SINAMICS G130 Inverter Chassis Units en-US

Preface
Safety information 1
Device overview 2
SINAMICS
Mechanical installation 3
SINAMICS G130
Inverter chassis units 4
Electrical installation
Commissioning 5
Operating Instructions
Operation 6
Setpoint channel and
closed-loop control 7
Output terminals 8
Functions, monitoring, and
protective functions 9
Diagnosis / faults and
alarms 10
Maintenance and servicing 11
Technical specifications 12
Appendix A
Firmware version V5.2 SP3
06/2020
A5E00331449A
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.
Siemens AG A5E00331449A Copyright © Siemens AG 2004 - 2020.

Digital Industries Ⓟ 09/2020 Subject to change All rights reserved
Postfach 48 48
90026 NÜRNBERG
GERMANY
Preface
Structure of this documentation

The customer documentation comprises the following documents:
• Converter Operating Instructions
The Operating Instructions consist of the following sections:
– Device description
– Mechanical installation
– Electrical installation
– Commissioning guide
– Description of function
– Maintenance instructions
– Technical data
– Control cabinet design
• Operating instructions for additional system components
– AOP30
– BOP20
– Line filters
– Line reactors
– Braking Modules and braking resistors
– Motor reactors
– Sine-wave filters
– dv/dt filter plus VPL
– dv/dt filter compact plus VPL
– TB30
– VSM10
– TM150
– Line Harmonics Filter
Inverter chassis units

Operating Instructions, 06/2020, A5E00331449A 3
Preface
• List Manual
The List Manual consists of the following sections:
– Parameter list
– Function diagrams
– Fault / warning list
• Documentation for Drive Control Chart (DCC)
– Programming and Operating Manual: DCC Editor description
– Function Manual: Description of the standard DCC blocks
Documentation on the Internet

The documentation on SINAMICS G130 can be found on the Internet under the following link
(https://support.industry.siemens.com/cs/ww/en/ps/13226/man).
Technical support
If you have any questions, please contact our hotline:
Time zone Europe/Africa

Phone +49 (0) 911 895 7222
Fax +49 (0) 911 895 7223
Internet Technical support (https://support.industry.siemens.com/cs/ww/en/sc/4868)
Time zone America

Phone +1 423 262 2522
Fax +1 423 262 2200
Internet techsupport.sea@siemens.com
Time zone Asia/Pacific

Phone +86 1064 757 575
Fax +86 1064 747 474
Internet support.asia.automation@siemens.com
Spare parts
Spare parts are available on the Internet at the following address
(https://support.industry.siemens.com/sc/de/en/sc/2110).

4 Operating Instructions, 06/2020, A5E00331449A
Preface
Siemens Support for on the move

With the "Siemens Industry Online Support" App, you can access more than 300,000
documents for Siemens Industry products – any time and from anywhere. The App supports
you in the following areas:
• Resolving problems when implementing a project
• Troubleshooting when faults develop
• Expanding a system or planning a new system
Further, you have access to the Technical Forum and other articles that our experts have
drawn-up:
• FAQs
• Application examples
• Manuals
• Certificates
• Product announcements and much more
The "Siemens Industry Online Support" app is available for Apple iOS and Android.
Internet address
Information about SINAMICS can be found on the Internet at the following address:
http://www.siemens.com/sinamics
EMC limit values for South Korea
The mandatory EMC limits for Korea correspond to the limits of EN 61800-3 (EMC product
standard for adjustable speed electrical drive systems) for category C2 or to limit class A,
Group 1 according to EN 55011.
Compliance with the limits according to category C2 or class A, group 1 is achieved with
suitable additional measures. Furthermore, additional measures such as the use of an
additional radio interference suppression filter (EMC filter) may be required.
In addition, measures for proper plant design to meet EMC requirements are described in
detail in this manual and the "SINAMICS Low Voltage Configuration Manual".

Preface
Certifications
The following certifications can be found on the Internet under the link SINAMICS G130
certificates (https://support.industry.siemens.com/cs/de/en/ps/13226/cert):
• EC declaration of conformity with reference to the EMC directive:
• EC declaration of conformity with reference to the machinery directive (safety)
• Manufacturers declaration in reference to Safety Integrated
Web sites of third-party companies

This document includes hyperlinks to web sites of third-party companies. Siemens accepts no
responsibility for the content of these web sites, nor does it use these web sites and their
content for its own use, as Siemens cannot check these web sites and is also not responsible
for the content and information provided on them. The user uses these web sites at his own
risk.
Use of OpenSSL
This product contains software (https://www.openssl.org/) that has been developed by the
OpenSSL project for use in the OpenSSL toolkit.
This product contains cryptographic software (mailto:eay@cryptsoft.com) created by Eric
Young.
This product contains software (mailto:eay@cryptsoft.com) developed by Eric Young.
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 or store any person-related data, only technical function data
(e.g. time stamps). If the user links this data with other data (e.g. shift plans) or if he/she
stores person-related data on the same data medium (e.g. hard disk), thus personalizing this
data, he/she has to ensure compliance with the applicable data protection stipulations.

Table of contents
Preface ................................................................................................................................................... 3
1 Safety information............................................................................................................................... 15
1.1 General safety instructions ................................................................................................. 15
1.2 Handling electrostatic sensitive devices (ESD)..................................................................... 20
1.3 Industrial security .............................................................................................................. 21
1.4 Residual risks of power drive systems ................................................................................. 22
2 Device overview .................................................................................................................................. 23
2.1 Chapter content................................................................................................................. 23
2.2 Overview of the chassis units ............................................................................................. 24
2.3 Overview of the Power Modules ......................................................................................... 25
2.4 Applications, features ........................................................................................................ 26
2.4.1 Applications....................................................................................................................... 26
2.4.2 Features, quality, service.................................................................................................... 26
2.5 Wiring principle ................................................................................................................. 28
2.6 Type plate.......................................................................................................................... 29
3 Mechanical installation ....................................................................................................................... 31
3.1 Chapter content................................................................................................................. 31
3.2 Transportation and storage ................................................................................................ 31
3.3 Assembly ........................................................................................................................... 33
3.3.1 Requirements on the installation location........................................................................... 33
3.3.2 Unpacking ......................................................................................................................... 34
3.3.3 Required tools ................................................................................................................... 34
3.4 Power Module ................................................................................................................... 35
3.4.1 Dimension drawings .......................................................................................................... 36
3.5 Control Unit CU320-2 ........................................................................................................ 40
3.6 TM31 Terminal Module ...................................................................................................... 41
3.7 SMC30 Sensor Module ....................................................................................................... 43
4 Electrical installation ........................................................................................................................... 45
4.1 Chapter content................................................................................................................. 45
4.2 Preparation ........................................................................................................................ 45
4.3 Important safety precautions ............................................................................................. 46
4.4 Introduction to EMC ........................................................................................................... 47
4.5 EMC-compliant design ....................................................................................................... 49

Table of contents
4.6 Connection overview ......................................................................................................... 52

4.7 Power connections ............................................................................................................ 56
4.7.1 Cable lugs.......................................................................................................................... 56
4.7.2 Connection cross-sections, cable lengths............................................................................ 58
4.7.3 Connecting the motor and power cables ............................................................................ 59
4.7.4 DCPS, DCNS connection for a dV/dt filter with Voltage Peak Limiter..................................... 60
4.7.5 Adjusting the fan voltage ................................................................................................... 60
4.7.6 Removing the connection clip to the basic interference suppression module for
operation on an ungrounded line supply (IT system) .......................................................... 62
4.8 External 24 V DC supply ..................................................................................................... 67
4.9 DRIVE-CLiQ wiring diagram ................................................................................................ 68
4.10 Signal connections............................................................................................................. 69
4.10.1 Power Module ................................................................................................................... 69
4.10.2 Control Unit CU320-2 DP.................................................................................................... 73
4.10.3 Control Unit CU320-2 PN ................................................................................................... 89
4.10.4 TM31 Terminal Module .................................................................................................... 102
4.10.5 Sensor Module Cabinet-Mounted SMC30 ......................................................................... 111
4.10.5.1 Description ...................................................................................................................... 111
4.10.5.2 Connection ...................................................................................................................... 115
4.10.5.3 Connection examples ...................................................................................................... 120
4.10.6 TM54F Terminal Module .................................................................................................. 121
5 Commissioning .................................................................................................................................. 123
5.1 Chapter content............................................................................................................... 123
5.2 STARTER commissioning tool ........................................................................................... 124
5.2.1 Installing the STARTER commissioning tool....................................................................... 126
5.2.2 Layout of the STARTER user interface ............................................................................... 126
5.3 Procedure for commissioning via STARTER ....................................................................... 127
5.3.1 Creating a project ............................................................................................................ 127
5.3.2 Configuring the drive unit ................................................................................................ 135
5.3.3 Transferring the drive project ........................................................................................... 160
5.3.4 Commissioning with STARTER via Ethernet ....................................................................... 162
5.4 The AOP30 operator panel ............................................................................................... 168
5.5 First commissioning with the AOP30 ................................................................................ 169
5.5.1 First commissioning ......................................................................................................... 169
5.5.2 Basic commissioning ........................................................................................................ 171
5.6 Status after commissioning .............................................................................................. 179
5.7 Commissioning an encoder with gear factor ..................................................................... 180
5.8 Parameter reset to factory settings ................................................................................... 180
6 Operation........................................................................................................................................... 183
6.1 Chapter content............................................................................................................... 183
6.2 General information about command and setpoint sources .............................................. 184
6.3 Basic information about the drive system ......................................................................... 185
6.3.1 Parameters ...................................................................................................................... 185
6.3.2 Drive objects.................................................................................................................... 188

Table of contents
6.3.3 Data sets ......................................................................................................................... 189

6.3.4 BICO technology: interconnecting signals ......................................................................... 195
6.3.5 Propagation of faults ....................................................................................................... 201
6.4 Command sources ........................................................................................................... 202
6.4.1 "PROFIdrive" default setting .............................................................................................. 202
6.4.2 "TM31 terminals" default setting ...................................................................................... 204
6.4.3 "CU terminals" default setting........................................................................................... 206
6.4.4 "PROFIdrive+TM31" default setting ................................................................................... 208
6.5 Setpoint sources .............................................................................................................. 210
6.5.1 Analog inputs .................................................................................................................. 210
6.5.2 Motorized potentiometer ................................................................................................. 212
6.5.3 Fixed speed setpoints ...................................................................................................... 213
6.6 Communication according to PROFIdrive .......................................................................... 215
6.6.1 General information ........................................................................................................ 215
6.6.2 Application classes ........................................................................................................... 217
6.6.3 Cyclic communication ...................................................................................................... 219
6.6.3.1 Telegrams and process data ............................................................................................. 220
6.6.3.2 Structure of the telegrams ............................................................................................... 222
6.6.3.3 Overview of control words and setpoints.......................................................................... 222
6.6.3.4 Overview of status words and actual values...................................................................... 223
6.6.4 Acyclic communication .................................................................................................... 223
6.6.4.1 Structure of requests and responses ................................................................................. 225
6.6.4.2 Determining the drive object numbers ............................................................................. 231
6.6.4.3 Example 1: Reading parameters ....................................................................................... 231
6.6.4.4 Example 2: Writing parameters (multi-parameter request) ................................................ 233
6.6.5 Diagnostics channels ....................................................................................................... 237
6.6.5.1 Diagnostics via PROFINET ................................................................................................. 238
6.6.5.2 Diagnostics via PROFIBUS ................................................................................................. 240
6.6.6 Further information about PROFIdrive communication ..................................................... 244
6.7 Communication via PROFIBUS DP ..................................................................................... 245
6.7.1 PROFIBUS connection....................................................................................................... 245
6.7.2 General information about PROFIBUS DP .......................................................................... 245
6.7.2.1 General information about PROFIBUS DP for SINAMICS ..................................................... 245
6.7.2.2 Sequence of DOs in the telegram ..................................................................................... 247
6.7.3 Control via PROFIBUS ....................................................................................................... 248
6.7.4 Monitoring: Telegram failure............................................................................................ 249
6.7.5 Further information about communication via PROFIBUS DP ............................................. 250
6.8 Communication via PROFINET IO ...................................................................................... 250
6.8.1 Communication Board Ethernet CBE20............................................................................. 250
6.8.2 Activating online operation: STARTER via PROFINET IO ...................................................... 252
6.8.3 General information about PROFINET IO ........................................................................... 256
6.8.3.1 General information about PROFINET IO for SINAMICS ...................................................... 256
6.8.3.2 Real-time (RT) and isochronous real-time (IRT) communication ......................................... 257
6.8.3.3 Addresses ........................................................................................................................ 258
6.8.3.4 Dynamic IP address assignment ....................................................................................... 261
6.8.3.5 DCP flashing .................................................................................................................... 262
6.8.3.6 Data transmission ............................................................................................................ 263
6.8.3.7 Communication channels ................................................................................................ 264
6.8.4 Communication with CBE20............................................................................................. 265
6.8.4.1 Selecting the CBE20 firmware .......................................................................................... 265

Table of contents
6.8.4.2 EtherNet/IP ...................................................................................................................... 266

6.8.5 PROFINET media redundancy ........................................................................................... 266
6.8.6 PROFINET system redundancy .......................................................................................... 267
6.8.6.1 Overview ......................................................................................................................... 267
6.8.6.2 Design, configuring and diagnostics ................................................................................. 268
6.8.6.3 Faults, alarms and parameters ......................................................................................... 269
6.8.7 PROFIenergy .................................................................................................................... 270
6.8.7.1 Description ...................................................................................................................... 270
6.8.7.2 Tasks of PROFIenergy ....................................................................................................... 271
6.8.7.3 PROFIenergy commands .................................................................................................. 272
6.8.7.4 PROFIenergy measured values ......................................................................................... 274
6.8.7.5 PROFIenergy energy-saving mode .................................................................................... 274
6.8.7.6 PROFIenergy inhibit and pause time ................................................................................. 275
6.8.7.7 Function diagrams and parameters .................................................................................. 275
6.8.8 Support of I&M data sets 1...4 .......................................................................................... 276
6.8.9 Further information about communication via PROFINET IO ............................................. 277
6.9 Communication via SINAMICS Link ................................................................................... 278
6.9.1 Basic principles of SINAMICS Link ..................................................................................... 278
6.9.2 Topology ......................................................................................................................... 280
6.9.3 Configuring and commissioning....................................................................................... 281
6.9.4 Example .......................................................................................................................... 286
6.9.5 Communication failure when booting or in cyclic operation ............................................. 288
6.9.6 Transmission times for SINAMICS Link .............................................................................. 289
6.9.7 Function diagrams and parameters .................................................................................. 290
6.10 Communication via EtherNet/IP ........................................................................................ 291
6.10.1 Overview ......................................................................................................................... 291
6.10.2 Connect drive device to Ethernet/IP .................................................................................. 291
6.10.3 Configuring communication ............................................................................................ 293
6.10.4 Supported objects ............................................................................................................ 294
6.10.5 Integrate the drive device into the Ethernet network via DHCP ......................................... 304
6.10.6 Parameters, faults and alarms .......................................................................................... 305
6.11 Communication via MODBUS TCP..................................................................................... 307
6.11.1 Overview ......................................................................................................................... 307
6.11.2 Configuring Modbus TCP via interface X150 ..................................................................... 308
6.11.3 Configuring Modbus TCP via interface X1400 ................................................................... 309
6.11.4 Mapping tables ................................................................................................................ 310
6.11.5 Write and read access using function codes ...................................................................... 313
6.11.6 Communication via data set 47 ........................................................................................ 315
6.11.6.1 Communication details .................................................................................................... 316
6.11.6.2 Examples: Read parameter ............................................................................................... 317
6.11.6.3 Examples: Write parameter .............................................................................................. 318
6.11.7 Communication procedure .............................................................................................. 319
6.11.8 Parameters, faults and alarms .......................................................................................... 320
6.12 Communication services and used port numbers .............................................................. 321
6.13 Parallel operation of communication interfaces ................................................................ 323
6.14 Engineering Software Drive Control Chart (DCC)............................................................... 327

Table of contents
7 Setpoint channel and closed-loop control ......................................................................................... 329

7.1 Chapter content............................................................................................................... 329
7.2 Setpoint channel ............................................................................................................. 330
7.2.1 Setpoint addition ............................................................................................................. 330
7.2.2 Direction reversal ............................................................................................................. 331
7.2.3 Skip frequency bands and minimum speed....................................................................... 332
7.2.4 Speed limitation .............................................................................................................. 333
7.2.5 Ramp-function generator ................................................................................................. 334
7.3 V/f control ....................................................................................................................... 338
7.3.1 Voltage boost .................................................................................................................. 341
7.3.2 Resonance damping......................................................................................................... 344
7.3.3 Slip compensation ........................................................................................................... 345
7.4 Vector speed/torque control with/without encoder ........................................................... 347
7.4.1 Vector control without encoder........................................................................................ 348
7.4.2 Vector control with encoder ............................................................................................. 355
7.4.3 Actual speed value filter ................................................................................................... 356
7.4.4 Speed controller .............................................................................................................. 357
7.4.4.1 Speed controller pre-control (integrated pre-control with balancing) ................................ 360
7.4.4.2 Reference model.............................................................................................................. 363
7.4.4.3 Speed controller adaptation ............................................................................................. 364
7.4.4.4 Droop Function................................................................................................................ 366
7.4.4.5 Open actual speed value .................................................................................................. 368
7.4.5 Closed-loop torque control ............................................................................................... 370
7.4.6 Torque limiting ................................................................................................................ 372
7.4.7 Current setpoint filters ..................................................................................................... 374
7.4.8 Current controller adaptation ........................................................................................... 375
7.4.9 Permanent-magnet synchronous motors .......................................................................... 376
8 Output terminals ............................................................................................................................... 379
8.1 Chapter content............................................................................................................... 379
8.2 TM31 analog outputs ....................................................................................................... 380
8.2.1 List of signals for the analog signals ................................................................................. 381
8.3 TM31 digital outputs........................................................................................................ 384
9 Functions, monitoring, and protective functions .............................................................................. 387
9.1 Chapter content............................................................................................................... 387
9.2 Drive functions ................................................................................................................ 388
9.2.1 Motor data identification and automatic speed controller optimization ............................. 388
9.2.1.1 Motor data identification ................................................................................................. 389
9.2.1.2 Rotating measurement and speed controller optimization ................................................ 393
9.2.1.3 Shortened rotating measurement .................................................................................... 395
9.2.1.4 Parameters ...................................................................................................................... 396
9.2.2 Efficiency optimization..................................................................................................... 396
9.2.2.1 Description ...................................................................................................................... 396
9.2.2.2 Simple efficiency optimization (method 1) ....................................................................... 397
9.2.2.3 Advanced efficiency optimization (method 2) .................................................................. 398
9.2.2.4 Function diagrams, parameters ........................................................................................ 398
9.2.3 Fast magnetization for induction motors .......................................................................... 399
9.2.4 Vdc control ...................................................................................................................... 402

