Siemens SINAMICS S120 Quick start guide

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SINAMICS
S120
CANopen interface
Commissioning Manual
Valid for:
Firmware version 5.1
11/2017
6SL3097
-4AA00-0BP3
Preface
Fundamental safety
instructions
1
Add infeed
2
CAN CBC10 Communication
Board
3
Configuration
4
Calculation/conversion
setpoints/actual values
5
Diagnosis
6
Operating modes
7
Appendix
A

Siemens AG
Division Digital Factory
Postfach 48 48
90026 NÜRNBERG
GERMANY
Document order number: 6SL3097-4AA00-0BP3
Ⓟ
10/2017 Subject to change
Copyright © Siemens AG 2004 - 2017.
All rights reserved
Legal information
Warning notice system
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.
DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.
WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.
CAUTION
indicates that minor personal injury can result if proper precautions are not taken.
NOTICE
indicates that property damage can result if proper precautions are not taken.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will
be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to
property damage.
Qualified Personnel
The product/system described in this documentation may be operated only by
personnel qualified
for the specific
task in accordance with the relevant documentation, in particular its warning notices and safety instructions.
Qualified personnel are those who, based on their training and experience, are capable of identifying risks and
avoiding potential hazards when working with these products/systems.
Proper use of Siemens products
Note the following:
WARNING
Siemens products may only be used for the applications described in the catalog and in the relevant technical
documentation. If products and components from other manufacturers are used, these must be recommended
or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and
maintenance are required to ensure that the products operate safely and without any problems. The permissible
ambient conditions must be complied with. The information in the relevant documentation must be observed.
Trademarks
All names identified by ® are registered trademarks of Siemens AG. The remaining trademarks in this publication
may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software
described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the
information in this publication is reviewed regularly and any necessary corrections are included in subsequent
editions.

CANopen interface
Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3 5
Preface
SINAMICS documentation
The SINAMICS documentation is organized in the following categories:
●General documentation/catalogs
●User documentation
●Manufacturer/service documentation
Additional information
You can find information on the following topics at the following address
(https://support.industry.siemens.com/cs/de/en/view/108993276):
●Ordering documentation/overview of documentation
●Additional links to download documents
●Using documentation online (find and search in manuals/information)
Please send any questions about the technical documentation (e.g. suggestions for
improvement, corrections) to the following e-mail address
(mailto:[e-mail]).
Siemens MySupport/Documentation
At the following address (https://support.industry.siemens.com/My/ww/en/documentation),
you can find information on how to create your own individual documentation based on
Siemens' content, and adapt it for your own machine documentation.
Training
At the following address (http://www.siemens.com/sitrain), you can find information about
SITRAIN (Siemens training on products, systems and solutions for automation and drives).
FAQs
You can find Frequently Asked Questions in the Service&Support pages under Product
Support (https://support.industry.siemens.com/cs/de/en/ps/faq).
SINAMICS
You can find information about SINAMICS at the following address
(http://www.siemens.com/sinamics).

