.2 Bypass with synchronization, without overlap (p1260 = 2)........................................................177
4.22.3 Bypass without synchronization (p1260 = 3).............................................................................179
5 Vector V/f control (r0108.2 = 0).............................................................................................................. 183
5.1 Introduction ................................................................................................................................183
5.2 Voltage boost .............................................................................................................................186
5.3 Slip compensation......................................................................................................................189
5.4 Vdc control .................................................................................................................................190
6 Basic functions ...................................................................................................................................... 195
6.1 Changing over units ...................................................................................................................195
6.2 Reference parameters/normalizations.......................................................................................197
6.3 Modular machine concept..........................................................................................................200
6.4 Sinusoidal filter...........................................................................................................................203
6.5 dv/dt filter plus VPL ....................................................................................................................204
6.6 Pulse frequency wobbling..........................................................................................................205
6.7 Direction reversal without changing the setpoint .......................................................................207
6.8 Automatic restart (vector, servo, infeed)....................................................................................208
6.9 Armature short-circuit brake, internal voltage protection, DC brake..........................................211
6.10 Integrated voltage protection .....................................................................................................217
6.11 OFF3 torque limits .....................................................................................................................222
6.12 Technology function: friction characteristic................................................................................223
6.13 Simple brake control ..................................................................................................................224
6.14 Runtime (operating hours counter) ............................................................................................227
6.15 Component status display..........................................................................................................228
6.16 Parking axis and parking encoder .............................................................................................229
6.17 Position tracking.........................................................................................................................232
6.17.1 General Information ...................................................................................................................232
6.17.2 Measuring gear ..........................................................................................................................234
6.18 Terminal Module 41 (TM41).......................................................................................................238
6.19 Updating the firmware................................................................................................................244
6.19.1 Upgrading firmware and the project in STARTER.....................................................................245
6.19.2 Downgrade disable ....................................................................................................................246
7 Function modules .................................................................................................................................. 249
7.1 Function modules - Definition and commissioning ....................................................................249
7.2 Technology controller.................................................................................................................250

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16 Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5
7.3 Extended monitoring functions.................................................................................................. 254
7.4 Extended brake control ............................................................................................................. 256
7.5 Braking Module ......................................................................................................................... 261
7.6 Cooling unit ............................................................................................................................... 262
7.7 Extended torque control (kT estimator, Servo) ......................................................................... 265
7.8 Closed-loop position control...................................................................................................... 267
7.8.1 General features ....................................................................................................................... 267
7.8.2 Position actual value conditioning............................................................................................. 267
7.8.2.1 Features .................................................................................................................................... 267
7.8.2.2 Description ................................................................................................................................ 267
7.8.2.3 Indexed actual value acquisition ............................................................................................... 270
7.8.2.4 Load gear position tracking....................................................................................................... 272
7.8.2.5 Commissioning position tracking load gear using STARTER................................................... 277
7.8.2.6 Integration ................................................................................................................................. 278
7.8.3 Position controller...................................................................................................................... 279
7.8.4 Monitoring functions.................................................................................................................. 280
7.8.5 Measuring probe evaluation and reference mark search ......................................................... 282
7.8.6 Integration ................................................................................................................................. 284
7.9 Basic positioner......................................................................................................................... 285
7.9.1 Mechanical system.................................................................................................................... 287
7.9.2 Limits......................................................................................................................................... 290
7.9.3 Referencing............................................................................................................................... 294
7.9.4 Traversing blocks ...................................................................................................................... 303
7.9.5 Travel to fixed stop.................................................................................................................... 308
7.9.6 Direct setpoint input (MDI) ........................................................................................................ 311
7.9.7 Jog............................................................................................................................................. 314
7.9.8 Status signals............................................................................................................................ 315
7.10 Connecting the motors in parallel ............................................................................................. 318
7.11 Parallel connection of power units ............................................................................................ 321
7.11.1 Description ................................................................................................................................ 321
7.11.2 Applications of parallel connections.......................................................................................... 323
7.11.3 Commissioning.......................................................................................................................... 335
7.11.4 Integration ................................................................................................................................. 335
7.12 Master/slave function for Active Infeed ..................................................................................... 336
7.12.1 Operating principle .................................................................................................................... 336
7.12.2 Basic structure .......................................................................................................................... 337
7.12.3 Types of communication ........................................................................................................... 339
7.12.4 Description of functions............................................................................................................. 340
7.12.5 Commissioning.......................................................................................................................... 344