Table of contents
9.2.5 Automatic restart function ............................................................................................... 407

9.2.6 Flying restart ................................................................................................................... 410
9.2.6.1 Flying restart without an encoder..................................................................................... 412
9.2.6.2 Flying restart with encoder .............................................................................................. 415
9.2.6.3 Parameters ...................................................................................................................... 416
9.2.7 Checking for a short-circuit/ground fault at a motor.......................................................... 417
9.2.8 Motor changeover/selection............................................................................................. 418
9.2.8.1 Description ...................................................................................................................... 418
9.2.8.2 Example of changing over between two motors ............................................................... 418
9.2.8.3 Function diagram ............................................................................................................ 420
9.2.8.4 Parameters ...................................................................................................................... 420
9.2.9 Friction characteristic curve ............................................................................................. 421
9.2.10 Armature short-circuit braking, DC braking ....................................................................... 423
9.2.10.1 General ........................................................................................................................... 423
9.2.10.2 External armature short-circuit braking ............................................................................ 423
9.2.10.3 Internal armature short-circuit braking ............................................................................. 425
9.2.10.4 DC braking....................................................................................................................... 426
9.2.11 Increasing the output frequency ...................................................................................... 429
9.2.11.1 Description ...................................................................................................................... 429
9.2.11.2 Default pulse frequencies................................................................................................. 430
9.2.11.3 Increasing the pulse frequency......................................................................................... 430
9.2.11.4 Maximum output frequency achieved by increasing the pulse frequency .......................... 431
9.2.11.5 Parameters ...................................................................................................................... 431
9.2.12 Derating behavior at increased pulse frequency ............................................................... 432
9.2.13 Pulse frequency wobbling ................................................................................................ 433
9.2.14 Runtime (operating hours counter) .................................................................................. 435
9.2.15 Simulation operation ....................................................................................................... 436
9.2.16 Direction reversal............................................................................................................. 438
9.2.17 Unit changeover .............................................................................................................. 439
9.2.18 Simple brake control ........................................................................................................ 441
9.2.19 Synchronization ............................................................................................................... 444
9.2.20 Energy saving indicator for pumps, fans, and compressors ............................................... 445
9.2.21 Write protection .............................................................................................................. 448
9.2.22 Know-how protection ...................................................................................................... 450
9.2.22.1 Description ...................................................................................................................... 450
9.2.22.2 Activating know-how protection ...................................................................................... 453
9.2.22.3 Deactivating know-how protection .................................................................................. 454
9.2.22.4 Changing the know-how protection password.................................................................. 455
9.2.22.5 OEM exception list ........................................................................................................... 455
9.2.22.6 Loading data with know-how protection to the file system ............................................... 456
9.2.22.7 Overview of important parameters................................................................................... 459
9.2.23 Essential service mode ..................................................................................................... 459
9.2.24 Web server ...................................................................................................................... 463
9.2.24.1 Description ...................................................................................................................... 463
9.2.24.2 Starting the web server .................................................................................................... 473
9.2.24.3 Web server configuration ................................................................................................. 477
9.2.24.4 More information ............................................................................................................ 479
9.3 Extended functions .......................................................................................................... 480
9.3.1 Technology controller ...................................................................................................... 480
9.3.2 Bypass function ............................................................................................................... 482
9.3.2.1 Bypass with synchronizer with degree of overlapping (p1260 = 1) .................................... 484
9.3.2.2 Bypass with synchronizer without degree of overlapping (p1260 = 2) ............................... 487

Table of contents
9.3.2.3 Bypass without synchronizer (p1260 = 3) ......................................................................... 490

9.3.2.5 Parameters ...................................................................................................................... 492
9.3.3 Extended brake control .................................................................................................... 493
9.3.4 Extended monitoring functions ........................................................................................ 498
9.3.5 Moment of inertia estimator ............................................................................................ 500
9.4 Monitoring and protective functions ................................................................................ 506
9.4.1 Protecting power components ......................................................................................... 506
9.4.2 Thermal monitoring and overload responses .................................................................... 507
9.4.3 Block protection............................................................................................................... 510
9.4.4 Stall protection (only for vector control) ........................................................................... 511
9.4.5 Thermal motor protection ................................................................................................ 512
9.4.5.1 Description ...................................................................................................................... 512
9.4.5.2 Temperature sensor connection at the customer terminal block TM31 .............................. 512
9.4.5.3 Temperature sensor connection at a Sensor Module ......................................................... 513
9.4.5.4 Temperature sensor connection directly at the Control Interface Module .......................... 514
9.4.5.5 Temperature sensor evaluation ........................................................................................ 515
9.4.5.6 Thermal motor models..................................................................................................... 516
9.4.5.8 Parameters ...................................................................................................................... 520
9.4.6 Temperature sensing via TM150 ...................................................................................... 521
9.4.6.1 Description ...................................................................................................................... 521
9.4.6.2 Measurement with up to 6 channels ................................................................................ 523
9.4.6.3 Measurement with up to 12 channels .............................................................................. 523
9.4.6.4 Forming groups of temperature sensors ........................................................................... 524
9.4.6.5 Evaluating temperature channels ..................................................................................... 525
9.4.6.7 Parameter ........................................................................................................................ 527
10 Diagnosis / faults and alarms ............................................................................................................. 529
10.1 Chapter content............................................................................................................... 529
10.2 Diagnosis......................................................................................................................... 530
10.2.1 Diagnostics via LEDs......................................................................................................... 530
10.2.2 Diagnostics via parameters .............................................................................................. 536
10.2.3 Indicating and rectifying faults ......................................................................................... 539
10.3 Overview of warnings and faults ...................................................................................... 540
11 Maintenance and servicing ............................................................................................................... 541
11.1 Chapter content............................................................................................................... 541
11.2 Maintenance ................................................................................................................... 542
11.2.1 Cleaning .......................................................................................................................... 542
11.3 Maintenance ................................................................................................................... 542
11.3.1 Maintenance ................................................................................................................... 542
11.3.2 Installation device ............................................................................................................ 544
11.3.3 Using crane lifting lugs to transport power blocks............................................................. 545
11.4 Replacing components ..................................................................................................... 547
11.4.1 Replacing the Control Interface Module, frame size FX ..................................................... 548
11.4.2 Replacing the Control Interface Module, frame size GX ..................................................... 550
11.4.3 Replacing the Control Interface Module, frame size HX ..................................................... 552

Table of contents
11.4.4 Replacing the Control Interface Module, frame size JX ...................................................... 554
11.4.5 Replacing the power block, frame size FX ......................................................................... 556
11.4.6 Replacing the power block (frame size GX) ....................................................................... 559
11.4.7 Replacing the power block (frame size HX) ....................................................................... 562
11.4.8 Replacing the power block (frame size JX) ........................................................................ 567
11.4.9 Replacing the fan, frame size FX....................................................................................... 572
11.4.10 Replacing the fan (frame size GX) .................................................................................... 574
11.4.11 Replacing the fan (frame size HX) .................................................................................... 576
11.4.12 Replacing the fan (frame size JX)...................................................................................... 580
11.5 Forming the DC link capacitors ......................................................................................... 584
11.6 Messages after replacing DRIVE-CLiQ components ............................................................ 585
11.7 Upgrading the chassis unit firmware ................................................................................ 586
12 Technical specifications..................................................................................................................... 587
12.1 Chapter content............................................................................................................... 587
12.2 General specifications ...................................................................................................... 588
12.2.1 Derating data................................................................................................................... 590
12.2.1.1 Current derating as a function of the ambient temperature .............................................. 590
12.2.1.2 Installation altitudes between 2000 m and 5000 m above sea level .................................. 590
12.2.1.3 Current derating as a function of the pulse frequency....................................................... 592
12.2.2 Overload capability .......................................................................................................... 593
12.2.3 Data regarding the power loss in partial load operation .................................................... 594
12.3 Technical specifications ................................................................................................... 595
12.3.1 Power Module ................................................................................................................. 596
12.3.2 CU320-2 DP and CU320-2 PN Control Units ...................................................................... 618
12.3.3 TM31 Terminal Module .................................................................................................... 619
12.3.4 SMC30 Sensor Module ..................................................................................................... 620
A Appendix ........................................................................................................................................... 621
A.1 Environmental compatibility ............................................................................................ 621
A.2 List of abbreviations......................................................................................................... 621
A.3 Parameter macros ............................................................................................................ 630
A.4 Control cabinet design ..................................................................................................... 640
A.4.1 General information ........................................................................................................ 640
A.4.2 Safety instructions ........................................................................................................... 640
A.4.3 Directives ........................................................................................................................ 641
A.4.4 Maximum cable lengths ................................................................................................... 642
A.4.5 EMC-compliant design and control cabinet configuration ................................................. 642
A.4.6 Notes on control cabinet climate control .......................................................................... 643
Index .................................................................................................................................................. 649

Safety information 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 serious injury.
• Only work on electrical equipment if you are appropriately qualified.
• Always observe the country-specific safety rules for all work.
Generally, the following 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 that every auxiliary circuit is 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 by following the
above steps in the reverse order.
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.

Safety information
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.
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.
• Connect cable shields and unused conductors of power cables (e.g. brake conductors) at
least on one side to the grounded housing potential.
WARNING
Arcing when a plug connection is opened during operation
Opening a plug connection when a system is in 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.

Safety information
NOTICE
Damage to equipment due to unsuitable tightening tools.
Unsuitable tightening tools or fastening methods can damage the screws of the equipment.
• Be sure to only use screwdrivers which exactly match the heads of the screws.
• Tighten the screws with the torque specified in the technical documentation.
• Use a torque wrench or a mechanical precision nut runner with a dynamic torque sensor
and speed limitation system.
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
Active implant malfunctions due to electromagnetic fields
Converters generate electromagnetic fields (EMF) during operation. Electromagnetic fields
may interfere with active implants, e.g. pacemakers. People with active implants in the
immediate vicinity of systems are at risk.
• As the operator of an EMF-emitting installation, assess the individual risks of persons
with active implants.
• Observe the data on EMF emission provided in the product documentation.

Safety information
WARNING
Unexpected movement of machines caused by radio devices or mobile phones
Using radio devices or mobile telephones in the immediate vicinity of the components can
result in equipment malfunction. Malfunctions may impair the functional safety of machines
and can therefore put people in danger or lead to property damage.
• Therefore, if you move closer than 20 cm to the components, be sure to switch off radio
devices or mobile telephones.
• Use the "SIEMENS Industry Online Support App" only on equipment that has already been
switched off.
WARNING
Damage to motor insulation due to excessive voltages
When operated on systems with grounded line conductor or in the event of a ground fault
in the IT line system, the motor insulation can be damaged by the higher voltage to ground.
If you use motors that have insulation that is not designed for operation with grounded line
conductors, you must perform the following measures:
• IT system: Use a ground fault monitor and eliminate the fault as quickly as possible.
• TN or TT systems with grounded line conductor: Use an isolating transformer on the line
side.
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.

Safety information
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.
CAUTION
Injuries at places that are difficult to access
There is risk of injury when working at locations that are difficult to access. For example,
sharp edges and splinters can cause injuries to the head and skin.
• Use suitable personal protective equipment, for example gloves.
CAUTION
Hot component surfaces
Certain components (e.g. the heat sink and reactor) can become very hot during operation.
These components can remain hot for a long time after operation. Contact can result in
serious injury, such as skin burns.
• Do not touch hot components, even after you have switched off the device.
WARNING
Unexpected movement of machines caused by inactive safety functions
Inactive or non-adapted safety functions can trigger unexpected machine movements that
may result in serious injury or death.
• Observe the information in the appropriate product documentation before
commissioning.
• Carry out a safety inspection for functions relevant to safety on the entire system,
including all safety-related components.
• Ensure that the safety functions used in your drives and automation tasks are adjusted
and activated through appropriate parameterizing.
• Perform a function test.
• Only put your plant into live operation once you have absolutely guaranteed that the
functions relevant to safety are operating correctly.
Note
Important safety notices for Safety Integrated functions
If you want to use Safety Integrated functions, you must observe the safety notices in the
Safety Integrated manuals.

Safety information
1.2 Handling electrostatic sensitive devices (ESD)
1.2 Handling electrostatic sensitive devices (ESD)

Electrostatic sensitive devices (ESD) are individual components, integrated circuits, modules
or devices that may be damaged by either electric fields or electrostatic discharge.
NOTICE
Damage through electric fields or electrostatic discharge
Electric fields or electrostatic discharge can cause malfunctions through damaged individual
components, integrated circuits, modules or devices.
• Only pack, store, transport and send electronic components, modules or devices in their
original packaging or in other suitable materials, e.g conductive foam rubber of
aluminum foil.
• Only touch components, modules and devices when you are grounded by one of the
following methods:
– Wearing an ESD wrist strap
– Wearing ESD shoes or ESD grounding straps in ESD areas with conductive flooring
• Only place electronic components, modules or devices on conductive surfaces (table
with ESD surface, conductive ESD foam, ESD packaging, ESD transport container).
The necessary ESD protective measures are clearly illustrated in the following diagram:
• a = conductive floor surface
• b = ESD table
• c = ESD shoes
• d = ESD overall
• e = ESD wristband
• f = cabinet ground connection
• g = contact with conductive flooring
Figure 1-1 ESD protective measures

Safety information
1.3 Industrial security
1.3 Industrial security

Siemens provides products and solutions with Industrial Security functions that support the
secure operation of plants, systems, machines and networks.
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 form part 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 extent such a connection is necessary
and only when appropriate security measures (e.g. using firewalls and/or network
segmentation) are in place.
For additional information on Industrial Security measures that can be implemented, please
visit:
Industrial Security (http://www.siemens.com/industrialsecurity).
Siemens’ products and solutions undergo continuous development to make them more
secure. Siemens expressly recommends that product updates be applied as soon as they
become available, and that only the latest product versions be used. Use of product versions
that are no longer supported, and failure to apply latest updates may increase customer’s
exposure to cyber threats.
To stay informed about product updates, subscribe to the Siemens Industrial Security RSS
Feed at:
Siemens Industrial Security RSS feed
(https://new.siemens.com/global/en/products/services/cert.html#Subscriptions).
Additional information is provided on the Internet:
Industrial security Configuration Manual
(https://support.industry.siemens.com/cs/ww/en/view/108862708)
WARNING
Unsafe operating states resulting from software manipulation
Software manipulations, e.g. viruses, Trojans, 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 applying
suitable protection measures, e.g. virus scanners.
• Carefully check all security-related settings once commissioning has been completed.

Safety information
1.4 Residual risks of power drive systems
1.4 Residual risks of power drive systems

When assessing the machine or system-related risk in accordance with the respective local
regulations (e.g. EC Machinery Directive), the machine manufacturer or system installer must
take into account the following residual risks emanating from the control and drive
components of a drive system:
1. Unintentional movements of the driven machine or system components during
commissioning, operation, maintenance, and repairs caused by, for example:
– Hardware and/or software errors in the sensors, control system, actuators and
connection system
– Response times of the controller and drive
– Operation and/or environmental conditions outside the specifications
– Condensation/conductive pollution
– Parameterization, programming, cabling, and installation errors
– Use of wireless devices/mobile phones in the immediate vicinity of electronic
components
– External influences/damage
– X-ray, ionizing radiation and cosmic radiation
2. Unusually high temperatures, including open flames, as well as the emission of light, noise,
particles, gases, etc., can occur inside and outside the components under fault conditions
caused by, for example:
– Component malfunctions
– Software errors
3. Hazardous shock voltages caused by, for example:
– Component malfunctions
– Influence of electrostatic charging
– Induction of voltages in moving motors
– Condensation/conductive pollution
4. Electrical, magnetic and electromagnetic fields generated in operation that can pose a risk to
people with a pacemaker, implants or metal replacement joints, etc., if they are too close
5. Release of environmental pollutants or emissions as a result of improper operation of the
system and/or failure to dispose of components safely and correctly
6. Influence of network-connected communication systems, e.g. ripple-control transmitters or
data communication via the network.
For more information about residual risks of the components in a drive system, see the
relevant sections in the technical user documentation.

Device overview 2
2.1 Chapter content
This chapter provides information on the following:
• Introduction to the chassis units
• The main components and features of the chassis units
• The chassis unit wiring
• Explanation of the type plate

Device overview
2.2 Overview of the chassis units
2.2 Overview of the chassis units
Figure 2-1 Overview of the chassis units

Device overview
2.3 Overview of the Power Modules
2.3 Overview of the Power Modules
Figure 2-2 Overview of the Power Modules

Device overview
2.4 Applications, features
2.4.1 Applications
SINAMICS G130 chassis units are specially designed to meet the requirements of variable-
speed drives with a quadratic and constant load characteristic, medium performance
requirements, and no regenerative feedback.
As a result, SINAMICS G130 chassis units are a cost-effective drive solution for all types of
industrial applications that involve moving, conveying, pumping, compressing, or extracting
solids, liquids, or gases.
2.4.2 Features, quality, service
Features
From configuration to operation, SINAMICS G130 built-in units are easy to use and offer the
following benefits:
• Compact, modular, service-friendly design.
• Straightforward engineering and commissioning thanks to the support using SIZER and
STARTER tools.
• Ready to connect to facilitate the installation process.
• Quick and easy commissioning thanks to practical menu guidance and integrated
optimization routines.
• Drive monitoring/diagnostics, commissioning and operation optionally realized using a
user-friendly graphic operator panel with measured values displayed in plain text or in a
quasi-analog bar display.
• SINAMICS is an integral part of Totally Integrated Automation (TIA). The TIA concept offers
an optimized range of products for automation and drive technology. This concept is
characterized by planning / design, communication, and data management procedures
that are consistent throughout the product range. SINAMICS is fully integrated in the TIA
concept.
Separate S7/PCS7 blocks and faceplates for WinCC are available.
• Integration in SIMATIC H systems is possible via a Y link.
• Drive Control Chart (DCC)
Drive Control Chart (DCC) expands the possibility of very simply configuring technological
functions for the SINAMICS drive system.
The block library encompasses a large selection of closed-loop, arithmetic and logic
function blocks, as well as more comprehensive open-loop and closed-loop control
functions. The user-friendly DCC editor enables easy graphical configuration and a clear
representation of control loop structures as well as a high degree of reusability of existing
diagrams. DCC is an add-on to the STARTER commissioning tool.