Preface
CANopen interface
6Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
Usage phases and their documents/tools (as an example)
Table 1 Usage phases and the available documents/tools
Usage phase
Document/tool
Orientation
SINAMICS S Sales Documentation
Planning/configuration •SIZER Engineering Tool
•Configuration Manuals, Motors
Deciding/ordering SINAMICS S120 catalogs
•SINAMICS S120 and SIMOTICS (Catalog D 21.4)
•SINAMICS Converters for Single-Axis Drives and SIMOTICS Motors (Catalog D 31)
•SINUMERIK 840 Equipment for Machine Tools (Catalog NC 62)
Installation/assembly •SINAMICS S120 Manual for Control Units and Additional System Components
•SINAMICS S120 Manual for Booksize Power Units
•SINAMICS S120 Manual for Booksize Power Units C/D Type
•SINAMICS S120 Manual for Chassis Power Units, Air-cooled
•SINAMICS S120 Manual for Chassis Power Units, Liquid-cooled
•SINAMICS S120 Manual for AC Drives
•SINAMICS S120 Manual Combi
•SINAMICS S120M Manual Distributed Drive Technology
•SINAMICS HLA System Manual Hydraulic Drive
Commissioning •STARTER Commissioning Tool
•Startdrive commissioning tool
•SINAMICS S120 Getting Started with STARTER
•SINAMICS S120 Getting Started with Startdrive
•SINAMICS S120 Commissioning Manual with STARTER
•SINAMICS S120 Commissioning Manual with Startdrive
•SINAMICS S120 CANopen Commissioning Manual
•SINAMICS S120 Function Manual Drive Functions
•SINAMICS S120 Safety Integrated Function Manual
•SINAMICS S120/S150 List Manual
•SINAMICS HLA System Manual Hydraulic Drive
Usage/operation •SINAMICS S120 Commissioning Manual with STARTER
•SINAMICS S120 Commissioning Manual with Startdrive
•SINAMICS S120/S150 List Manual
•SINAMICS HLA System Manual Hydraulic Drive
Maintenance/servicing •SINAMICS S120 Commissioning Manual with STARTER
•SINAMICS S120 Commissioning Manual with Startdrive
•SINAMICS S120/S150 List Manual
References •SINAMICS S120/S150 List Manual

Preface
CANopen interface
Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3 7
Target group
This documentation is intended for machine manufacturers, commissioning engineers, and
service personnel who use the SINAMICS drive system.
Benefits
This manual provides all of the information, procedures and operator actions required for the
particular usage phase.
Standard scope
The scope of the functionality described in this document can differ from that of the drive
system that is actually supplied.
●Other functions not described in this documentation might be able to be executed in the
drive system. However, no claim can be made regarding the availability of these functions
when the equipment is first supplied or in the event of service.
●The documentation can also contain descriptions of functions that are not available in a
particular product version of the drive system. The functionality of the supplied drive
system should only be taken from the ordering documentation.
●Extensions or changes made by the machine manufacturer must be documented by the
machine manufacturer.
For reasons of clarity, this documentation does not contain all of the detailed information on
all of the product types, and cannot take into consideration every conceivable type of
installation, operation and service/maintenance.
Technical Support
Country-specific telephone numbers for technical support are provided in the Internet at the
following address (https://support.industry.siemens.com/sc/ww/en/sc/2090) in the "Contact"
area.
Relevant directives and standards
You can obtain an up-to-date list of currently certified components on request from your local
Siemens office. If you have any questions relating to certifications that have not yet been
completed, please ask your Siemens contact person.
Certificates for download
The certificates can be downloaded from the Internet:
Certificates (https://support.industry.siemens.com/cs/ww/de/ps/13206/cert)
EC Declaration of Conformity
You can find the EC Declaration of Conformity for the relevant directives as well as the
relevant certificates, prototype test certificates, manufacturers declarations and test
certificates for functions relating to functional safety ("Safety Integrated") on the Internet at
the following address (https://support.industry.siemens.com/cs/ww/en/ps/13231/cert).