7.12.6 Integration ................................................................................................................................. 345
8 Monitoring and protective functions ....................................................................................................... 347
8.1 Power unit protection, general .................................................................................................. 347
8.2 Thermal monitoring and overload responses............................................................................ 348
8.3 Block protection......................................................................................................................... 350
8.4 Stall protection (only for vector control) .................................................................................... 351
8.5 Thermal motor monitoring......................................................................................................... 352
8.5.1 Thermal motor monitoring......................................................................................................... 352

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Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5 17
9 Safety Integrated basic functions........................................................................................................... 357
9.1 General information ...................................................................................................................357
9.1.1 Explanations, standards, and terminology.................................................................................357
9.1.2 Supported functions ...................................................................................................................359
9.1.3 Parameter, Checksum, Version, Password ...............................................................................362
9.1.4 Forced checking procedure .......................................................................................................365
9.2 Safety instructions......................................................................................................................366
9.3 Safe Torque Off (STO)...............................................................................................................368
9.4 Safe Stop 1 (SS1, time controlled) ............................................................................................371
9.5 Safe Brake Control (SBC)..........................................................................................................373
9.6 Response times .........................................................................................................................376
9.7 Control signals by way of terminals on the Control Unit and Motor/Power Module...................377
9.8 Commissioning the "STO", "SBC" and "SS1" functions ............................................................381
9.8.1 General information about commissioning safety functions ......................................................381
9.8.2 Procedure for commissioning "STO", "SBC" and "SS1"............................................................383
9.8.3 Safety faults ...............................................................................................................................387
9.9 Acceptance test and certificate..................................................................................................389
9.9.1 General information about acceptance......................................................................................389
9.9.2 Safety logbook ...........................................................................................................................390
9.9.3 Documentation...........................................................................................................................391
9.9.4 Acceptance test for Safe Torque Off (STO)...............................................................................393
9.9.5 Acceptance test for Safe Stop 1, time controlled (SS1) ............................................................394
9.9.6 Acceptance test for "Safe Brake Control" (SBC) .......................................................................396
9.9.7 Completion of certificate ............................................................................................................397
9.10 Application examples .................................................................................................................399
9.10.1 Safe Stop 1 (SS1, time-controlled) when protective door is locked, emergency stop
switch-off ....................................................................................................................................399
9.11 Overview of parameters and function diagrams ........................................................................403
10 Communication PROFIBUS DP/PROFINET IO..................................................................................... 405
10.1 Communication according to PROFIdrive .................................................................................405
10.1.1 General information about PROFIdrive for SINAMICS..............................................................405
10.1.2 Application classes ....................................................................................................................407
10.1.3 Cyclic communication ................................................................................................................412
10.1.3.1 Telegrams and process data .....................................................................................................412
10.1.3.2 Description of control words and setpoints ................................................................................419
10.1.3.3 Description of status words and actual values...........................................................................434
10.1.3.4 Control and status words for encoder........................................................................................452
10.1.3.5 Central control and status words ...............................................................................................462
10.1.3.6 Motion Control with PROFIdrive ................................................................................................469
10.1.4 Acyclic communication...............................................................................................................471
10.1.4.1 General information about acyclic communication ....................................................................471
10.1.4.2 Structure of orders and responses.............................................................................................473
10.1.4.3 Determining the drive object numbers .......................................................................................479
10.1.4.4 Example 1: read parameters......................................................................................................480
10.1.4.5 Example 2: write parameters (multi-parameter request) ...........................................................482
10.2 Communication via PROFIBUS DP...........................................................................................486
10.2.1 General information about PROFIBUS......................................................................................486
10.2.1.1 General information about PROFIBUS for SINAMICS ..............................................................486

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10.2.1.2 Example: telegram structure for cyclic data transmission......................................................... 488
10.2.2 Commissioning PROFIBUS ...................................................................................................... 491
10.2.2.1 General information about commissioning................................................................................ 491
10.2.2.2 Commissioning procedure ........................................................................................................ 494
10.2.2.3 Diagnostics options ................................................................................................................... 494
10.2.2.4 SIMATIC HMI addressing ......................................................................................................... 495
10.2.2.5 Monitoring: telegram failure....................................................................................................... 496
10.2.3 Motion Control with PROFIBUS................................................................................................ 497
10.2.4 Slave-to-slave communication .................................................................................................. 502
10.2.4.1 General information................................................................................................................... 502
10.2.4.2 Setpoint assignment in the subscriber ...................................................................................... 504
10.2.4.3 Activating/parameterizing slave-to-slave communication ......................................................... 504
10.2.4.4 Commissioning of the PROFIBUS slave-to-slave communication ........................................... 506
10.2.4.5 GSD (GeräteStammDaten) file ................................................................................................. 515
10.2.4.6 Diagnosing the PROFIBUS slave-to-slave communication in STARTER ................................ 516
10.3 Communication via PROFINET IO ........................................................................................... 518
10.3.1 General information about PROFINET IO ................................................................................ 518
10.3.1.1 General information about PROFINET IO for SINAMICS......................................................... 518
10.3.1.2 Real-time (RT) and isochronous real-time (IRT) communication ............................................. 519
10.3.1.3 Addresses ................................................................................................................................. 520