Device overview
Quality
SINAMICS G130 built-in units are manufactured to meet high standards of quality and
exacting demands.
This results in a high level of reliability, availability, and functionality for our products.
The development, design, and manufacturing processes, as well as order processing and the
logistics supply center have been certified to DIN ISO 9001 by an independent authority.
Service
Our worldwide sales and service network offers our customers consulting services tailored to
their needs, provides support with planning and design, and offers a range of training
courses.
Contact information and the current link to our website can be found in the preface.

Device overview
2.5 Wiring principle
2.5 Wiring principle
Wiring principle for SINAMICS G130
Figure 2-3 Wiring principle for SINAMICS G130

Device overview
2.6 Type plate
2.6 Type plate
Specifications on the type plate
Figure 2-4 Type plate of built-in unit

Device overview
2.6 Type plate
Type plate specifications (from type plate above)
Position Specification Value Explanation

① Input 3 AC Three-phase connection
380 ... 480 V Rated input voltage
775 A Rated input current
② Output 3 AC Three-phase connection
0 ... 480 V Rated output voltage
745 A Rated output current
③ Temperature range 0 ... 40 °C Ambient temperature range within which the built-in unit
can operate under 100% load
④ Degree of protection IP00 Degree of protection
(for frame sizes FX, GX: IP20 for frames size HX, JX: IP00)
⑤ Duty class I I: Duty class I to EN 60146-1-1 = 100% (continuously)
load class (with the specified current values, the built-in unit can oper-
ate continuously under 100% load)
⑥ Cooling method AF A: Cooling medium: air
F: Circulation method: forced cooling, drive unit (fan) in the
device
⑦ Weight 294 kg Type plate of built-in unit
Data matrix code

The data matrix code contains the specific data of the device. This code can be read-in with
any Smartphone, and technical information for the appropriate device can be displayed via
the "Industry Online Support" Mobile App.
Additional information about the "Industry Online Support" App is available in Preface
(Page 3).
Date of manufacture
The date of manufacture can be determined as follows:
Table 2- 1 Production year and month
Letter/number Year of manufacture Letter/number Month of manufacture

A 2010 1 ... 9 January to September
B 2011 O October
C 2012 N November
D 2013 D December
E 2014
F 2015
H 2016
J 2017
K 2018
L 2019
M 2020
N 2021
P 2022
R 2023

Mechanical installation 3
3.1 Chapter content
• The conditions for installing the chassis units and optional components.
• The preparations for installing the chassis units and optional components.
3.2 Transportation and storage
Transport
WARNING
Incorrectly transporting the device
The unit can tip over if you transport it incorrectly – or if you use transport equipment that is
not permitted for the purpose. Death, serious injury, or material damage can result.
• Ensure that only trained personnel transport the device with approved transport
equipment and lifting tools.
• Observe the center of gravity specifications. A label or stamp is attached to each
transportation unit and precisely shows the center of gravity of the cabinet.
• Transport the unit only in the original marked upright position. Do not tilt the device or
allow it to fall.
• The forks of the truck must protrude at the rear of the transport pallet. The floor panels
of the transport units cannot be loaded or stressed.
WARNING
Using forklift trucks that are not approved
If the forks are too short, this can cause the transport unit/cabinet to tip over resulting in
death, serious injury or damage to the cabinet.
• The forks of the truck must protrude at the rear of the transport pallet. The floor panels
of the transport units cannot be loaded or stressed.
• Only use fork-lift trucks approved for this purpose to transport the units.

Mechanical installation
3.2 Transportation and storage
Note
Notes regarding transportation
• The devices are packaged by the manufacturer in accordance with the climatic conditions
and stress encountered during transit and in the recipient country.
• The notes on the packaging for transportation, storage, and proper handling must be
observed.
• For transportation using forklifts, the devices must be set down on a wooden pallet.
• When the devices are unpacked, they can be transported using the attached transport
eyebolts. The load must be distributed evenly. Chains attached to the transport eyebolts
must only be loaded vertically from above. Heavy blows or impacts must be avoided
during transit and when the devices are being set down, for example.
• Permissible ambient temperatures:
Air cooling: -25 to +70 °C, Class 2K3 acc. to EN 60721-3-2:1997
Briefly up to -40 °C for max. 24 hours
Note
Notes regarding damage in transit
• Carry out a thorough visual inspection of the device before accepting the delivery from
the transportation company.
• Ensure that you have received all the items specified on the delivery note.
• Notify the transportation company immediately of any missing components or damage.
• If you identify any hidden defects or damage, contact the transportation company
immediately and ask them to examine the device.
• If you fail to contact them immediately, you may lose your right to claim compensation for
the defects and damage.
• If necessary, you can request the support of your local Siemens office.
Storage
The devices must be stored in clean, dry rooms. Temperatures between -25° C and +55 °C are
permissible (class 1K4 according to EN 60721-3-1:1997). Temperature variations greater
than 20 K per hour are not permitted.
If the device is stored for a prolonged period once unpacked, cover it or take other
appropriate measures to ensure that it does not become dirty and that it is protected against
environmental influences. If such measures are not taken, the warranty becomes invalid in
the event of a claim for damages.

3.3 Assembly
3.3 Assembly
WARNING
Failure to observe general safety instructions and residual risks
If the general safety instructions and remaining risks are not observed, accidents can occur
involving severe injuries or death.
• Observe the general safety instructions.
• When assessing the risk, take into account residual risks.
Protection against the spread of fire

The device may be operated only in closed housings or in control cabinets with protective
covers that are closed, and when all of the protective devices are used. The installation of the
device in a metal control cabinet or the protection with another equivalent measure must
prevent the spread of fire and emissions outside the control cabinet.
Protection against condensation or electrically conductive contamination

Protect the device, e.g. by installing it in a control cabinet with degree of protection IP54
according to IEC 60529 or NEMA 12. Further measures may be necessary for particularly
critical operating conditions.
If condensation or conductive pollution can be excluded at the installation site, a lower
degree of control cabinet protection is permitted.
3.3.1 Requirements on the installation location

The built-in units are designed for installation in closed, electrical operating areas in
compliance with EN 61800-5-1. A closed electrical operating area is a room or area
containing electrical equipment that can be accessed by trained personnel only. Access is
controlled by a door or other form of barrier that can be opened only by means of a key or
other tool. The room or area is also clearly marked with appropriate warning notices.
The operating areas must be dry and free of dust. The air supplied must not contain any
electrically conductive gas, vapors, or dust, which could impair operation. It may be necessary
to filter the air supplied to the room where the equipment is installed.
The permissible values for climatic ambient conditions must be taken into account.
At temperatures > 40 °C (104 °F) or altitudes > 2000 m, derating is required.
Built-in units with frame sizes FX and GX comply with degree of protection IP20; with frame
sizes HX and JX, they comply with degree of protection IP00 to EN 60529.
Installation is realized in accordance with the dimension drawings supplied. The clearance to
be maintained around the units is also specified on the dimension drawings.
The cooling air for the power unit is drawn from the lower part of the device. The warmed air
is expelled through the heat sink. When installing the device in cabinet units, you must

3.3 Assembly
ensure that suitable barriers are in place to ensure that the warmed air is not drawn back into
the suction area of the heat sink.
According to EN 61800-3, the built-in unit is not suitable for use in low-voltage public
networks that supply residential buildings. High-frequency interference may occur if it is used
in this type of line supply.
Through additional measures (e.g. line filter) operation is possible in the "First environment"
in accordance with EN 61800-3 Category C2.
Note
Radio service interference due to high frequency (radio frequency) disturbances
The converter can cause high frequency disturbances, which may make interference
suppression measures necessary.
This device is not designed for general use in the first environment (residential area) and
must not be used there without appropriate radio interference suppression measures.
• Have the installation and commissioning with appropriate radio interference suppression
measures performed by qualified personnel.
3.3.2 Unpacking
Check the delivery against the delivery note to ensure that all the items have been delivered.
Check that the devices are intact.
The packaging material must be disposed of in accordance with the applicable country-
specific guidelines and rules.
3.3.3 Required tools

You require the following tools for installation:
• Standard set of tools with screwdrivers, screw wrenches, socket wrenches, etc.
• Torque wrenches 1.5 Nm to 100 Nm
• 600 mm extension for socket wrenches

3.4 Power Module
3.4 Power Module
Description
The Power Module is the power unit of an AC-AC converter. Line or motor-side components
can be added to create a converter system. If required (e.g., for braking operation), a Braking
Module can also be installed in the DC link of the converter. A slot is provided in the Power
Module for this purpose.
The Power Module creates an output voltage with variable amplitude and frequency from a
supply voltage with constant amplitude and frequency.
WARNING
Fire if overheating occurs because of insufficient ventilation clearances
Inadequate ventilation clearances can cause overheating with a risk for personnel as a result
of fire and smoke. This can also result in increased downtime and reduced service lives of
devices/systems.
• Ensure compliance with the specified minimum clearance as ventilation clearance for the
respective component. They can be found in the dimension drawings or in the "Product-
specific safety instructions" at the start of the respective section.
Notes on lifting devices
NOTICE
Damage to the device due to improper transport
Improper transport can subject the Power Module housing or the busbars to mechanical
loads, which damage the device.
• Use a lifting harness with vertical ropes or chains when transporting the Power Module.
• Do not use the Power Module busbars to support or secure lifting harnesses.
NOTICE
Material damage caused by the failure to remove lifting lugs for devices of frame sizes
HX and JX
The failure to remove lifting lugs from Power Modules frame sizes HX and JX can cause
damage to the device as the necessary voltage clearances are no longer available.
• For Power Modules frame sizes HX and JX, remove the lifting lugs marked in red once the
modules have been installed.

3.4 Power Module
3.4.1 Dimension drawings
Dimension drawing frame size FX
Table 3- 1 Dimension drawing frame size FX
Front view Side view

3.4 Power Module
Dimension drawing, frame size GX
Table 3- 2 Dimension drawing, frame size GX
Front view Side view

3.4 Power Module
Dimension drawing (frame size HX)
Table 3- 3 Dimension drawing (frame size HX)
Side view Rear view

3.4 Power Module
Dimension drawing (frame size JX)
Table 3- 4 Dimension drawing (frame size JX)
Side view Rear view

3.5 Control Unit CU320-2
3.5 Control Unit CU320-2
Description
The CU320-2 is the central Control Unit in which the closed-loop and open-loop control
functions are implemented.
WARNING
Fire through overheating due to insufficient ventilation clearances
Insufficient ventilation clearances result in overheating with danger to persons as a result of
smoke and fire. This can also result in more downtimes and a reduced service life for the
Control Unit.
• For this reason, it is imperative that you maintain the 80 mm clearances above and
below the Control Unit.
Dimension drawing
Figure 3-1 Dimension drawing CU320-2

3.6 TM31 Terminal Module
Note
Installing the Control Unit
With frame sizes FX and GX, the Control Unit is installed to the left of the Power Module. The
required connection elements are supplied with the Power Module.
With frame sizes HX and JX, the Control Unit is installed in the Power Module.
Control Unit: Memory card

The memory card contains the control software and parameters.
Note
Possible plant standstill by withdrawing or inserting the memory card in operation
If the memory card is withdrawn or inserted during operation, then data can be lost, possibly
resulting in a plant standstill.
• Only withdraw and insert the memory card when the Control Unit is in a no-voltage
condition.
Description
The TM31 Terminal Module is a terminal extension board. The TM31 can be used to increase
the number of digital inputs/outputs. Analog inputs and outputs are also available on the
TM31.
WARNING
smoke and fire. This can also result in more downtimes and reduced service lives of the
Terminal Module.
below the Terminal Module.

Dimension drawing
Figure 3-2 Dimension drawing of the TM31 Terminal Module
Note
Installation of the Terminal Module
The TM31 is installed near the Power Module on a mounting rail, which must be provided by
the customer.

3.7 SMC30 Sensor Module
Description
The SMC30 Sensor Module is a module for evaluating encoder signals. TTL/HTL encoders
(with or without open-circuit monitoring) can be connected to the SMC30. The motor
temperature can also be sensed using KTY84-1C130, PT 1000 or PTC thermistors.
WARNING
smoke and fire. This can also result in increased failures and reduced service life of the
Sensor Module.
below the Sensor Module.
Dimension drawing
Figure 3-3 Dimension drawing of the SMC30 Sensor Module
Note
Installation of the Sensor Module
The SMC30 is installed near the Power Module on a mounting rail, which must be provided
by the customer.


Electrical installation 4
4.1 Chapter content
• Establishing the electrical connections for the Power Module, the CU320-2 Control Unit,
and the optional TM31 Terminal Module and SMC30 Sensor Module.
• Adjusting the fan voltage and the internal power supply in line with local conditions
(supply voltage)
• The interfaces for the CU320-2 Control Unit, TM31 Terminal Module, and SMC30 Sensor
Module.
4.2 Preparation
Required tools
You require the following tools for the electrical installation:
• Torque wrenches 1.5 Nm up to 100 Nm

4.3 Important safety precautions
4.3 Important safety precautions
WARNING
Failure to observe general safety instructions and residual risks
If the general safety instructions and remaining risks are not observed, accidents can occur
involving severe injuries or death.
WARNING
Electric shock when using unsuitable fuses
If unsuitable fuses are used, an electric shock can cause severe injury or death.
• Use only fuses recommended in the technical data.
• Observe the necessary minimum short circuit current for the relevant fuse.
WARNING
Electric shock due to the residual charge of the DC link capacitors
Because of the DC-link capacitors, a hazardous voltage is still present for a period of time
after the power supply has been switched off.
If live components are touched, then this can result in severe injury or death.
• Open the unit only after the time specified on the warning label has elapsed.
• Before starting work, check the absence of voltage by measuring all poles/phases, also to
ground.
NOTICE
Material damage resulting from switching on the device without forming the DC-link
capacitors
After a storage time exceeding two years, switching on the device without forming the DC-
link capacitors can damage it.
• Before switching on the device, it should be formed after a storage time exceeding two
years, see Chapter "Maintenance and servicing".
NOTICE
Only use original Siemens accessories
To ensure that the entire system functions properly, you are advised to use the original
Siemens accessories.
Only original DRIVE-CLiQ cables may be used for wiring the DRIVE-CLiQ nodes.

4.4 Introduction to EMC
What is meant by EMC?

Electromagnetic compatibility (EMC) describes the capability of an electrical device to
function satisfactorily in an electromagnetic environment without itself causing interference
unacceptable for other devices in the environment.
EMC therefore represents a quality feature for the
• Internal noise immunity: Resistance to internal electrical disturbances
• External noise immunity: resistance against external electromagnetic disturbances
• Noise emission level: environmental effects caused by electromagnetic emissions
To ensure that the cabinet unit functions satisfactorily in the system, the environment subject
to interference must not be neglected. For this reason, special requirements exist regarding
the structure and the EMC of the system.
Operational reliability and noise immunity

In order to achieve the greatest possible operational reliability and immunity to noise of a
complete system (converter, automation, drive machines etc.), measures must be taken by
the converter manufacturer and the user. Only when all these measures are fulfilled can the
faultless functioning of the inverter be guaranteed and the specified legal requirements
(2014/30/EU) be met.

Noise emissions
Product standard EN 61800–3 describes the EMC requirements placed on "Variable-speed
drive systems". It specifies requirements for inverters with operating voltages of less than
1000 V. Different environments and categories are defined depending on where the drive
system is installed.
Figure 4-1 Definition of the first and second environments
Figure 4-2 Definition of categories C1 to C4
Table 4- 1 Definition of the first and second environments
Definition of the first and second environments

First environment Residential buildings or locations at which the drive system is connected to a
public low-voltage supply network without a transformer.
Second environment Industrial locations supplied by a medium-voltage network via a separate
transformer.

4.5 EMC-compliant design
Table 4- 2 Definition of categories C1 ... C4
Definition of categories C1 ... C4

Category C1 Rated voltage <1000 V; unrestricted use in the first environment.
Category C2 Rated voltage for stationary drive systems <1000 V; for use in the second
environment. For use in the first environment only when sold and installed
by skilled personnel.
Category C3 Rated voltage <1000 V; use in the second environment only.
Category C4 Rated voltage ≥1000 V or for rated currents ≥ 400 A in complex systems in
the second environment.

The following section provides some basic information and guidelines that will help you
comply with the EMC and CE guidelines.
cabinet assembly
• Connect painted or anodized metal components using toothed self-locking screws or
remove the insulating layer.
• Use unpainted, de-oiled mounting plates.
• Establish a central connection between ground and the protective conductor system
(ground).
Shield gaps
• Bridge shield gaps (at terminals, circuit breakers, contactors, and so on) with minimum
impedance and the greatest possible surface area.
Using large cross-sections

• Use underground and grounding cables with large cross-sections or, better still, with litz
wires or flexible cables.
Laying the motor supply cable separately

• The distance between the motor cable and signal cable should be > 20 cm. Do not lay
signal cables and motor cables in parallel to each other.
Laying the equipotential bonding cable

• It is recommended to lay the equipotential bonding cable parallel to the control lines with
a minimum cross-section of 16 mm2.