Preface
CANopen interface
8Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
The following directives and standards are relevant for SINAMICS S devices:
●
European Low Voltage Directive
SINAMICS S devices fulfil the requirements stipulated in the Low-Voltage Directive
2014/35/EU, insofar as they are covered by the application area of this directive.
●
European Machinery Directive
SINAMICS S devices fulfil the requirements stipulated in the Low-Voltage Directive
2006/42/EU, insofar as they are covered by the application area of this directive.
However, the use of the SINAMICS S devices in a typical machine application has been
fully assessed for compliance with the main regulations in this directive concerning health
and safety.
●
Directive 2011/65/EU
SINAMICS S devices comply with the requirements of Directive 2011/65/EU on the
restriction of the use of certain hazardous substances in electrical and electronic devices
(RoHS II).
●
European EMC Directive
SINAMICS S devices comply with the EMC Directive 2014/30/EU.
●
EMC requirements for South Korea
SINAMICS S devices with the KC marking on the type plate satisfy the EMC
requirements for South Korea.
●
Eurasian conformity
SINAMICS S comply with the requirements of the Russia/Belarus/Kazakhstan customs
union (EAC).
●
North American market
SINAMICS S devices provided with one of the test symbols displayed fulfill the
requirements stipulated for the North American market as a component of drive
applications.
You can find the relevant certificates on the Internet pages of the certifier
(http://database.ul.com/cgi-bin/XYV/template/LISEXT/1FRAME/index.html).
●
Specification for semiconductor process equipment voltage drop immunity
SINAMICS S devices meet the requirements of standard SEMI F47-0706.
●
Australia and New Zealand (RCM formerly C-Tick)
SINAMICS S devices showing the test symbols fulfill the EMC requirements for Australia
and New Zealand.
●
Quality systems
Siemens AG employs a quality management system that meets the requirements of ISO
9001 and ISO 14001.

Preface
CANopen interface
Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3 9
Not relevant standards
China Compulsory Certification
SINAMICS S devices do not fall in the area of validity of the China Compulsory Certification
(CCC).
EMC limit values in South Korea
The EMC limit values to be observed for Korea correspond to the limit values of the EMC
product standard for variable-speed electric drives EN 61800-3 of category C2 or the limit
value class A, Group 1 to KN11. By implementing appropriate additional measures, the limit
values according to category C2 or limit value class A, Group 1, are observed. Further,
additional measures may be required, such as using an additional radio interference
suppression filter (EMC filter).
The measures for EMC-compliant design of the system are described in detail in this manual
respectively in the EMC Installation Guideline Configuration Manual.
The final statement regarding compliance with the standard is given by the respective label
attached to the individual unit.
Ensuring reliable operation
The manual describes a desired state which, if maintained, ensures the required level of
operational reliability and compliance with EMC limit values.
Should there be any deviation from the requirements in the manual, appropriate actions (e.g.
measurements) must be taken to check/prove that the required level of operational reliability
and compliance with EMC limit values are ensured.
Spare parts
Spare parts are available on the Internet at the following address
(https://www.automation.siemens.com/sow?sap-language=EN).
Product maintenance
The components are subject to continuous further development within the scope of product
maintenance (improvements to robustness, discontinuations of components, etc).
These further developments are "spare parts-compatible" and do not change the article
number.
In the scope of such spare parts-compatible further developments, connector/connection
positions are sometimes changed slightly. This does not cause any problems with proper
use of the components. Please take this fact into consideration in special installation
situations (e.g. allow sufficient clearance for the cable length).

Preface
CANopen interface
10 Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
Use of third-party products
This document contains recommendations relating to third-party products. Siemens accepts
the fundamental suitability of these third-party products.
You can use equivalent products from other manufacturers.
Siemens does not accept any warranty for the properties of third-party products.
Ground symbols
Table 2 Symbols
Symbol
Meaning
Connection for protective conductor
Ground (e.g. M 24 V)
Connection for function potential bonding
Notation
The following notation and abbreviations are used in this documentation:
Notation for faults and alarms (examples):
•
F12345
Fault 1234
5
•
A67890
Alarm 67890
•
C23456
Safety message
Notation for parameters (examples):
•
p0918
Adjustable parameter 918
•
r1024
Display parameter 1024
•
p1070[1]
Adjustable parameter 1070, index 1
•
p2098[1].3
Adjustable parameter 2098, index 1 bit 3
•
p0099[0...3]
Adjustable parameter 99, indices 0 to 3
•
r0945[2](3)
Display parameter 945, index 2 of drive object 3
•
p0795.4
Adjustable parameter 795, bit 4

Preface
CANopen interface
Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3 11
Steps when commissioning a CANopen interface
Note
This "SINAMICS S120 Commissioning Manual CANopen" describ
es the steps involved
when commissioning a CANopen interface in the SINAMICS drive line
-up.
This Commissioning Manual supplements the description of "Initial commissioning servo
control booksize format" to include a description of the initial commissioning
procedure for
the CANopen communication interface:
•
SINAMICS S120 with the CBC10 communication module
•
Detailed instructions on commissioning the entire SINAMICS drive line-
up are available in
the "SINAMICS S120 with STARTER" Commissioning Manual.