10.3.1.4 Data transfer ............................................................................................................................. 522
10.3.2 Hardware setup......................................................................................................................... 522
10.3.2.1 Configuring SINAMICS drives with PROFINET........................................................................ 522
10.3.3 RT classes for PROFINET IO ................................................................................................... 525
10.3.4 Selection of the PROFINET variant .......................................................................................... 531
10.3.5 Motion Control with PROFINET ................................................................................................ 532
11 Applications ........................................................................................................................................... 535
11.1 Switching on a drive object x_Infeed by means of a vector drive object .................................. 535
11.2 Parallel operation of communication interfaces for CU320....................................................... 536
11.3 Motor changeover ..................................................................................................................... 539
11.4 Application examples with the DMC20 ..................................................................................... 544
11.5 Tolerant encoder monitoring with SMC30................................................................................. 547
11.6 DCC axial winder ...................................................................................................................... 551
11.7 Control Units without infeed control .......................................................................................... 557
11.8 Derating function for chassis units ............................................................................................ 559
11.9 Application: emergency stop with power failure and/or emergency stop (Servo)..................... 560
12 Basic information about the drive system .............................................................................................. 563
12.1 Parameter.................................................................................................................................. 563
12.2 Data sets ................................................................................................................................... 566
12.2.1 CDS: Command Data Set......................................................................................................... 566
12.2.2 DDS: Drive Data Set ................................................................................................................. 567
12.2.3 EDS: Encoder Data Set ............................................................................................................ 568
12.2.4 MDS: Motor Data Set................................................................................................................ 569
12.2.5 Integration ................................................................................................................................. 571
12.3 Drive objects ............................................................................................................................. 572
12.4 BICO technology: interconnecting signals ................................................................................ 574
12.4.1 Description ................................................................................................................................ 574

Contents
Drive functions
Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5 19
12.4.2 Binectors, connectors ................................................................................................................574
12.4.3 Interconnecting signals using BICO technology ........................................................................575
12.4.4 Internal encoding of the binector/connector output parameters ................................................576
12.4.5 Sample interconnections............................................................................................................577
12.4.6 BICO technology:.......................................................................................................................578
12.4.7 Scaling .......................................................................................................................................579
12.5 Inputs/outputs.............................................................................................................................580
12.5.1 Overview of inputs/outputs.........................................................................................................580
12.5.2 Digital inputs/outputs..................................................................................................................581
12.5.3 Use of bidirectional inputs/outputs on the CU............................................................................584
12.5.4 Analog inputs .............................................................................................................................585
12.5.5 Analog outputs ...........................................................................................................................587
12.6 Parameterizing using the BOP20 (Basic Operator Panel 20)....................................................588
12.6.1 General information about the BOP20.......................................................................................588
12.6.2 Displays and using the BOP20 ..................................................................................................591
12.6.3 Fault and alarm displays ............................................................................................................596
12.6.4 Controlling the drive using the BOP20.......................................................................................597
12.7 Examples of replacing components...........................................................................................598
12.8 Exchanging a SINAMICS Sensor Module Integrated ................................................................601
12.8.1 Backing up SMI data on a memory card....................................................................................602
12.9 DRIVE-CLiQ topology................................................................................................................604
12.10 Rules for wiring with DRIVE-CLiQ .............................................................................................606
12.10.1 General rules..............................................................................................................................606
12.10.2 Rules for different firmware versions .........................................................................................610
12.10.3 Sample wiring for vector drives..................................................................................................615
12.10.4 Sample wiring of Vector drives connected in parallel ................................................................617
12.10.5 Sample wiring: Power Modules..................................................................................................618
12.10.6 Changing the offline topology in STARTER...............................................................................620
12.10.7 Sample wiring for servo drives...................................................................................................621
12.10.8 Sample wiring for vector V/f drives ............................................................................................622
12.11 Autonomous operating mode for DRIVE-CLiQ components .....................................................623
12.12 Notes on the number of controllable drives ...............................................................................626
12.12.1 Introduction ................................................................................................................................626
12.12.2 Number of controllable drives ....................................................................................................626
12.13 System sampling times ..............................................................................................................629
12.13.1 Description .................................................................................................................................629
12.13.2 Setting the sampling times.........................................................................................................630
12.13.3 Rules for setting the sampling time............................................................................................632
12.13.4 Default settings for the sampling times......................................................................................635
12.13.5 Examples when changing sampling times / pulse frequencies .................................................636
12.13.6 Overview of important parameters (see SINAMICS S120/S150 List Manual) ..........................637
12.14 Licensing....................................................................................................................................638
A Appendix................................................................................................................................................ 641
A.1 Availability of hardware components .........................................................................................641
A.2 Availability of SW functions........................................................................................................642
A.3 List of abbreviations ...................................................................................................................648
Index...................................................................................................................................................... 657