Use anti-interference elements

• If relays, contactors, and inductive or capacitive loads are connected, the switching relays
or contactors must be provided with anti-interference elements.
Cable installation
• Cables that are subject to or sensitive to interference should be laid as far apart from each
other as possible.
• All cables are to be laid as close as possible to grounded enclosure parts such as mounting
plates or cabinet frames. This reduces both noise radiation and interference injection.
• Reserve cores of signal and data cables must be grounded at both ends to achieve an
additional shielding effect.
• Long cables should be shortened or laid in noise resistant areas to avoid additional
connecting points.
• If it is impossible to avoid crossing cables, conductors or cables that carry signals of
different classes must cross at right angles, especially if they carry sensitive signals that
are subject to interference.
– Class 1:
unshielded cables for ≤ 60 V DC
unshielded cables for ≤ 25 V AC
shielded analog signal cables
shielded bus and data cables
operator panel interfaces, incremental/absolute encoder lines
– Class 2:
unshielded cables for > 60 VDC and ≤ 230 VDC
unshielded cables for > 25 VAC and ≤ 230 VAC
– Class 3:
unshielded cables for > 230 VAC/VDC and ≤ 1000 VAC/VDC
Shield connection
• Shields must not be used to conduct electricity. In other words, they must not
simultaneously act as neutral or PE conductors.
• Apply the shield so that it covers the greatest possible surface area. You can use ground
clamps, ground terminals, or ground screw connections.
• Avoid extending the shield to the grounding point using a wire (pigtail) because this will
reduce the effectiveness of the shield by up to 90%.
• Attach the shield to a shield bar directly after the line inlet into the cabinet. Insulate the
entire shielded cable and route the shield up to the device connection, but do not connect
it again.

I/O interfacing
• Create a low-impedance ground connection for additional cabinets, system components,
and distributed devices with the largest possible cross-section (at least 16 mm²).
• Ground unused lines at one end in the cabinet.
• Select the highest possible distance between the power and signal cables, with a
minimum of 20 cm at the very least. The greater the distance over which the cables are
routed in parallel, the greater the clearance must be. If a sufficient clearance cannot be
maintained, you must install additional shields.
• Avoid unnecessarily long cable loops.
Filtering cables
• Line supply cables and power supply cables for devices and modules may have to be
filtered in the cabinet to reduce incoming or outgoing disturbances.
• To reduce emissions, the device is equipped with a radio interference suppression filter as
standard (in accordance with the limit values defined in category C3). Optional filters can
be fitted for use in the first environment (category C2).
Protective ground conductors

• According to EN 61800-5-1, Section. 6.3.6.7, the minimum cross-section of the protective
ground conductor must conform to the local safety regulations for protective ground
conductors for equipment with a high leakage current.

4.6 Connection overview
Power Module, frame size FX
Figure 4-3 Connection overview of Power Module, frame size FX (without front cover)

Power Module (frame size GX)
Figure 4-4 Connection overview of Power Module (frame size GX) (without front cover)

Power Module (frame size HX)
Figure 4-5 Connection overview of Power Module (frame size HX) (without front cover)

Power Module (frame size JX)
Figure 4-6 Connection overview of Power Module (frame size JX) (without front cover)

4.7 Power connections
WARNING
Electric shock caused by interchanging or short-circuiting the device connections
Interchanging the line connections and motor connections or short-circuiting the DC-link
connections will damage the device that can cause death or severe injuries.
• Do not interchange input and output terminals of the device.
• Do not interchange or short-circuit the DC-link terminals.
Note
Ground-fault circuit interrupter
The device must not be operated via a ground-fault circuit interrupter (EN 61800-5-1).
4.7.1 Cable lugs
Cable lugs
The cable connections on the devices are designed for cable lugs according to DIN 46234 or
DIN 46235.
For connection of alternative cable lugs, the maximum dimensions are listed in the table
below.
These cable lugs are not to exceed these dimensions, as mechanical fastening and adherence
to the voltage distances is not guaranteed otherwise.
Figure 4-7 Dimensions of the cable lugs

Table 4- 3 Dimensions of the cable lugs
Screw / bolts Connection cross- d2 b l c1 c2

section [mm] [mm] [mm] [mm] [mm]
[mm²]
M8 70 8.4 24 55 13 10
M10 185 10.5 37 82 15 12
M10 240 13 42 92 16 13
M12 95 13 28 65 16 13
M12 185 13 37 82 16 13
M12 240 13 42 92 16 13
M16 240 17 42 92 19 16
Attaching 2 cable lugs per phase

The cable lugs can be attached as shown in the following diagram if, at one connection per
phase, 2 cable lugs can be connected.
Figure 4-8 2 cable lugs per connection

4.7.2 Connection cross-sections, cable lengths
Connection cross-sections
The connection cross-sections for the line connection, motor connection, and ground
connection for your device are specified in the tables provided in the "Technical
specifications" section.
Cable lengths
The maximum permissible cable lengths are specified for standard cable types or cable types
recommended by SIEMENS. Longer cables can only be used after consultation.
The listed cable length represents the actual distance between the converter and the motor,
taking account factors such as parallel laying, current-carrying capacity, and the laying factor.
• Unshielded cable (e.g. Protodur NYY): max. 450 m
• Shielded cable (e.g., Protodur NYCWY, Protoflex EMV 3 Plus): max. 300 m.
Note
Cable lengths
The cable lengths specified are also valid if a motor reactor is in use.
Note
Shielded cables
The PROTOFLEX-EMV-3 PLUS shielded cable recommended by Siemens is the protective
conductor and comprises three symmetrically-arranged protective conductors. The individual
protective conductors must each be provided with cable eyes and be connected to ground.
The cable also has a concentric flexible braided copper shield. To comply with EN 61800-3
regarding radio interference suppression, the shield must be grounded at both ends with the
greatest possible surface area.
On the motor side, cable glands that contact the shield with the greatest possible surface
area are recommended for the terminal boxes.

4.7.3 Connecting the motor and power cables
Connecting the motor and power cables on the Power Module

1. If necessary, remove the covers or front covers in front of the connection panel for motor
cables (terminals U2/T1, V2/T2, W2/T3; X2) and power cables (terminals U1/L1, V1/L2,
W1/L3; X1).
2. Screw the protective earth (PE) into the appropriate terminal (with earth symbol) (50 Nm for
M12) at the points provided in the cabinet.
3. Connect the line and motor cables to the terminals.
Make sure that you connect the conductors in the correct sequence: U2/T1, V2/T2, W2/T3
and U1/L1, V1/L2, W1/L3!
NOTICE
Material damage due to loose power connections
Insufficient tightening torques or vibration can result in faulty electrical connections. This
can result in damage due to fire or malfunctions.
• Tighten all power connections with the specified tightening torques, e.g. line supply
connection, motor connection, DC link connections.
• Regularly check all power connections by retightening them with the specified
tightening torque. This applies in particular after transport.
Note
PE connection of the motor
The PE connection on the motor must be guided back directly to the Power Module and
connected there.
Direction of motor rotation

EN 60034-7 defines the two ends of an electric motor as follows:
• DE (Drive End): usually the drive end of the motor
• NDE (Non-Drive End): usually the non-drive end of the motor
An electric motor will rotate clockwise if the shaft is turning clockwise when looking at the DE
side.
For electric motors with 2 shaft ends, the direction of rotation must be determined based on
the shaft end specified as the drive end.
For clockwise rotation, the electric motor must be connected according to the following
table.

Table 4- 4 Power Module and motor connection terminals
Power Module (connection terminals) Motor (connection terminals)

U2/T1 U
V2/T2 V
W2/T3 W
In contrast to the connection for the clockwise phase sequence, two phases have to be
reversed with a counter-clockwise phase sequence (looking at the drive shaft).
Note
Information on the phase sequence
If an incorrect phase sequence was connected when the motor was connected, p1821 (phase
sequence direction reversal) can be used to correct the incorrect phase sequence without
physically changing it over (see "Functions, monitoring and protective functions/direction
reversal").
With motors that can be star-connected or delta-connected, it must be ensured that the
windings are interconnected consistent with the operating voltage indicated on the rating
plate or in the motor documentation. Make sure that the winding insulation of the connected
motor has sufficient insulation strength to meet the requirements for converter operation.
4.7.4 DCPS, DCNS connection for a dV/dt filter with Voltage Peak Limiter
Table 4- 5 DCPS, DCNS
Frame size Connectable cross-section Terminal screw

FX 1 x 70 mm² M8
GX 1 x 70 mm² M8
HX 1 x 185 mm² M10
JX 2 x 185 mm² M10
With frame sizes FX and GX, the connecting cables are routed down through the Power
Module and out.
4.7.5 Adjusting the fan voltage

The power supply for the device fan (1 AC 230 V) in the Power Module is generated from the
line supply using a transformer.
The transformer is fitted with primary taps so that it can be fine-tuned to the line voltage.
If necessary, the connection fitted in the factory, shown with a dashed line, must be
reconnected to the actual line voltage.

For the position of the setting terminals, see the "Connection overview" section.
Note
Number of transformers
One transformer is installed in frame sizes FX, GX and HX; two transformers are installed in
frame size JX. The two primary terminals on these devices must be set together.
Figure 4-9 Setting terminals for the fan transformer (380 to 480 V 3 AC / 500 to 600 V 3 AC / 660 to
690 V 3 AC)
The line voltage assignments for making the appropriate setting on the fan transformer are
indicated in the following tables.
Note
Fan transformer for 660 to 690 V 3 AC
With the 660 V to 690 V 3 AC fan transformer, a jumper is inserted between the "600 V"
terminal and "CON" terminal. The "600V" and "CON" terminals are for internal use.
WARNING
Fire due to overheating resulting from insufficient equipment fan voltage
If the terminals are not reconnected to correspond with the actual line voltage, overheating
and risks to personnel due to smoke and fire may result.
This can also cause the fan fuses to rupture due to overload.
• Set the terminals in accordance with the actual line voltage.
Note
Article numbers for fan fuses
The article numbers for fan fuses that have blown can be found in the spare parts list.

Table 4- 6 Line voltage assignment for the setting at the fan transformer (3-phase 380 ... 480 V AC)
Line voltage Taps of the fan transformer

380 V ± 10% 380 V
400 V ± 10% 400 V
440 V ± 10% 440 V
480 V ± 10% 480 V

500 V ± 10% 500 V
525 V ± 10% 525 V
575 V ± 10% 575 V
600 V ± 10% 600 V

660 V ± 10% 660 V
690 V ± 10% 690 V
4.7.6 Removing the connection clip to the basic interference suppression module
for operation on an ungrounded line supply (IT system)
If the built-in unit is operated from a non-grounded supply (IT system), the connection clip to
the basic interference suppression module of the Power Module must be removed.
Note
Warning label on the connection clip
A yellow warning label is attached to each connection clip so that it is easier to find.
• The warning label must be removed from the connection clip (by pulling it off) if the
connection clip is to remain in the unit (operation on a grounded line supply).
• The warning label must be removed together with the connection clip if the unit is
operated on a non-grounded line supply (IT system).
Figure 4-10 Warning label on the connection clip

NOTICE
Damage to the device through not removing the connection clip with a non-grounded
line supply
Failure to remove the connection clip to the basic interference suppression module on a
non-grounded line supply (IT system) can cause significant damage to the device.
• With a non-grounded line supply (IT system), remove the connection clip to the basic
interference suppression module.
Figure 4-11 Removing the connection clip to the basic interference suppression module, frame size
FX

GX

HX

Figure 4-14 Removing the connection clip to the basic interference suppression module, frame size JX

4.8 External 24 V DC supply
4.8 External 24 V DC supply
Description
An external 24 V DC supply is always recommended if communication and closed-loop
control are to be independent of the supply system. An external auxiliary supply is particularly
recommended for low-power lines susceptible to short-time voltage dips or power failures.
With an external supply independent of the main supply, warnings and fault messages may
still be displayed on the operator panel and internal protection and monitoring devices if the
main supply fails.
The power requirement is 4 A.
Connecting
Connect the external 24 V DC supply to terminals 1 (P 24 V) and 2 (Mext) of terminal block -X9
on the Power Module.

4.9 DRIVE-CLiQ wiring diagram
4.9 DRIVE-CLiQ wiring diagram

The diagram below shows the specifications for the DRIVE-CLiQ connections between the
components.
NOTICE
Comply with connection specifications
These specifications for the DRIVE-CLiQ connections should be observed, otherwise faults
may occur during commissioning via STARTER or the AOP30 operator panel.
Figure 4-15 DRIVE-CLiQ wiring diagram

4.10 Signal connections
4.10.1 Power Module
X9: Terminal block
Table 4- 9 Terminal block X9
Terminal Function Technical data

1 P24V External 24 V DC supply
2 M Voltage: 24 V DC (20.4 to 28.8 V)
Current consumption: max. 4 A
3 Reserved, do not use
5 HS1 Control of the main contactor
6 HS2 AC 240 V: Max. 8 A
30 V DC: max. 1 A
isolated
Max. connectable cross-section: 2.5 mm²
X41: EP terminals/temperature sensor connection
Connector Terminal Function Technical data

1 EP M1 (enable pulses) Supply voltage: 24 V DC (20.4 to 28.8 V)
2 EP +24 V (enable puls- Current consumption: 10 mA
es) The pulse inhibit function is only available
when the "Safety Integrated Basic Functions
via onboard terminals" is enabled in the soft-
ware.
3 - Temp Temperature sensor connection for motor
4 + Temp temperature measurement:
KTY84-1C130, PTC, PT100, PT1000, bimetallic
switch with NC contact

WARNING
Electric shock in the event of voltage flashovers at the temperature sensor
Voltage flashovers in the signal electronics can occur in motors without safe electrical
separation of the temperature sensors.
• Only use temperature sensors that fully comply with the specifications of the safety
isolation.
• If safe electrical separation cannot be guaranteed (for linear motors or third-party
motors, for example), use a Sensor Module External (SME120 or SME125) or Terminal
Module TM120.
NOTICE
Device failure as a result of unshielded or incorrectly routed cables to temperature
sensors
Unshielded or incorrectly routed cables to temperature sensors can result in interference
being coupled into the signal processing electronics from the power side. This can result in
significant disturbance of all signals (fault messages) up to failure of individual components
(destruction of the devices).
• Only use shielded cables as temperature sensor cables.
• If temperature sensor cables are routed together with the motor cable, use separately
shielded cables twisted in pairs.
• Connect the cable shield to ground potential through a large surface area.
NOTICE
Damage to motor due to incorrectly connected KTY temperature sensor
If a KTY temperature sensor is connected with incorrect polarity, it is not possible to detect
when the motor overheats. Overheating can cause damage to the motor.
• Connect a KTY temperature sensor with the correct polarity.
Note
The temperature sensor connection can be used for motors that are equipped with a KTY84-
1C130, PT100, PT1000 or PTC probe in the stator windings.
Note
Function of the EP terminals
The function of the EP terminals for pulse inhibit is only available if the "Safety Integrated
Basic Functions via onboard terminals" software is enabled.

Note
Safety Integrated Function Manual
Detailed and comprehensive instructions and information for the Safety Integrated functions
can be found in the associated Function Manual. This manual is available as additional
documentation on the customer DVD supplied with the device.
X42: Power supply for the Control Unit, Sensor Module and Terminal Module

1 P24L Voltage supply for Control Unit, Sensor Module,
2 and Terminal Module (18 to 28.8 V)
Maximum load current: 3 A
3 M
4
Max. connectable cross-section: 2.5 mm2
Note
Connection options for terminal strip X42
The terminal strip is not intended to be freely used for other 24 V DC loads (for example for
supplying additional line-side components), as the voltage supply of the Control Interface
Module could also be overloaded and operating capability could thus be compromised.
X46: Brake control and monitoring

1 BR output + Brake connection
2 BR output - Supply voltage: 24 V DC
Max. load current: 200 mA
3 FB input + Internal feedback signal from the Safe Brake
4 FB input - Adapter
Max. connectable cross-section: 1.5 mm2
Note
The interface is intended for connection of the Safe Brake Adapter.

WARNING
Fire hazard due to overheating when permissible connection cable lengths are
exceeded
Excessively long connection cables connected to terminal strip X46 can cause components
to overheat with the associated risk of fire and smoke.
• Limit the length of the connecting cables to a maximum of 10 m.
• Do not route the connection cable outside the control cabinet or control cabinet group.
X400 – X402: DRIVE-CLiQ interface
Table 4- 13 DRIVE-CLiQ interface X400 – X402: Power Module
Connector Pin Signal name Technical data

1 TXP Transmit data +
2 TXN Transmit data -
3 RXP Receive data +
4 Reserved, do not use -
6 RXN Receive data -
A + (24 V) Power supply
B M (0 V) Electronics ground
Blanking plate for DRIVE-CLiQ interfaces (50 pcs.) Article number: 6SL3066-4CA00-0AA0

4.10.2 Control Unit CU320-2 DP
Connection overview
Figure 4-16 Connection overview of the CU320-2 DP Control Unit (without cover)

Figure 4-17 Interface X140 and measuring sockets T0 to T2 - CU320-2 DP (view from below)
NOTICE
Malfunctions or damage to the option board by inserting and withdrawing in
operation
Withdrawing and inserting the option board in operation can damage it or cause it to
malfunction.
• Only withdraw or insert the Option Board when the Control Unit is in a no-current
condition.

Connection example
Figure 4-18 Connection example of CU320-2 DP

X100 to X103: DRIVE-CLiQ interface
Table 4- 14 DRIVE-CLiQ interface X100 – X103

Connector type: RJ45 socket

X122: Digital inputs/outputs
Connector Pin Designation 1) Technical data

1 DI 0 Voltage (max.): -3 ... +30 V DC
2 DI 1 Typical power consumption: 9 mA at 24 V
Electrical isolation: reference potential is terminal M1
3 DI 2
Level (with ripple)
4 DI 3 High level: 15 … 30 V
5 DI 16 Low level: -3 … +5 V
6 DI 17 Input delay (typ.):
For "0" → "1": 50 μs
For "1" → "0": 150 μs
7 M1 Reference potential for terminal 1 ... 6
8 M Electronics ground
9 DI/DO 8 As input:
10 DI/DO 9 Voltage: -3 … +30 VDC
Current consumption, typical: 9 mA at 24 V
11 M
Level (with ripple)
12 DI/DO 10 High level: 15 … 30 V
13 DI/DO 11 Low level: -3 … +5 V
14 M DI/DO 8, 9, 10, and 11 are "high-speed inputs" 2)
Input delay (typ.):
For "0" → "1": 5 μs
For "1" → "0": 50 μs
As output:
Voltage: 24 V DC
Max. load current per output: 500 mA
Continuous short-circuit proof
Output delay (typ./max.): 3)
For "0" → "1": 150 μs / 400 μs
For "1" → "0": 75 μs / 100 μs
Switching frequency:
For resistive load: Max. 100 Hz
For inductive load: Max. 0.5 Hz
For lamp load: Max. 10 Hz
Maximum lamp load: 5 W
1) DI: digital input; DI/DO: bidirectional digital input/output; M: Electronics ground M1: reference potential
2) The rapid inputs can be used as probe inputs or as inputs for the external zero mark.
3) Data for: Vcc = 24 V; load 48 Ω; high ("1") = 90% Vout; low ("0") = 10% Vout
The maximum cable length that can be connected is 30 m.