Preface
CANopen interface
12 Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3

CANopen interface
Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3 13
Table of contents
Preface ................................................................................................................................................... 5
1 Fundamental safety instructions ............................................................................................................ 17
1.1 General safety instructions .....................................................................................................17
1.2 Equipment damage due to electric fields or electrostatic discharge ......................................22
1.3 Warranty and liability for application examples ......................................................................23
1.4 Industrial security ....................................................................................................................24
1.5 Residual risks of power drive systems....................................................................................25
2 Add infeed ............................................................................................................................................ 27
2.1 Previous knowledge................................................................................................................27
2.2 CAN bus structure for SINAMICS...........................................................................................28
2.3 CANopen functions that are supported...................................................................................29
2.4 Network management.............................................................................................................30
2.4.1 Overview .................................................................................................................................30
2.4.2 Bootup protocol.......................................................................................................................31
2.4.3 NMT state after power up .......................................................................................................31
2.4.4 NMT services - Node Control Services...................................................................................31
2.4.5 NMT services - Error Control Services ...................................................................................33
2.5 CANopen object directory.......................................................................................................34
2.5.1 Control Unit communication objects independent of the drive ...............................................36
2.5.2 Drive-dependent communication objects................................................................................38
2.5.2.1 Communication objects receive PDO .....................................................................................39
2.5.2.2 Communication objects send PDO.........................................................................................44
2.5.2.3 Other communication objects .................................................................................................50
2.5.3 Manufacturer-specific objects .................................................................................................51
2.5.3.1 Objects to access SINAMICS parameters..............................................................................52
2.5.3.2 Free objects ............................................................................................................................54
2.5.4 CANopen objects of the drive profile DSP402........................................................................55
2.6 SDO (Service Data Object).....................................................................................................58
2.6.1 General ...................................................................................................................................58
2.6.2 SDO server for each drive object............................................................................................58
2.6.2.1 Mapping models......................................................................................................................58
2.6.2.2 EDS files .................................................................................................................................61
2.6.2.3 SDO server .............................................................................................................................64
2.6.2.4 Objects of the manufacturer-specific EDS files ......................................................................65

Table of contents
CANopen interface
14 Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
2.7 PDO (Process Data Object)................................................................................................... 67
2.7.1 Parameter .............................................................................................................................. 67
2.7.2 Data transmission types......................................................................................................... 68
2.7.3 Number of PDO that can be created...................................................................................... 69
2.7.4 Send and receive message frames for process data ............................................................ 70
2.7.5 PDO mapping......................................................................................................................... 72
2.7.6 RPDO monitoring................................................................................................................... 73
2.8 CANopen device state machine............................................................................................. 74
2.9 Save parameters restore factory settings .............................................................................. 76
2.10 CAN bus sampling time ......................................................................................................... 78
2.11 The number of drives supported by CAN .............................................................................. 79
3 CAN CBC10 Communication Board ...................................................................................................... 81
3.1 Connection............................................................................................................................. 81
3.2 Mounting ................................................................................................................................ 83
3.3 Hardware settings .................................................................................................................. 84
4 Configuration ........................................................................................................................................ 87
4.1 Overview ................................................................................................................................ 87
4.2 Configuring the CANopen interface ....................................................................................... 88
4.2.1 Selecting the CBC10 option module...................................................................................... 88
4.2.2 Configuring the infeed............................................................................................................ 90
4.2.3 Configuring a drive................................................................................................................. 90
4.2.4 Configuring CBC10 ................................................................................................................ 92
4.2.4.1 Parameterizing the transmission properties for Control Unit CU320-2.................................. 92
4.2.4.2 Configuring the transmission rate and CAN bus address...................................................... 93
4.3 Configuring the PDO message frames .................................................................................. 96
4.3.1 Assigning COB IDs and mapping parameters for free PDO mapping................................... 97
4.4 Process data interconnection............................................................................................... 103
4.4.1 Reading out the image of mapped process data objects..................................................... 103
4.4.2 Interconnecting process data for the PDO message frame................................................. 105
4.4.2.1 Interconnecting the receive buffer........................................................................................ 106
4.4.2.2 Interconnecting the transmit buffer ...................................................................................... 108
4.5 SDO access, process data .................................................................................................. 110
4.5.1 Standardized CANopen PZD objects................................................................................... 110
4.5.2 Free CANopen PZD objects ................................................................................................ 112
4.6 PDO access to the infeed .................................................................................................... 114
5 Calculation/conversion setpoints/actual values.....................................................................................115
5.1 Speed setpoint input and evaluation of the speed actual value .......................................... 115
5.2 Torque setpoint input and evaluation of the torque actual value ......................................... 118