Note
Ensuring the function of digital inputs
An open input is interpreted as "low".
Terminal M1 must be connected so that the digital inputs (DI) can function.
This is achieved through one of the following measures:
1. Also route the reference ground of the digital inputs.
2. A jumper to terminal M. (Note: This removes the electrical isolation for these digital inputs.)
Note
If the 24 V supply is briefly interrupted, then the digital outputs are deactivated during this
time.


1 DI 4 Voltage (max.): -3 … +30 VDC
2 DI 5 Current consumption, typical: 9 mA at 24 V
Electrical isolation: The reference potential is terminal M2
3 DI 6
Level (including ripple)
5 DI 20 Low-level: -3 … +5 V
For "0" → "1": 50 μs
For "1" → "0": 150 μs
9 DI/DO 12 As input:
11 M
13 DI/DO 15 Low-level: -3 … +5 V
Input delay (typ.):
For "0" → "1": 5 μs
For "1" → "0": 50 μs
As output:
Voltage: 24 V DC
For "0" → "1": 150 μs / 400 μs
For "1" → "0": 75 μs / 100 μs
1) DI: digital input; DI/DO: bidirectional digital input/output; M: Electronics ground; M2: reference potential
2) The rapid inputs can be used as probe inputs or as inputs for the external zero mark

Note
To enable the digital inputs (DI) to function, terminal M2 must be connected.
Note
time.
X124: Electronic power supply

+ Electronic power supply Voltage: 24 V DC (20.4 to 28.8 V)
+ Electronic power supply Current consumption: max. 1.0 A (without DRIVE-
M Electronics ground CLiQ or digital outputs)
Max. current via jumper in connector: 20 A (15 A
M Electronics ground
according to UL/CSA)
Note
Looping through the supply voltage
The two "+" and "M" terminals are jumpered in the connector. This ensures that the supply
voltage is looped through.
The power can be supplied via terminals X41.1/2 of the Power Module.
Note
Screw terminal block on tightly
The terminal block must be screwed on tightly using a flat-bladed screwdriver.

X126: PROFIBUS connection

The PROFIBUS is connected by means of a 9-pin SUB D socket (X126). The connections are
electrically isolated.
Table 4- 18 PROFIBUS interface X126
Connector Pin Signal name Meaning Range

1 - Not assigned
2 M24_SERV Power supply for teleservice, ground 0V
3 RxD/TxD–P Receive/transmit data P (B) RS485
4 CNTR–P Control signal TTL
5 DGND PROFIBUS data reference potential
6 VP Supply voltage plus 5 V ± 10%
7 P24_SERV Power supply for teleservice, + (24 V) 24 V (20.4 ... 28.8 V)
8 RxD/TxD–N Receive/transmit data N (A) RS485
9 - Not assigned
A teleservice adapter can be connected to the PROFIBUS interface for remote diagnostics. The
power supply for the teleservice (terminals 2 and 7) can have a load of up to 150 mA.
NOTICE
Damage to the Control Unit or other PROFIBUS nodes due to high leakage currents
Significant leakage currents can flow along the PROFIBUS cable if a suitable equipotential
bonding conductor is not used and destroy the Control Unit or other PROFIBUS nodes.
• An equipotential bonding conductor with a cross-section of at least 25 mm² must be
used between components in a system that are located at a distance from each other.
NOTICE
Damage to the Control Unit or other CAN bus nodes due to the connection of a CAN
cable
If a CAN cable is connected to the X126 interface, this can destroy the Control Unit or other
CAN bus nodes.
• Do not connect any CAN cables to the X126 interface.
PROFIBUS connector
For the first and last participants in a bus line, the terminating resistors must be switched in,
otherwise, data transmission will not function correctly.
The terminating resistors are activated in the connector.
The cable shield must be connected at both ends and over a large surface area.

Connectors
The cables must be connected via PROFIBUS connectors as they contain the necessary
terminating resistors.
The figure below shows suitable PROFIBUS connectors with/without a PG/PC connector.
PROFIBUS connector PROFIBUS connector

without PG/PC connection with PG/PC connection
6ES7972-0BA42-0XA0 6ES7972-0BB42-0XA0
Bus terminating resistor

The bus terminating resistor must be switched on or off depending on its position in the bus,
otherwise the data will not be transmitted properly.
The terminating resistors for the first and last nodes in a line must be switched on; the
resistors must be switched off at all other connectors.
The cable shield must be connected at both ends over large-surface area contacts.
Note
Connector type
Depending on the connector type, the correct assignment of the connector must be ensured
(IN/OUT) in conjunction with the terminating resistor.
Figure 4-19 Position of the bus terminating resistors

PROFIBUS address switches

The PROFIBUS address is set as a hexadecimal value via two rotary coding switches. Values
between 0dec (00hex) and 127dec (7Fhex) can be set as the address. The upper rotary coding
switch (H) is used to set the hexadecimal value for 161 and the lower rotary coding switch (L)
is used to set the hexadecimal value for 160.
Table 4- 19 PROFIBUS address switches
Rotary coding Significance Examples

switches
21dec 35dec 126dec
15hex 23hex 7Ehex
161 = 16 1 2 7
160 = 1 5 3 E
Setting the PROFIBUS address

The factory setting for the rotary coding switches is 0dec (00hex).
There are two ways to set the PROFIBUS address:
1. Via p0918
– To set the bus address for a PROFIBUS node using STARTER, first set the rotary code
switches to 0dec (00hex) and 127dec (7Fhex).
– Then use parameter p0918 to set the address to a value between 1 and 126.
2. Via the PROFIBUS address switches on the Control Unit
– The address is set manually to values between 1 and 126 using the rotary coding
switches. In this case, p0918 is only used to read the address.
Note
The rotary coding switches used to set the PROFIBUS address are located beneath the cover.
Note
Address 126 is used for commissioning. Permitted PROFIBUS addresses are 1 ... 126.
When several Control Units are connected to a PROFIBUS line, you set the addresses
differently than for the factory setting. Each PROFIBUS address in a PROFIBUS line can only be
assigned once. Either set the PROFIBUS address in absolute terms using the rotary coding
switches – or selectively in parameter p0918. Each change made to the bus address is not
effective until POWER ON.
The currently set address of the rotary coding switch is displayed in parameter r2057.

X127: LAN (Ethernet)
Note
Use
Ethernet interface X127 is intended for commissioning and diagnostics, which means that it
must always be accessible (e.g. for service).
Further, the following restrictions apply to X127:
• Only local access is possible
• No networking - or only local networking in a closed and locked electrical cabinet
permissible
If it is necessary to remotely access the electrical cabinet, then additional security measures
must be applied so that misuse through sabotage, unqualified data manipulation and
intercepting confidential data is completely ruled out (also see Chapter "Industrial Security
(Page 21)").
Table 4- 20 X127 LAN (Ethernet)
Connector Pin Designation Technical data

1 TXP Ethernet transmit data +
2 TXN Ethernet transmit data -
3 RXP Ethernet receive data +
6 RXN Ethernet receive data -
Note
The LAN (Ethernet) interface does not support Auto MDI(X). If the LAN interface of the
communication partner also cannot handle auto-MDI(X), then a crossover cable must be used
to establish the connection.

For diagnostic purposes, the X127 LAN interface features a green and a yellow LED. These
LEDs indicate the following status information:
Table 4- 21 LED statuses for the X127 LAN interface
LED Color State Description

Link port - Off Missing or faulty link
Green Continuous light 10 or 100 Mbit link available
Activity port - Off No activity
Yellow Flashing light Sending or receiving
X140: serial interface (RS232)

The AOP30 operator panel for operating/parameterizing the device can be connected via the
serial interface. The interface is located on the underside of the Control Unit.
Table 4- 22 Serial interface (RS232) X140

2 RxD Receive data
3 TxD Transmit data
5 Ground Ground reference
Connector type: 9-pin SUB D connector
Note
Connecting cable to the AOP30
The connection cable to AOP30 may only contain the three contacts which are shown in the
drawing; a completely allocated cable may not be used.

T0, T1, T2: Measuring socket contacts
Table 4- 23 Measuring socket contacts T0, T1, T2
Connector Socket Function Technical data

M Ground Voltage: 0… 5 V
T0 Measuring socket contact 0 Resolution: 8 bits
Load current: max. 3 mA
T1 Measuring socket contact 1 Continuous short-circuit proof
T2 Measuring socket contact 2 The reference potential is terminal M
PCB plug connector from Phoenix Contact, type: ZEC 1.0/ 4-ST-3.5 C1 R1.4, order number: 1893708
Note
Cable cross section
The measuring socket contacts are only suitable for cable cross-sections of 0.2 mm2 to
1 mm2.
Note
Using the measuring socket contacts
The measuring socket contacts support commissioning and diagnostic functions. It must not
be connected for normal operation.
DIAG button
The DIAG pushbutton is reserved for service functions.

Slot for the memory card
Figure 4-20 Slot for the memory card
Note
Plant standstill by withdrawing or inserting the memory card during operation
condition.
Note
Insertion direction for the memory card
Only insert the memory card as shown in the photo above (arrow at top right).
NOTICE
Memory card damage caused by electric fields or electrostatic discharge
Electrical fields or electrostatic discharge may result in the memory card being damaged and
so cause malfunctions.
• When removing and inserting the memory card, always observe the ESD regulations.

Note
Data loss when the Control Unit with memory card is returned
When returning a defective Control Unit for repair or testing, the data on the memory card
(parameters, firmware, licenses, etc.) could be lost.
• Do not return the memory card as well, but rather keep it in a safe place so that it can be
inserted in the replacement unit.
Note
Please note that only SIEMENS memory cards can be used to operate the Control Unit.

4.10.3 Control Unit CU320-2 PN
Connection overview
Figure 4-21 Connection overview of CU320-2 PN Control Unit (without cover)

Figure 4-22 Interface X140 and measuring sockets T0 to T2 - CU320-2 PN (view from below)
NOTICE
Malfunctions or damage to the option board by inserting and withdrawing in
operation
Withdrawing and inserting the option board in operation can damage it or cause it to
malfunction.
• Only withdraw or insert the Option Board when the Control Unit is in a no-current
condition.

Connection example
Figure 4-23 Connection example, CU320-2 PN

X100 to X103: DRIVE-CLiQ interface
Table 4- 24 DRIVE-CLiQ interface X100 – X103



1 DI 0 Voltage (max.): -3 ... +30 V DC
2 DI 1 Typical power consumption: 9 mA at 24 V
Electrical isolation: reference potential is terminal M1
3 DI 2
Level (with ripple)
5 DI 16 Low level: -3 … +5 V
For "0" → "1": 50 μs
For "1" → "0": 150 μs
9 DI/DO 8 As input:
11 M
Level (with ripple)
13 DI/DO 11 Low level: -3 … +5 V
Input delay (typ.):
For "0" → "1": 5 μs
For "1" → "0": 50 μs
As output:
Voltage: 24 V DC
For "0" → "1": 150 μs / 400 μs
For "1" → "0": 75 μs / 100 μs
1) DI: digital input; DI/DO: bidirectional digital input/output; M: Electronics ground M1: reference potential
2) The rapid inputs can be used as probe inputs or as inputs for the external zero mark.

Note
Note
time.


1 DI 4 Voltage (max.): -3 … +30 VDC
2 DI 5 Current consumption, typical: 9 mA at 24 V
Electrical isolation: The reference potential is terminal M2
3 DI 6
5 DI 20 Low-level: -3 … +5 V
For "0" → "1": 50 μs
For "1" → "0": 150 μs
9 DI/DO 12 As input:
11 M
13 DI/DO 15 Low-level: -3 … +5 V
Input delay (typ.):
For "0" → "1": 5 μs
For "1" → "0": 50 μs
As output:
Voltage: 24 V DC
For "0" → "1": 150 μs / 400 μs
For "1" → "0": 75 μs / 100 μs
1) DI: digital input; DI/DO: bidirectional digital input/output; M: Electronics ground; M2: reference potential
2) The rapid inputs can be used as probe inputs or as inputs for the external zero mark

Note
Note
time.

+ Electronic power supply Voltage: 24 V DC (20.4 to 28.8 V)
+ Electronic power supply Current consumption: max. 1.0 A (without DRIVE-
M Electronics ground CLiQ or digital outputs)
Max. current via jumper in connector: 20 A (15 A
M Electronics ground
according to UL/CSA)
Note
The power can be supplied via terminals X41.1/2 of the Power Module.
Note
Screw terminal block on tightly

X127: LAN (Ethernet)
Note
Use
• Only local access is possible
• No networking - or only local networking in a closed and locked electrical cabinet
permissible
must be applied so that misuse through sabotage, unqualified data manipulation and
intercepting confidential data is completely ruled out (also see Chapter "Industrial Security
(Page 21)").
Table 4- 28 X127 LAN (Ethernet)

1 TXP Ethernet transmit data +
2 TXN Ethernet transmit data -
3 RXP Ethernet receive data +
6 RXN Ethernet receive data -
Note
The LAN (Ethernet) interface does not support Auto MDI(X). If the LAN interface of the
communication partner also cannot handle auto-MDI(X), then a crossover cable must be used
to establish the connection.
For diagnostic purposes, the X127 LAN interface features a green and a yellow LED. These
LEDs indicate the following status information:
Table 4- 29 LED statuses for the X127 LAN interface

Green Continuous light 10 or 100 Mbit link available
Activity port - Off No activity
Yellow Flashing light Sending or receiving

X140: serial interface (RS232)

The AOP30 operator panel for operating/parameterizing the device can be connected via the
serial interface. The interface is located on the underside of the Control Unit.
Table 4- 30 Serial interface (RS232) X140

2 RxD Receive data
3 TxD Transmit data
5 Ground Ground reference
Connector type: 9-pin SUB D connector
Note
Connecting cable to the AOP30
The connection cable to AOP30 may only contain the three contacts which are shown in the
drawing; a completely allocated cable may not be used.
X150 P1/P2 PROFINET interface
Table 4- 31 X150 P1 and X150 P2 PROFINET

Cable type: PROFINET
Note
Connection cables
The PROFINET interfaces support Auto MDI(X). It is therefore possible to use both crossover
and non-crossover cables to connect the devices.

For diagnostic purposes, the two PROFINET interfaces are each equipped with a green and a
yellow LED. These LEDs indicate the following status information:
Table 4- 32 LED states on the X150 P1/P2 PROFINET interface

Green Continuous 10 or 100 Mbit link available
light
Activity - Off No activity
port Yellow Flashing Data is being received or sent at port x
light
T0, T1, T2: Measuring socket contacts
Table 4- 33 Measuring socket contacts T0, T1, T2
Connector Socket Function Technical data

M Ground Voltage: 0… 5 V
T0 Measuring socket contact 0 Resolution: 8 bits
Load current: max. 3 mA
T1 Measuring socket contact 1 Continuous short-circuit proof
T2 Measuring socket contact 2 The reference potential is terminal M
PCB plug connector from Phoenix Contact, type: ZEC 1.0/ 4-ST-3.5 C1 R1.4, order number: 1893708
Note
Cable cross section
The measuring socket contacts are only suitable for cable cross-sections of 0.2 mm2 to
1 mm2.
Note
Using the measuring socket contacts
The measuring socket contacts support commissioning and diagnostic functions. It must not
be connected for normal operation.
DIAG button
The DIAG pushbutton is reserved for service functions.

Slot for the memory card
Figure 4-24 Slot for the memory card
Note
Plant standstill by withdrawing or inserting the memory card during operation
condition.
Note
Insertion direction for the memory card
Only insert the memory card as shown in the photo above (arrow at top right).
NOTICE
Memory card damage caused by electric fields or electrostatic discharge
Electrical fields or electrostatic discharge may result in the memory card being damaged and
so cause malfunctions.
• When removing and inserting the memory card, always observe the ESD regulations.

Note
Data loss when the Control Unit with memory card is returned
When returning a defective Control Unit for repair or testing, the data on the memory card
(parameters, firmware, licenses, etc.) could be lost.
• Do not return the memory card as well, but rather keep it in a safe place so that it can be
inserted in the replacement unit.
Note
Please note that only SIEMENS memory cards can be used to operate the Control Unit.

4.10.4 TM31 Terminal Module
Description
The TM31 Terminal Module is a terminal extension board. The TM31 terminal Module can be
used to increase the number of available digital/analog inputs/outputs within a drive system.
Connection overview
Figure 4-25 TM31 Terminal Module

Figure 4-26 Connection overview of TM31 Terminal Module

X500, X501: DRIVE-CLiQ interface
Table 4- 34 DRIVE-CLiQ interface X500 and X501


+ Electronic power Voltage: 24 V DC (20.4 to 28.8 V)
supply Current consumption: max. 1.0 A
+ Not assigned (without DRIVE-CLiQ or digital outputs)
M Electronics ground Max. current via jumper in connector: 20 A (15 A
M Electronics ground according to UL/CSA)
Note
The current consumption increases by the value for the DRIVE-CLiQ participant and digital
outputs.
Note

X520: 4 digital inputs
Connector Terminal Designation 1) Technical data

1 DI 0 Voltage: - 3 … +30 V
2 DI 1 Current consumption typical: 10 mA at 24 V DC
3 DI 2 Input delay:
for "0" to "1": Typ. 50 µs max. 100 µs
4 DI 3 for "1" to "0": Typ. 130 µs, max. 150 µs
5 M1 Electrical isolation:
6 M Reference potential is terminal M1
Signal level (including ripple)
High level: 15 … 30 V
Low level: -3 … +5 V
1) DI: digital input; M1: ground reference; M: Electronics ground
Note
X530: 4 digital inputs

1 DI 4 Voltage: - 3 … +30 V
2 DI 5 Current consumption typical: 10 mA at 24 V DC
3 DI 6 Input delay:
For "0" to "1": Typ. 50 µs max. 100 µs
4 DI 7 for "1" to "0": Typ. 130 µs, max. 150 µs
5 M2 Electrical isolation:
6 M Reference potential is terminal M2
Signal level (including ripple)
High level: 15 … 30 V
Low-level: -3 … +5 V
1) DI: digital input; M2: ground reference; M: Electronics ground

Note
X521: 2 analog inputs (differential inputs)

1 AI 0+ The analog inputs can be toggled between current
2 AI 0- and voltage input using switches S5.0 and S5.1.
3 AI 1+ As voltage input:
-10 ... +10 V; Ri > 100 kΩ
4 AI 1- Resolution: 11 bits + sign
As current input:
-20 ... +20 mA; Ri = 250 kΩ
Resolution: 10 bits + sign
5 P10 Auxiliary voltage:
6 M P10 = 10 V
N10 = -10 V
7 N10
Continuously short-circuit proof
8 M
1) AI: analog input; P10/N10: auxiliary voltage, M: Ground reference
NOTICE
Damage or malfunctions through impermissible voltage values
If a current exceeding ±35 mA flows through the analog current input, then the component
could be destroyed.
The common mode range must not be violated in order to avoid incorrect analog-digital
conversion results.
• The input voltage may only be in the range between -30 V and +30 V (destruction limit).
• The common mode voltage may only be in the range between -10 V and +10 V (error
limit).
• The back EMF at the auxiliary voltage connections may only be in the range between -
15 V and +15 V.