Table of contents
CANopen interface
Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3 15
6 Diagnosis............................................................................................................................................ 121
6.1 Diagnostics LED "OPT" ........................................................................................................122
6.2 Alarm object (Emergency Object).........................................................................................124
6.3 Drive-unit-internal error list ("predefined error field") ............................................................125
6.4 Error register .........................................................................................................................126
6.5 Response in the case of an error..........................................................................................127
7 Operating modes ................................................................................................................................ 129
7.1 Position-referred operating modes .......................................................................................134
A Appendix............................................................................................................................................. 135
A.1 List of abbreviations..............................................................................................................135
A.2 Documentation overview ......................................................................................................144
A.3 CANopen glossary ................................................................................................................145
Index................................................................................................................................................... 149

Table of contents
CANopen interface
16 Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3

CANopen interface
Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3 17
Fundamental safety instructions
1
1.1
General safety instructions
WARNING
Electric shock and danger to life due to other energy sources
Touching live components can result in death or severe injury.
•Only work on electrical devices when you are qualified for this job.
•Always observe the country-specific safety rules.
Generally, the following six steps apply when establishing safety:
1. Prepare for disconnection. Notify all those who will be affected by the procedure.
2. Isolate the drive system from the power supply and take measures to prevent it being
switched back on again.
3. Wait until the discharge time specified on the warning labels has elapsed.
4. Check that there is no voltage between any of the power connections, and between any
of the power connections and the protective conductor connection.
5. Check whether the existing auxiliary supply circuits are de-energized.
6. Ensure that the motors cannot move.
7. Identify all other dangerous energy sources, e.g. compressed air, hydraulic systems, or
water. Switch the energy sources to a safe state.
8. Check that the correct drive system is completely locked.
After you have completed the work, restore the operational readiness in the inverse
sequence.
WARNING
Electric shock due to connection to an unsuitable power supply
When equipment is connected to an unsuitable power supply, exposed components may
carry a hazardous voltage that might result in serious injury or death.
•Only use power supplies that provide SELV (Safety Extra Low Voltage) or PELV-
(Protective Extra Low Voltage) output voltages for all connections and terminals of the
electronics modules.