Note
The power supply for the analog inputs can be taken internally or from an external power
supply unit.
S5: Selector for voltage/current AI0, AI1
Table 4- 39 Selector for voltage/current S5
Switch Function
S5.0 Selector voltage (V) / current (I) Al0
S5.1 Selector voltage (V) / current (I) Al1
Note
Delivery condition
When delivered, both switches are set to voltage measurement (switch set to "V").
X522: 2 analog outputs, temperature sensor connection

1 AO 0V+ You can set the following output signals using pa-
2 AO 0- rameters:
3 AO 0C+ Voltage: -10 … +10 V (max. 3 mA)
Current 1: 4 … 20 mA (max. load resistance ≤ 500 Ω)
4 AO 1V+
Current 2: -20 … +20 mA (max. load resistance
5 AO 1- ≤ 500 Ω)
6 AO 1C+ Current 3: 0 … 20 mA (max. load resistance ≤ 500 Ω)
Resolution: 11 bits + sign
7 +Temp 2) Temperature sensor KTY84-1C130/PT1000/PTC
8 -Temp2) Measuring current via temperature sensor connec-
tion: 2 mA
1) AO xV: analog output voltage; AO xC: Analog output current
2) Accuracy of the temperature measurement:
- KTY: ±7 °C (including evaluation)
- PT1000: ±5 °C (PT1000 tolerance class B according to EN 60751 including evaluation)
- PTC: ±5 °C (including evaluation)

WARNING
• Use temperature sensors that fully comply with the specifications of the safety isolation.
NOTICE
Damage or malfunctions through impermissible voltage values
If the back EMF is impermissible then damage and malfunctions may occur on the
components.
• The back EMF at the outputs may only be in the range between -15 V and +15 V.
NOTICE
Damage to motor in the event of incorrectly connected KTY temperature sensor
X540: Joint auxiliary voltage for the digital inputs
Connector Terminal Designation Technical data

8 +24 V Voltage: +24 V DC
7 +24 V Max. total load current of +24 V auxiliary voltage for
6 +24 V terminals X540 and X541 combined: 150 mA
5 +24 V Continuously short-circuit proof
4 +24 V
3 +24 V
2 +24 V
1 +24 V
Note
Use of the power supply
This voltage supply is only for powering the digital inputs.

X541: 4 non-floating digital inputs/outputs

6 M Auxiliary voltage:
5 DI/DO 11 Voltage: +24 V DC
Max. total load current of +24 V auxiliary voltage for
4 DI/DO 10 terminals X540 and X541 combined: 150 mA
3 DI/DO 9 As input:
2 DI/DO 8 Voltage: -3 … 30 V
Power consumption, typical: 10 mA at 24 V DC
1 +24 V
Input delay:
- for "0" to "1": Typ. 50 μs
- For "1" to "0". Typ. 100 μs
As output:
Voltage: 24 V DC
Max. total current of outputs (including currents to
the inputs): 100 mA / 1 A (can be parameterized)
Output delay:
- For "0" to "1": Typ. 150 μs at 0.5 A resistive load
(500 μs maximum)
- For "1" to "0": Typically 50 μs at 0.5 A resistive load
- For resistive load: Max. 100 Hz
- For inductive load: Max. 0.5 Hz
- For lamp load: Max. 10 Hz
1) DI/DO: Digital input/output: M: Electronics ground
Note
Open input
Note
time.

X542: 2 relay outputs (two-way contact)

1 DO 0.NC Contact type: Changeover contact max. load current:
2 DO 0.COM 8A
Max. switching voltage: 250 VAC. 30 VDC
3 DO 0.NO Max. Switching capacity at 250 VAC: 2000 VA (cosϕ =
4 DO 1.NC 1)
5 DO 1.COM Max. Switching capacity at 250 VAC: 750 VA (cosϕ =
0.4)
6 DO 1.NO Max. Switching capacity at 30 VDC: 240 W (resistive
load)
Required minimum current: 100 mA
Output delay: ≤ 20 ms 2)
Overvoltage category: Class II acc. to EN 60664-1
1) DO: digital output, NO: normally-open contact, NC: normally-closed contact, COM: mid-position
contact
2) Depending on the parameterization and the supply voltage (P24) of the TM31
Note
Additional protective conductor
If 230 V AC is applied to the relay outputs, the Terminal Module must also be grounded via a
6 mm² protective conductor.

4.10.5 Sensor Module Cabinet-Mounted SMC30
4.10.5.1 Description
The SMC30 Sensor Module is used for determining the actual motor speed. The signals
emitted by the rotary pulse encoder are converted here and made available to the closed-
loop controller via the DRIVE-CLiQ interface for evaluation purposes.
In conjunction with SINAMICS G130 the following encoders can be connected to the SMC30
Sensor Module:
• TTL encoder
• HTL encoder
• KTY, PT1000 or PTC temperature sensor
Table 4- 44 Connectable encoders with supply voltage
Encoder type X520 (SUB-D) X521 (terminal) X531 (terminal) Open-circuit Remote sense
monitoring
HTL bipolar 24 V Yes Yes Yes Yes No
HTL unipolar 24 V Yes Yes Yes No No
TTL bipolar 24 V Yes Yes Yes Yes No
TTL bipolar 5 V Yes Yes Yes Yes To X520
TTL unipolar No No No No No
Table 4- 45 Maximum signal cable lengths
Encoder type Maximum signal cable length in m

TTL 100
HTL unipolar 100
HTL bipolar 300
Note
Prefer a bipolar connection
Because the physical transmission media is more robust, the bipolar connection should
always be used for HTL encoders. The unipolar connection should only be used if the encoder
type does not output push-pull signals.
Note
Only connect one encoder system
Only one encoder system may be connected to the encoder module, either at X520 or at
X521/X531. The corresponding unused interface must not be used.

Table 4- 46 Specification of measuring systems that can be connected
Parameters Designation Threshold 4) Min. Max. Unit

High signal level UHdiff 2 5 V
(TTL bipolar at X520 or X521/X531) 1)
Low signal level ULdiff -5 -2 V
(TTL bipolar to X520 or X521/X531) 1)
High signal level UH4) High 17 VCC V
(HTL unipolar) Low 10 VCC V
Low signal level UL4) High 0 7 V
(HTL unipolar) Low 0 2 V
High signal level UHdiff 3 VCC V
(HTL bipolar) 2)
Low signal level ULdiff -VCC -3 V
(HTL bipolar) 2)
Signal frequency fS - 300 kHz
Edge spacing tmin 100 - ns
Zero pulse inactive time tLo 640 (tALo-BHi - tHi)/2 3) ns
(before and after A=B=high)
Zero pulse active time tHi 640 tALo-BHi - 2 x tLo 3) ns
(while A=B=high and beyond)
1) Other signal levels according to the RS 422 standard.
2)The absolute level of the individual signals varies between 0 V and VCC of the measuring
system.
3) tALo-BHi
is not a specified value, but is the time between the falling edge of track A and the
next but one rising edge of track B.
4)The threshold can be set via p0405.04 (switching threshold); the setting on delivery is
"Low."
Figure 4-27 Signal characteristic of the A and B track between two edges: time between two edges
with pulse encoders

Figure 4-28 Position of the zero pulse to the track signals
For encoders with a 5-V supply at X521/X531, the cable length is dependent on the encoder
current (this applies cable cross-sections of 0.5 mm²):
Figure 4-29 Signal cable length as a function of the encoder current consumption
For encoders without Remote Sense the permissible cable length is restricted to 100 m
(reason: the voltage drop depends on the cable length and the encoder current).

Figure 4-30 SMC30 Sensor Module

4.10.5.2 Connection
X500: DRIVE-CLiQ interface
Table 4- 47 DRIVE-CLiQ interface X500


+ Electronic power supply Voltage: 24 VDC (20.4 to 28.8 V)
+ Electronic power supply Current consumption: max. 0.55 A
M Electronics ground Max. current via jumper in connector: 20 A
M Electronics ground (15 A according to UL/CSA)
Max. connection cross-section: 2.5 mm²
Note
The two "+" and "M" terminals are jumpered in the connector and not in the unit.
This ensures that the supply voltage is looped through.
The power can be supplied via terminals X41:1/2 of the Power Module.

X520: Encoder connection 1 for HTL/TTL encoder with open-circuit monitoring
Table 4- 49 Encoder connection X520

1 +Temp 1) Temperature sensor connection KTY84-
1C130 / PT1000 / PTC
4 P encoder 5 V/24 V Encoder supply
6 P sense Sense input encoder power supply
7 M encoder (M) Ground for encoder power supply
8 -Temp 1) Temperature sensor connection KTY84-
1C130 / PT1000 / PTC
9 M sense Ground sense input
10 R Reference signal R
11 R* Inverse reference signal R
12 B* Inverse incremental signal B
13 B Incremental signal B
14 A* Inverse incremental signal A
15 A Incremental signal A
Connector type: 15-pin Sub-D socket
Measuring current via temperature sensor connection: 2 mA
WARNING
isolation.

NOTICE
sensors
NOTICE
NOTICE
Damage to the encoder due to incorrect supply voltage
The encoder power supply can be parameterized to 5 V or 24 V. The encoder may be
damaged for an incorrect parameterization.
• Select the appropriate supply voltage.
X521 / X531: Encoder connection 2 for HTL/TTL encoder with open-circuit monitoring
Connector Terminal Signal name Technical data

1 A Incremental signal A
2 A* Inverse incremental signal A
3 B Incremental signal B
4 B* Inverse incremental signal B
5 R Reference signal R
6 R* Inverse reference signal R
7 CTRL Control signal
8 M Ground via inductivity

Note
Operation of unipolar HTL encoders
When unipolar HTL encoders are used, A*, B*, and R* on the terminal block must be
jumpered with M_Encoder (X531).
Connector Terminal Signal name Technical data

2 M encoder Ground for encoder power supply
3 -Temp 1) Temperature sensor KTY84-1C130 / PT1000 /
PTC
4 +Temp 1) Temperature sensor KTY84-1C130 / PT1000 /
PTC
Measuring current via temperature sensor connection: 2 mA
WARNING
isolation.

NOTICE
sensors
NOTICE
NOTICE
Damage to the encoder due to incorrect supply voltage
The encoder power supply can be parameterized to 5 V or 24 V. The encoder may be
damaged for an incorrect parameterization.
• Select the appropriate supply voltage.
Note
Cable shield for the encoder connection via terminals
Note that when the encoder is connected via terminals, the cable shield must be applied to
the module.

4.10.5.3 Connection examples
Connection example 1: HTL encoder, bipolar, without zero marker -> p0405 = 9 (hex)
Figure 4-31 Connection example 1: HTL encoder, bipolar, without zero marker
Connection example 2: TTL encoder, unipolar, without zero marker -> p0405 = A (hex)
Figure 4-32 Connection example 2: TTL encoder, unipolar, without zero marker

4.10.6 TM54F Terminal Module

The TM54F Terminal Module is a terminal expansion module with safe digital inputs and
outputs for controlling the Safety Integrated Extended functions of SINAMICS.
The TM54F provides 4 fail-safe digital outputs and 10 fail-safe digital inputs. A fail-safe digital
output consists of a 24 V DC switching output, a ground switching output, and a digital input
for checking the switching state. A fail-safe digital input comprises two digital inputs.
Figure 4-33 TM54F Terminal Module
Note
Safety Integrated Function Manual
Detailed and comprehensive instructions and information for the Safety Integrated functions
can be found in the "Safety Integrated Function Manual." This manual is included on the
documentation CD supplied.


Commissioning 5
5.1 Chapter content
This section provides information on the following:
• Initial commissioning of the chassis unit (initialization) with STARTER and AOP30
– Entering the motor data (drive commissioning)
– Entering the most important parameters (basic commissioning), concluding with
motor identification
• Data backup
• Parameter reset to factory settings

Commissioning
5.2 STARTER commissioning tool
Important information prior to commissioning

The built-in unit offers a varying number of signal interconnections depending on the
additional modules connected. For the converter control to be able to process the signals
correctly, several software settings must be made.
During initial power-up of the Control Unit and during first commissioning, parameter macros
are executed and the necessary settings made.
The settings are documented in the Appendix.
After initial power-up, first commissioning, and also following a "Parameter reset to factory
settings", individual parameter values deviate from the factory settings stated in the List
Manual.
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.
• Respond to possible malfunctions by applying suitable measures (e.g. EMERGENCY STOP
or EMERGENCY OFF).
Description
You can use the STARTER commissioning tool to configure and commission SINAMICS drives
and drive systems. The drive can be configured using the STARTER drive configuration wizard.
Note
STARTER online help
This section shows you how to carry out commissioning using STARTER. STARTER features a
comprehensive online help function, which provides detailed explanations of all the
processes and available system settings.
For this reason, this section only describes the individual commissioning steps.
Prerequisite: STARTER Version

The following STARTER version is required to commission the SINAMICS with firmware V5.2:
• STARTER V5.4 HF1

Commissioning
Prerequisites for installing STARTER

Hardware
The following minimum requirements must be complied with:
• PG or PC with Pentium III min. 1 GHz (recommended > 1 GHz)
• 2 GB work memory (4 GB recommended)
• Screen resolution 1024×768 pixels, 16-bit color depth
• Free hard disk space > 5 GB
Software
The following minimum prerequisites must be observed when using STARTER without an
existing STEP 7 installation:
64-bit operating systems:
• Microsoft Windows 7 Professional SP1
• Microsoft Windows 7 Ultimate SP1
• Microsoft Windows 7 Enterprise SP1 (standard installation)
• Microsoft Windows 10 Professional, from version 1709
• Microsoft Windows 10 Enterprise, from Version 1709
• Microsoft Windows 10 Enterprise 2016 LTSB (OS build 14393)
• Microsoft Windows Server 2016
• Microsoft Windows Server 2019
STARTER setup is possible with native Windows versions with Asian languages only if the
Windows 7 software is an MUI version.
Acrobat Reader V9.4 or higher is required to open the function diagrams in the online help.
Note
Requirements in conjunction with STEP7
If STARTER is used in combination with other STEP7 components, the prerequisites for the S7
components shall apply.

Commissioning
5.2.1 Installing the STARTER commissioning tool

STARTER is installed using the "setup" file on the customer DVD supplied. When you double-
click the "Setup" file, the installation Wizard guides you through the process of installing
STARTER.
Note
Installation time
The installation time depends on the computer performance and from where the software is
installed (e.g. DVD, hard disk, network). We recommend that you install the software from a
local data carrier.
5.2.2 Layout of the STARTER user interface

STARTER features four operating areas:
Figure 5-1 STARTER operating areas

Commissioning
5.3 Procedure for commissioning via STARTER
Operating area Explanation

1: Toolbars In this area, you can access frequently used functions via the icons.
2: Project navigator The elements and projects available in the project are displayed here.
3: Working area In this area, you can change the settings for the drive units.
4: Detail view Detailed information about faults and alarms, for example, is displayed this area.
Basic procedure using STARTER

STARTER uses a sequence of dialog screens for entering the required drive unit data.
Note
Default settings in dialog screens
These dialog screens contain default settings, which you may have to change according to
your application and configuration.
This is intentional!
Objective: By taking time to consider what configuration data you enter, you can prevent
inconsistencies between the project data and drive unit data (identifiable in online mode).
5.3.1 Creating a project

Click the STARTER icon on the desktop or select menu command Start > STARTER > STARTER
in the Windows start menu to start the STARTER commissioning tool.
The first time you run the software, the main screen shown below appears with the dialog
screen forms:
• STARTER Getting Started
• STARTER project wizard
The commissioning steps are listed below as a numbered step sequence.

Commissioning
Accessing the STARTER project wizard
Figure 5-2 Main screen of the STARTER parameterization and commissioning tool
⇒ Hide STARTER Getting Started commissioning drive using HTML Help > Close
The online help can be permanently hidden by deselecting Options > Settings > Workbench
> Display "Getting Started" when starting
Note
Project wizard
When you deactivate the Display wizard during start checkbox, the project wizard is no
longer displayed the next time you start STARTER.
You can call up the project wizard by choosing Project > New with Wizard.
The online help can be opened again at any time using Tools > Settings > Workbench >
Display "Getting Started" when starting
STARTER features a detailed online help function.

Commissioning
The STARTER project wizard
Figure 5-3 STARTER project wizard
⇒ click Arrange drive units offline... in the STARTER project wizard.
Figure 5-4 Create new project
⇒ Enter a project name and, if necessary, the author, memory location and a comment.
⇒ Click Continue > to set up the PG/PC interface.

Commissioning
Figure 5-5 Set up interface
⇒ Under Access point: select the interface corresponding to your device configuration from:
• Select the S7ONLINE access (STEP7), if the connection to the drive unit is established via
PROFINET or PROFIBUS.
• Select the DEVICE access, if the connection to the drive unit is established via the Ethernet
interface.
⇒ Click PG/PC ... and set up the interface in accordance with your device configuration.
The Properties..., Copy... and Select... pushbuttons are now active.