Fundamental safety instructions
1.1 General safety instructions
CANopen interface
18 Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
WARNING
Electric shock due to equipment damage
Improper handling may cause damage to equipment. For damaged devices, hazardous
voltages can be present at the enclosure or at exposed components; if touched, this can
result in death or severe injury.
•Ensure compliance with the limit values specified in the technical data during transport,
storage and operation.
•Do not use any damaged devices.
WARNING
Electric shock due to unconnected cable shield
Hazardous touch voltages can occur through capacitive cross-coupling due to unconnected
cable shields.
•As a minimum, connect cable shields and the conductors of power cables that are not
used (e.g. brake cores) at one end at the grounded housing potential.
WARNING
Electric shock if there is no ground connection
For missing or incorrectly implemented protective conductor connection for devices with
protection class I, high voltages can be present at open, exposed parts, which when
touched, can result in death or severe injury.
•Ground the device in compliance with the applicable regulations.
WARNING
Arcing when a plug connection is opened during operation
Opening a plug connection when a system is operation can result in arcing that may cause
serious injury or death.
•Only open plug connections when the equipment is in a voltage-free state, unless it has
been explicitly stated that they can be opened in operation.
WARNING
Electric shock due to residual charges in power components
Because of the capacitors, a hazardous voltage is present for up to 5 minutes after the
power supply has been switched off. Contact with live parts can result in death or serious
injury.
•Wait for 5 minutes before you check that the unit really is in a no-voltage condition and
start work.

Fundamental safety instructions
1.1 General safety instructions
CANopen interface
Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3 19
NOTICE
Property damage due to loose power connections
Insufficient tightening torques or vibration can result in loose power connections. This can
result in damage due to fire, device defects or malfunctions.
•Tighten all power connections to the prescribed torque.
•Check all power connections at regular intervals, particularly after equipment has been
transported.
WARNING
Spread of fire from built-in devices
In the event of fire outbreak, the enclosures of built-in devices cannot prevent the escape of
fire and smoke. This can result in serious personal injury or property damage.
•Install built-in units in a suitable metal cabinet in such a way that personnel are
protected against fire and smoke, or take other appropriate measures to protect
personnel.
•Ensure that smoke can only escape via controlled and monitored paths.
WARNING
Failure of pacemakers or implant malfunctions due to electromagnetic fields
Electromagnetic fields (EMF) are generated by the operation of electrical power equipment,
such as transformers, converters, or motors. People with pacemakers or implants in the
immediate vicinity of this equipment are at particular risk.
•If you have a heart pacemaker or implant, maintain a minimum distance of 2 m from
electrical power equipment.
WARNING
Unexpected movement of machines caused by radio devices or mobile phones
When radio devices or mobile phones with a transmission power > 1 W are used in the
immediate vicinity of components, they may cause the equipment to malfunction.
Malfunctions may impair the functional safety of machines and can therefore put people in
danger or lead to property damage.
•If you come closer than around 2 m to such components, switch off any radios or mobile
phones.
•Use the "SIEMENS Industry Online Support App" only on equipment that has already
been switched off.

Fundamental safety instructions
1.1 General safety instructions
CANopen interface
20 Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
WARNING
Motor fire in the event of insulation overload
There is higher stress on the motor insulation through a ground fault in an IT system. If the
insulation fails, it is possible that death or severe injury can occur as a result of smoke and
fire.
•Use a monitoring device that signals an insulation fault.
•Correct the fault as quickly as possible so the motor insulation is not overloaded.
WARNING
Fire due to inadequate ventilation clearances
Inadequate ventilation clearances can cause overheating of components with subsequent
fire and smoke. This can cause severe injury or even death. This can also result in
increased downtime and reduced service lives for devices/systems.
•Ensure compliance with the specified minimum clearance as ventilation clearance for
the respective component.
WARNING
Unrecognized dangers due to missing or illegible warning labels
Dangers might not be recognized if warning labels are missing or illegible. Unrecognized
dangers may cause accidents resulting in serious injury or death.
•Check that the warning labels are complete based on the documentation.
•Attach any missing warning labels to the components, where necessary in the national
language.
•Replace illegible warning labels.
NOTICE
Device damage caused by incorrect voltage/insulation tests
Incorrect voltage/insulation tests can damage the device.
•Before carrying out a voltage/insulation check of the system/machine, disconnect the
devices as all converters and motors have been subject to a high voltage test by the
manufacturer, and therefore it is not necessary to perform an additional test within the
system/machine.