Commissioning
Figure 5-6 Setting the interface
Note
Precondition
To parameterize the interface, you must install the appropriate interface card (e.g., PC
Adapter (PROFIBUS)

Commissioning
Figure 5-7 Setting the interface - properties
Note
Activate PG/PC is the only master on the bus
You must activate PG/PC is the only master on bus if no other master (PC, S7, etc.) is
available on the bus.
Note
Configure even without an interface
Projects can be created and PROFIBUS addresses for the drive objects assigned even if a
PROFIBUS interface has not been installed on the PC.
To prevent bus addresses from being assigned more than once, only the bus addresses
available in the project are proposed.
When required, a manual address entry can also be used to enter an already assigned
address.
⇒ After completion, click OK to confirm the settings and to return to the project wizard.

Commissioning
Figure 5-8 Complete setting the interface
⇒ Click Continue > to set up a drive unit in the project wizard.
Figure 5-9 Inserting the drive unit
⇒ Choose the following data from the list fields:

Device: Sinamics
Type: G130 CU320-2 DP or G130 CU320-2 PN
Version: 5.2
Address of the target device: the corresponding bus address for the converter.
The entry in the Name: can be freely selected.
⇒ Click Insert
The selected drive unit is displayed in a preview window in the project wizard.

Commissioning
Figure 5-10 Drive unit inserted
⇒ Click Continue >

A project summary is displayed.
Figure 5-11 Summary
⇒ Click Complete to finish creating a new drive unit project.

Commissioning
5.3.2 Configuring the drive unit

In the project navigator, open the component that contains your drive unit.
Figure 5-12 Project navigator – configuring the drive unit
⇒ In the project navigator, click the plus sign next to the drive unit that you want to
configure. The plus sign becomes a minus sign and the drive unit configuration options are
displayed as a tree below the drive unit.
⇒ Double-click Configure the drive unit.

Commissioning
Configuring the drive unit
Figure 5-13 Configuring the drive unit
⇒ Under Connection voltage, choose the correct voltage. Under Cooling method: choose
the correct cooling method for your drive unit.
Note
Make a pre-selection
In this step, you make a preliminary selection of the chassis units. You do not define the line
voltage yet.
⇒ A list is now displayed under Drive unit selection:. Choose the corresponding drive unit
according to type (article no.) (see rating plate).

Commissioning
Selecting options
Figure 5-14 Selecting options
⇒ From the combination box Options selection: select the options belonging to your drive
unit by clicking on the corresponding check box.
NOTICE
Damage to the sine-wave filter if it is not activated during commissioning
The sine-wave filter may be damaged if it is not activated during commissioning.
• Activate the sine-wave filter during commissioning by activating the appropriate
checkbox (option SIN).

Commissioning
NOTICE
Damage to the du/dt filter if it is not activated during commissioning
The du/dt filter may be damaged if it is not activated during commissioning.
• Activate the du/dt filter during commissioning by activating the appropriate checkbox
(option DU/DT).
Note
Motor reactor
If a motor reactor (option CHK) is being used, the option selection must be activated,
otherwise the closed-loop motor control will not be able to operate in an optimum fashion.
Note
Check option selection
Carefully check the selected options against the options connected to your built-in unit.
Since the wizard establishes internal interconnections on the basis of the options selected,
you cannot change the selected options by clicking < Back.
If you make an incorrect entry, delete the entire drive unit from the project navigator and
create a new one.
⇒ Check your options carefully and then click Continue >

Commissioning
Selecting the control structure
Figure 5-15 Selecting the control structure

Commissioning
⇒ Select the corresponding settings for the closed-loop control structure:

• Function modules:
– Technology controller
– Extended messages/monitoring
• Control:
– n/M control + U/f control, I/f control
– U/f control
• Control mode:
Depending on the selected control, you can select from one of the following open-
loop/closed-loop control modes:
– 0: U/f control with linear characteristic
– 1: U/f control with linear characteristic and FCC
– 2: U/f control with parabolic characteristic
– 3: U/f control with parameterizable characteristic
– 4: U/f control with linear characteristic and ECO
– 5: U/f control for drive requiring a precise frequency (e.g. textiles)
– 6: U/f control for drive requiring a precise frequency and FCC
– 7: U/f control with parabolic characteristic and ECO
– 15: Operation with braking resistor
– 18: I/f control with fixed current
– 19: U/f control with independent voltage setpoint
– 20: Speed control (without encoder)
– 21: Speed control (with encoder)
– 22: Torque control (without encoder)
– 23: Torque control (with encoder)

Commissioning
Configuring the drive unit properties
Figure 5-16 Configuring the drive unit properties
⇒ Under Standard:, choose the appropriate standard for your motor,

whereby the following is defined:
• IEC motor (50 Hz, SI unit): Line frequency 50 Hz, motor data in kW
• NEMA motor (60 Hz, US unit): Line frequency 60 Hz, motor data in hp
⇒ Under Connection voltage:, enter the appropriate connection voltage of the device.
The connected motor can be selected and/or entered in different ways:
• by selecting a standard motor from a list
• by entering the motor data.

Commissioning
Selecting a standard motor type from a list
Figure 5-17 Configuring a motor – selecting the motor type, selecting a standard motor from a list
⇒ Under Motor name: enter a name for the motor.

⇒ Select a standard motor from the list
⇒ From the selection box next to Motor type:, select the corresponding motor type
⇒ From the list Select motor:, select the corresponding motor
⇒ Under Parallel connection motor, enter the number of motors connected in parallel when
required.
Motors connected in parallel must be of the same type and rating.

Commissioning
Configuring the motor – Selecting the type of connection
Figure 5-18 Configuring the motor – Selecting the type of connection
⇒Under Connection type:, select whether the motor is connected in a star or delta
connection.
The values for the rated motor voltage (p0304) and rated motor current (p0305) are
automatically converted according on the selected connection type.
⇒ Click on Continue > to configure the motor holding brake

Commissioning
Selecting the motor type by entering the motor data
Figure 5-19 Configuring the motor – Selecting the motor type
⇒ Under Motor name: enter a name for the motor.

⇒ select Enter motor data
⇒ From the selection box next to Motor type:, select the appropriate motor for your
application.
⇒ Under Parallel connection motor, enter the number of motors connected in parallel when
required.
Motors connected in parallel must be of the same type and rating.
Note
Selecting the motor type
The selection of the motor type is used to pre-assign specific motor parameters and to
optimize the operating characteristics and behavior. Details are described in the list manual in
the p0300 parameter.

Commissioning
Note
Commissioning of an induction motor
The steps described below also apply to commissioning an induction motor.
When commissioning a permanent-magnet synchronous motor, there are a few special
conditions that apply, which are detailed in a separate chapter (see "Setpoint channel and
closed-loop control / permanent-magnet synchronous motors").
Configuring the motor – Entering motor data
Figure 5-20 Configuring the motor – Entering motor data
⇒ Enter the motor data (see motor rating plate).

⇒ Activate Enter optional motor data if necessary.
⇒ Activate Enter optional equivalent circuit diagram data if necessary.

Commissioning
Note
Entering equivalent circuit diagram data
You should only activate the Enter optional equivalent circuit diagram data if the data
sheet with equivalent circuit diagram data is available. If any data is missing, an error
message will be output when the system attempts to load the drive project to the target
system.
Configuring the motor – Entering optional data
Figure 5-21 Entering optional motor data
⇒ Enter the optional motor data.


Commissioning
Configuring the motor – Entering the equivalent circuit diagram data
Figure 5-22 Entering equivalent circuit diagram data
⇒ Select one of the equivalent circuit diagram data representations:

• Physical system of units
The equivalent circuit diagram data are shown in the form of physical units.
• Referred system of units
The equivalent circuit diagram data is shown as a % referred to the rated motor data.
⇒ Enter the equivalent circuit diagram data completely.

Commissioning
Calculating the motor/controller data
Figure 5-23 Calculating the motor/controller data
⇒ In Calculation of the motor/controller data, select the appropriate default settings for
your device configuration.
Note
Manual input of the equivalent circuit diagram data
If the equivalent circuit diagram data was entered manually (see "Entering the equivalent
circuit diagram data"), then the motor/controller data should be calculated without
calculating the equivalent circuit diagram data.

Commissioning
Configuring the motor holding brake
Figure 5-24 Configuring the motor holding brake
⇒ Under Holding brake configuration: choose the appropriate setting for your device
configuration:
• 0: No motor holding brake being used
• 1: Motor holding brake like sequence control
• 2: Motor holding brake always open
• 3: Motor holding brake like sequence control, connection via BICO
⇒ When a motor holding brake is selected, you can also activate the "Extended brake control"
function module.

Commissioning
Entering the encoder data (option: SMC30 Sensor Module)
Note
Entering the encoder data
If you specified the SMC30 Sensor Module when choosing the options, the Following input
screen is displayed in which you can enter the encoder data.
Figure 5-25 Entering the encoder data
⇒ In the Encoder name: field, enter a name of your choice.
Note
Delivery condition
The delivery condition is a bipolar HTL encoder with 1024 pulses per revolution at terminal
X521/X531 of the encoder module SMC30.

Commissioning
⇒ To select a different predefined encoder configuration, check the Select standard

encoder from list radio button and select one of the encoders from the list.
⇒ To enter special encoder configurations, click the Enter data radio button and then the
Encoder data button. The following input screen is displayed for you to enter the required
data.
Figure 5-26 Entering encoder data – User-defined encoder data
⇒ Select the measuring system.

You can choose the following encoders in conjunction with SINAMICS G130:
• HTL
• TTL
⇒ Enter the required encoder data.
⇒ under the Details tab, special encoder properties can be set, for example, gear ratio, fine
resolution, inversion, measuring gear position tracking.
⇒ Click OK.

Commissioning
NOTICE
Material damage when selecting the incorrect encoder supply voltage
Once the encoder has been commissioned, the supply voltage (5/24 V) set for the encoder is
activated on the SMC30 Module. If a 5 V encoder is connected and the supply voltage has
not been set correctly, the encoder may be damaged.
• Set the correct supply voltage for the connected encoder.
Default settings for setpoints/command sources
Figure 5-27 Default settings for setpoints/command sources
⇒ Under Command sources:, choose and Setpoint sources: choose the appropriate settings
for your device configuration.

Commissioning
The following command and setpoint source options are available:
Command sources: PROFIdrive (default)

TM31 terminals
CU terminals
PROFIdrive+TM31
Setpoint sources: PROFIdrive (default)
TM31 terminals
Motorized potentiometer
Fixed setpoint
Note
Use of CDS0
With SINAMICS G130, only CDS0 is normally used as a default setting for the command and
setpoint sources.
Make sure that the selected default setting is compatible with the actual system
configuration.
Note
Do not use a selection
The choice "no selection" is also available as default setting for the command and setpoint
sources; if selected, no default settings are applied for the command and setpoint sources.
⇒ Check your default settings carefully and then click Continue >

Commissioning
Selecting drive functions
Figure 5-28 Selecting drive functions
⇒ Select the required data:

• Technological application:
– "(0) Standard drive (VECTOR)"
Edge modulation is not enabled.
The dynamic voltage reserve is increased (10 V), which reduces the maximum output
voltage.
– "(1) Pumps and fans" (default setting)
Edge modulation is enabled.
The dynamic voltage reserve is reduced (2 V), which increases the maximum output
voltage.
– "(2) Encoderless control down to f = 0 (passive loads)"
This operating mode is possible for passive loads.
These include applications where the load does not generate regenerative torque
when breaking away and the motor comes to a standstill (zero speed) itself when the
pulses are inhibited.

Commissioning
– "(4) Dynamic response in the field weakening range"

Space vector modulation with overmodulation is enabled.
The dynamic voltage reserve is increased (30 V), which reduces the maximum output
voltage.
– "(5) Start-up with high break loose torque"
This selection is suitable for speed-controlled start-up with sensorless vector control.
Start-up current permanent and is increased upon accelerating.
– "(6) High load inertia"
Suitable for high load inertia with/without gearbox coupling.
The acceleration model is activated, the acceleration control is 100%.
• Motor identification:
– (0): Disabled
– (1): Identify motor data (at standstill) and optimize the closed-loop speed control
– (2): Identify motor data (at standstill)
– (3): Optimize the closed-loop speed control (rotating)
Note
Identifying motor data at standstill
In many cases, "Identify motor data (at standstill)" is the correct selection for SINAMICS G130.
"Identify motor data (at standstill) and optimize speed control" is the recommended setting
for closed-loop speed control with encoder; this measurement is normally performed with a
motor that is not coupled to a load.
WARNING
Unexpected motor movement during motor identification in the rotating mode
Motor movement caused by the motor data identification routine can result in death, severe
injury or material damage.
• Ensure that nobody is in the danger zone and that the mechanical parts can move freely.
• Ensure that the EMERGENCY STOP functions are fully functional when commissioning
the drive.

Commissioning
Selecting process data exchange
Figure 5-29 Selecting process data exchange
⇒ select the PROFIdrive telegram type.

Message frame types
• 1: Standard telegram 1, PZD-2/2
• 20: SIEMENS telegram 20, PZD-2/6
• 999: Free telegram configuration with BICO (default setting)

Commissioning
Entering important parameters
Figure 5-30 Important parameters
⇒ Enter the required parameter values.
Note
Tooltips
STARTER provides tool tips if you position your cursor on the required field without clicking
in the field.

Commissioning
Web server
Figure 5-31 Web server
⇒ Configure the web server.

The web server is already active in the factory settings.
Activate and deactivate the web server under Activate web server.
Select Only allow access via secure connection (https) if necessary.
Note
Industrial Security
Observe the notes on industrial security.

Commissioning
Summary of the drive unit data
Figure 5-32 Summary of the drive unit data
⇒ You can use the Copy to clipboard function to copy the summary of the drive unit data
displayed on the screen to a word processing program for further use.
⇒ Click Finish.
⇒ Save your project to the hard disk by choosing Project > Save.

Commissioning
5.3.3 Transferring the drive project

You have created a project and saved it to your hard disk. You now have to transfer your
project configuration data to the drive unit.
Specifying the online access point

To connect to the target system, the chosen access point must be specified.
In the menu bar, select Target system > Select target devices ...; the following dialog
screen appears.
Figure 5-33 Target device selection and access points
The dialog screen lists all existing devices in the project.

Commissioning
Specify access point:

• Select S7ONLINE access for a device, if the connection to the programming device or PC is
established via PROFINET or PROFIBUS.
• Select DEVICE access for a device if the connection to the programming device or PC is
established via the Ethernet interface.
Transferring the STARTER project to the drive unit

To transfer the STARTER project you created offline to the drive unit, carry out the following
steps:
Step Selection in
toolbar
1 Select menu item
Project > Connect to selected target system
2 Choose the menu item

Target system > Load > Load project to target system
Save project data so it is protected against power failure
The project has now been loaded to the drive unit. This data is cur-
rently available only in the drive unit's volatile memory and not on
the CompactFlash Card!
To store the project data on the memory card so that it is protected
in the event of a power failure, carry out the following step.
3 Select menu item
Target system > Copy from RAM to ROM
Note
Copy from RAM to ROM
The Copy from RAM to ROM icon is only active when the drive unit is selected in the project
navigator.

Commissioning
Results of the previous steps

• You have created a drive unit project offline using STARTER.
• You have saved the project data to the hard disk on your PC.
• You have transferred the project data to the drive unit.
• You have saved your project data to your drive's memory card so that it is backed up in the
event of a power failure.
Note
Tip for working with STARTER
The STARTER commissioning tool supports complex drive system operations.
If you are confronted with any system conditions in online mode that are beyond your
control, you are advised to delete the drive project from the project navigator and carefully
create a new project in STARTER using the appropriate configuration data for your
application.
5.3.4 Commissioning with STARTER via Ethernet
Description
The Control Unit can be commissioned using a programming device (PG/PC) via the
integrated Ethernet interface. This interface is provided for commissioning purposes only and
cannot be used to control the drive in operation.
A routing of the integrated Ethernet interface via any inserted CBE20 expansion card is not
possible.
Preconditions
• STARTER as of version 4.1.5
• Control Unit CU320-2 DP as of device version "C", CU320-2 PN Control Unit

Commissioning
STARTER via Ethernet (example)
Figure 5-34 STARTER via Ethernet (example)
Procedure for establishing online operation via Ethernet

1. Install the Ethernet interface in the PG/PC according to the manufacturer's specifications.
2. Set the IP address of the Ethernet interface in Windows.
– Assign the PG/PC a free IP address (e.g. 169.254.11.1).
– The factory setting for the internal Ethernet interface -X127 of the Control Unit is
169.254.11.22.
3. Set the access point of the STARTER commissioning tool.
4. Use the STARTER commissioning tool to specify a name for the Control Unit interface.
The Ethernet interface must be initialized so that the STARTER can establish
communication. Select online operation in STARTER.
Setting the IP address in Windows
Note
The following procedure is based on the Windows 7 operating system. Operation can deviate
slightly for other operating systems
1. In the PG/PC call the control panel using the "Start > Control Panel" menu item.
2. In the control panel of your PG/PC, under "Network and Internet", select the "Network and
Sharing Center" function.
3. For your network card that is displayed, click the connection link.
4. Click in the status dialog of the connection on "Properties" and acknowledge the subsequent
confirmation prompt with "Yes".
5. In the properties dialog of the connection, select the "Internet protocol 4 (TCP/IPv4)"
element and then click "Properties".
6. In the properties dialog, activate the "Use the following IP address" option.

Commissioning
7. Set the IP address of the PG/PC access interface to the Control Unit to 169.254.11.1 and the
subnet mask to 255.255.0.0.
Figure 5-35 Internet Protocol (TCP/IP) properties
8. Click "OK" and close the Windows-specific window of the network connections.
Assigning the IP address and the name via STARTER, "Accessible nodes" function
Use the STARTER to assign an IP address and a name to the Ethernet interface.
1. Connect the PG/PC and the Control Unit using an Ethernet cable.
2. Switch on the Control Unit.
3. Open STARTER.
4. Create a new project or open an existing project.
5. Search for available nodes in Ethernet via Project -> Accessible nodes or the "Accessible
nodes" button.

Commissioning
6. The SINAMICS drive object is detected and displayed as a bus node with IP address
169.254.11.22 and without name.
Figure 5-36 Accessible nodes
7. Mark the bus node entry and select the displayed menu item "Edit Ethernet node" with the
right mouse button.
8. In the following "Edit Ethernet node" screen, enter the device name for the Ethernet
interface ("drive1", for example) and click the "Assign name" button. Enter the IP address
(e.g. 169.254.11.10) in the IP configuration and specify the subnet screen (e.g.
255.255.255.0). Then click the "Assign IP configuration" button and close the mask.

Commissioning
Note
Naming devices
ST (Structured Text) conventions must be satisfied for the name assignment of IO devices
in Ethernet (SINAMICS components). The names must be unique within Ethernet.
Rules for assigning names:
• Other than "-" and ".", no special characters (such as accented characters, spaces,
brackets) are permitted in the name of an IO device.
• The device name must not begin or end with the "-" character.
• The device name must not begin with a number.
• Maximum total length of 240 characters (lowercase characters, numbers, hyphen, or
period).
• A name component within the device name, e.g. a string between two periods, must
not exceed 63 characters.
• The device name must not take the form n.n.n.n (n = 0, ... 999).
• The device name must not begin with the character sequence "port-xyz" or "port-xyz-
abcde" (a, b, c, d, e, x, y, z = 0, ... 9).
Figure 5-37 Edit Ethernet Node
9. Pressing the "Update (F5)" button displays the IP address and name in the entry for the bus
node. If not, close the "Accessible nodes" screen and perform another search for accessible
nodes.
10.If the Ethernet interface is displayed as bus node, select the entry and click the "Accept"
button.
11.The SINAMICS drive is displayed as drive object in the project navigator.
12.You can now configure the drive unit (see Chapter "Configuring the drive unit").

Commissioning
Note
Storage location of the IP address
The IP address and device name are stored on the memory card of the Control Unit (non-
volatile).
Parameter
Parameters can also be used to modify and/or display the properties of the Ethernet interface.
• p8900 IE name of station

• p8901 IE IP address of station
• p8902 IE default gateway of station
• p8903 IE subnet mask of station
• p8904 IE DHCP mode
• p8905 IE interface configuration
• r8910 IE name of station active
• r8911 IE IP address of station active
• r8912 IE default gateway of station active
• r8913 IE subnet mask of station active
• r8914 IE DHCP mode of station active
• r8915 IE MAC address of station

Commissioning
5.4 The AOP30 operator panel
5.4 The AOP30 operator panel
Description
An optional operator panel for operating, monitoring, and commissioning purposes is
available. It has the following features:
• Graphic-capable, back-lit LCD for plain-text display and a "bar-type display" for process
variables
• LEDs for indicating the operating modes
• Help function describing causes of and remedies for faults and alarms
• Keypad for controlling drives during operation
• LOCAL/REMOTE switchover for selecting the control terminal (master control assigned to
operator panel or terminal strip/ PROFIdrive)
• Numeric keypad for entering setpoint or parameter values
• Function keys for prompted navigation through the menus
• Two-stage security concept to protect against accidental or unauthorized changes to
settings
• IP54 degree of protection (when installed).
• Selectable languages: German, English, French, Italian, Spanish, Chinese, Russian,
Portuguese
Figure 5-38 Components of the chassis unit operator panel (AOP30)

Commissioning
5.5 First commissioning with the AOP30
5.5.1 First commissioning
Start screen
When the system is switched on for the first time, the Control Unit is initialized automatically.
The following screen is displayed:
Figure 5-39 Initial screen
When the system boots up, the parameter descriptions are loaded into the operating field
from the CompactFlash card.
Figure 5-40 Load the parameter descriptions while booting up the system

Commissioning
Selecting the language

When the system is first booted up, a screen for selecting the language appears.
You can select the language in the dialog

screen.
To change the language, choose <F2> or

<F3>.
To select the language, choose <F5>.
Once the language has been selected, the booting up process continues.
Once the system has successfully ramped up, the drive has to be commissioned when the
system is switched on for the first time after it has been delivered. The converter can then be
switched on.
For a subsequent power up, operation can be directly started.
Navigation within the interactive screens

Within an interactive screen, the selection boxes can usually be selected using the <F2>
and/or <F3> keys. Selection fields are generally texts surrounded by a frame. When they are
selected, they are highlighted with a white text on a black background.
The present value of a highlighted selection box can usually be changed by pressing <F5>
"OK" and/or "Change." Another entry box then appears and the value you want is entered
directly using the numerical keypad or can be selected from a list.
You can change from one interactive screen to the next or previous screen by selecting the
"Next" or "Previous" selection boxes and then confirming by pressing <F5> "OK."
If a screen contains particularly important parameters, the selection field "Continue" only
appears at the bottom of the screen. This is because every single parameter in this interactive
screen has to be checked and/or corrected thoroughly before the next interactive screen can
be accessed.
With some commissioning steps, the entire commissioning can be interrupted by selecting
"Interrupt COMM."

Commissioning
5.5.2 Basic commissioning
Acquiring motor data

During initial commissioning, you have to enter motor data using the operator panel. These
can be taken from the motor type plate.
Figure 5-41 Example of a motor type plate
Table 5- 1 Motor data
Parameter No. Values Unit

System of units for line frequency and entering motor data p0100 0 IEC [50 Hz / kW]
1 NEMA [60 Hz / hp]
Motor:
Rated voltage p0304 [V]
Rated current p0305 [A]
Rated power p0307 [kW] / [hp]
Rated power factor cos ϕ (only for p0100 = 0) p0308
Rated efficiency η (only for p0100 = 1) p0309 [%]
Rated frequency p0310 [Hz]
Rated speed p0311 [min-1] / [rpm]

Commissioning
Basic commissioning: Selecting the motor type and entering the motor data
You can select the motor standard and type in

the dialog screen.
The following is defined for the motor stand-
ard:
0: Line frequency 50 Hz, motor data in kW
1: Line frequency 60 Hz, motor data in hp
The corresponding motor is selected for the
motor type.
Entering the motor data specified on the type

plate.
To navigate through the selection fields,
choose <F2> or <F3>.
To activate a selection, choose <F5>.
To change a parameter value, navigate to the
required selection field and activate with
<F5>.
The system displays another window in which
you can:
• Enter the value directly, or
• Select the value from a list.
When you have finished entering the motor
data, choose "Continue" below the final pa-
rameter value and activate with <F5>.

Commissioning
Note
Selecting the motor type
The selection of the motor type pre-assigns specific motor parameters and optimizes the
operating characteristics and behavior. Details are described in the List Manual in the p0300
parameter.
Note
Selection of a list motor (p0300 ≥ 100)
When a motor type ≥ 100 is selected, the article number of the associated motor can be
selected via drop-down list.
Note
Commissioning an induction motor
The steps described below also apply to commissioning an induction motor.
When commissioning a permanent-magnet synchronous motor (p0300 = 2), there are a few
special conditions that apply, which are detailed in a separate chapter (see "Setpoint channel
and closed-loop control/Permanent-magnet synchronous motors").
Basic commissioning: entering the encoder data (if available)
When the SMC30 is connected for encoder

evaluation, it is recognized by the AOP30 and
a screen is displayed in which you can enter
the encoder data.

Commissioning
Predefined encoders can be easily set by selecting parameter p0400 (encoder type selection):
3001: 1024 HTL A/B R at X521/X531

3002: 1024 TTL A/B R at X521/X531
3003: 2048 HTL A/B R at X521/X531
3005: 1024 HTL A/B at X521/X531
3006: 1024 TTL A/B at X521/X531
3007: 2048 HTL A/B at X521/X531
3008: 2048 TTL A/B at X521/X531
3009: 1024 HTL A/B unipolar at X521/X531
3011: 2048 HTL A/B unipolar at X521/X531
3020: 2048 TTL A/B R with sense to X520
Note
Delivery condition
The delivery condition is a bipolar HTL encoder with 1024 pulses per revolution and a 24-V
power supply.
The section ("Electrical Installation") contains two connection examples for HTL and TTL
encoders.
Note
Pre-defined encoder type
If a predefined encoder type is selected using p0400, then the settings of the following
parameters p0404, p0405 and p0408 cannot be changed.
If the connected encoder does not match any of the encoders predefined in p0400, follow
the simple procedure below for entering the encoder data:
• Via p0400, select an encoder type whose data is similar to that of the connected encoder.
• Select "User-defined encoder" (p0400 = 9999). Previously set values are stored here.
• Adjust the bit fields of p0404, p0405, and p0408 to the data for the connected encoder.

Commissioning
Table 5- 2 Meaning of the bit setting for p0404
Bit Meaning Value 0 Value 1

20 Voltage 5 V No Yes
21 Voltage 24 V No Yes
Table 5- 3 Meaning of the bit settings for p0405
Bit Meaning Value 0 Value 1

0 Signal Unipolar Bipolar
1 Level HTL TTL
2 Track monitoring None A/B>< -A/B
3 Zero pulse 24 V unipolar Same as A/B track
4 Switching threshold Low High
5 Pulse/direction No Yes
NOTICE
Material damage when selecting the incorrect encoder supply voltage
Once the encoder has been commissioned, the supply voltage (5/24 V) set for the encoder is
activated on the SMC30 module. The encoder may be damaged, if a 5 V encoder is
connected and the supply voltage has not been set correctly (bit 20 = "Yes," bit 21 = "No").
• Set the correct supply voltage for the connected encoder.

Commissioning
Basic commissioning: Entering the basic parameters
Entering the basic commissioning parame-

ters:
If a sine-wave filter is connected, it must be
activated in p0230 (p0230 = 3/4). Otherwise,
it could be damaged.
p0700: Preset command source
1: PROFIdrive
2: TM31 terminals
3: CU terminals
4: PROFIdrive+TM31
p1000: Preset setpoint source
1: PROFIdrive
2: TM31 terminals
3: Motorized potentiometer
4: Fixed setpoint
Once a setpoint source has been selected
(p1000), the main setpoint p1070 is defaulted
accordingly.
To change a parameter value, navigate to the
required selection field and activate with
<F5>.
Another window appears in which you can
- enter the required value directly, or
- select the value from a list.
Final confirmation
Confirm the basic parameters to save them.
Once you have selected "Continue" and acti-
vated your entries with <F5>, the basic pa-
rameters you entered are permanently saved
and the calculations required for closed-loop
control are carried out.

Commissioning
Note
Enter the motor-side filter
A filter on the motor side must be entered in p0230:
• Motor reactor: p0230 = 1
• du/dt filter compact plus Voltage Peak Limiter: p0230 = 2
• du/dt filter plus Voltage Peak Limiter p0230 = 2
• Siemens sine-wave filter: p0230 = 3
When p0230 = 4 "External sine-wave filter", a separate sine-wave filter can be entered. An
input mask for specific filter data then appears.
NOTICE
Damage to the sine-wave filter if it is not activated during commissioning
The sine-wave filter may be damaged if it is not activated during commissioning.
• Activate the sine-wave filter during commissioning.
NOTICE
Damage to the du/dt filter if it is not activated during commissioning
The du/dt filter may be damaged if it is not activated during commissioning.
• Activate the du/dt filter during commissioning.
Note
Motor reactor
If a motor reactor is being used, the option selection must be activated, otherwise the closed-
loop motor control will not be able to operate in an optimum fashion.
Note
Do not use a selection
The choice "no selection" is also available as default setting for the command and setpoint
sources; if selected, no default settings are applied for the command and setpoint sources.

Commissioning
Basic commissioning: Motor identification
Selecting motor identification

Stationary measurement increases the con-
trol performance, as this minimizes devia-
tions in the electrical characteristic values
due to variations in material properties and
manufacturing tolerances.
Rotary measurement determines the data
required (e.g., moment of inertia) for setting
the speed controller. It also measures the
magnetization characteristic and rated mag-
netization current of the motor.
Changing the number of phases to be identi-
fied:
• For identification with one phase, the
measurement time is significantly
reduced.
• For identification with several phases, the
measurement results are averaged.
To activate this function, press the LOCAL
key (wait until the LED in the LOCAL key
lights up) and then ON.
If motor identification is not carried out, the
closed-loop motor control uses the motor
characteristic values calculated from the type
plate data rather than the measured values.
Note
Complete motor identification
When motor identification has been completed, press the OFF key to cancel the power-on
inhibit.
WARNING
When selecting motor identification with optimization in the rotating mode, after
commissioning, the drive initiates that the motor rotates with speeds that can reach the
maximum motor speed.
the drive.

Commissioning
5.6 Status after commissioning
Note
Activate enable signals
Make sure that the necessary enable signals have been assigned; otherwise motor
identification cannot be carried out.
Note
Fault with stationary or rotating measurements
The motor identification cannot be performed if, when selecting the stationary or rotating
measurement, a fault is active
Before rectifying the fault, you have to choose "No identification" and close the screen.
Motor identification can then be selected again via <MENU> - <Commissioning/service> -
<Drive commissioning> - <Motor identification>.
5.6 Status after commissioning
LOCAL mode (control via operator panel)

• You switch to LOCAL mode by pressing the "LOCAL/REMOTE" key.
• Control (ON/OFF) is carried out via the "ON" and "OFF" keys.
• You can specify the setpoint using the "increase" and "decrease" keys or by entering the
appropriate numbers using the numeric keypad.
Analog outputs (for version with TM31)

• The actual speed (r0063) is output as a voltage output in the range 0 to 10 V at analog
output 0 (X522:1, 2).
10 V is equal to the maximum speed in p1082.
• The actual current value (r0068) is output as a voltage output in the range 0 to 10 V at
analog output 1 (X522:4, 5).
10 V corresponds to the current limit (p0640), which is set to 1.5 x the rated motor
current (p0305).
Digital outputs (for version with TM31)

• The "enable pulses" signal is output at digital output 0 (X542:2 and 3).
• The “no fault active” signal is output at digital output 1 (X542:5 and 6) (protection against
wire breakage).
• The "ready to start" signal is output at digital output 8 (X541:2).

Commissioning
5.7 Commissioning an encoder with gear factor
5.7 Commissioning an encoder with gear factor
Description
When encoders are commissioned (p0010 = 4), a gearbox must be parameterized by means
of parameters p0432 (numerator), p0433 (denominator), and p0410 (sign).
To ensure that the commutation position can be accurately determined from the encoder
angle, the following applies:
• For resolvers: zp = number of poles
• For all other absolute zp = number of poles

encoders:
• Where n is the gear factor:
The encoder commissioning program ensures that this uniqueness condition is observed and,
if necessary, prevents the system from exiting the commissioning program or outputs an
error message.
Sign bit p0410 inverts the calculated encoder angle and the speed, thereby yielding a
negative gear factor.
5.8 Parameter reset to factory settings

The factory settings represent the defined original status of the device on delivery.
Resetting the parameters to the factory settings means that all the parameter settings made
since the system was delivered are reset.
Resetting Parameters via AOP30
Set parameter filter to "Parameter reset":

<MENU> <Commissioning/Service> <Device commissioning>
<OK> <30: Parameter Reset> <OK>
Reset all parameters to factory settings:

Factory settings for all the device parameters are restored.

Commissioning
Parameter reset via STARTER

With STARTER, the parameters are reset in online mode. The required steps are described
below:
Step Selection in
toolbar
Choose
Project > Connect to target system
Click the drive unit whose parameters you want to reset to the factory settings
and click Restore factory settings icon in the toolbar.
To confirm, click OK.
Choose
Target system > Copy from RAM to ROM
Note
Copy from RAM to ROM
The Copy from RAM to ROM icon is only active when the drive unit is selected in the project
navigator.
When the parameters have been reset to the factory settings, initial commissioning needs to
be carried out.

Commissioning

Operation 6
6.1 Chapter content
• Basic information about the drive system
• Command source selection via
- PROFIdrive
- terminal block TM31
- terminal block CU320
• Setpoint input via
- PROFIdrive
- Analog inputs
- Motorized potentiometer
- Fixed setpoints
• Communication according to PROFIdrive
• Communication via
- PROFIBUS DP
- PROFINET IO
- SINAMICS Link
- Ethernet/IP
- Modbus TCP

Operation
6.2 General information about command and setpoint sources
6.2 General information about command and setpoint sources
Description
4 default settings are available for selecting the command sources and 4 for selecting the
setpoint sources for the SINAMICS G130. The choice "no selection" is also available; if
selected, no default settings are applied for the command and setpoint sources.
Command sources
• PROFIdrive
• TM31 terminals
• CU terminals
• PROFIdrive+TM31
Setpoint sources
• PROFIdrive
• Analog inputs
• Motorized potentiometer
• Fixed setpoints
The various assignments are explained in the following sections.
Note
Default settings
Make sure that the default settings you choose during commissioning are compatible with
the system configuration (for more information, see "Commissioning")
Function diagrams
At certain points in this chapter, reference is made to function diagrams with a 4-digit
number. These are stored on the CD in the "SINAMICS G130/G150 List Manual", which
provides experienced users with detailed descriptions of all the functions.

Operation
6.3 Basic information about the drive system
6.3.1 Parameters
Overview
The drive is adapted to the relevant drive task by means of parameters. Each parameter is
identified by a unique parameter number and by specific attributes (e.g. read, write, BICO
attribute, group attribute, and so on).
The parameters can be accessed via the following means:
• PC with the "STARTER" commissioning tool via PROFIBUS or PROFINET or via Ethernet
• The user-friendly AOP30 Operator Panel
Parameter types
The following adjustable and display parameters are available:
• Adjustable parameters (write/read)
These parameters have a direct impact on the behavior of a function.
Example: Ramp-up and ramp-down time of a ramp-function generator
• Display parameters (read-only)
These parameters are used to display internal variables.
Example: current motor current
Figure 6-1 Parameter types
All these drive parameters can be read and changed via PROFIBUS or PROFINET using the
mechanisms defined in the PROFIdrive profile.

Operation
Parameter categories
The parameters for the individual drive objects (see "Drive objects") are categorized according
to data sets as follows (see "Operation/data sets"):
• Data-set-independent parameters
These parameters exist only once per drive object.
• Data-set-dependent parameters
These parameters can exist several times for each drive object and can be addressed via
the parameter index for reading and writing. A distinction is made between various types
of data set:
– CDS: Command data set
By parameterizing several command data sets and switching between them, the drive
can be operated with different pre-configured signal sources.
– DDS: Drive data set
The drive data set contains the parameters for switching between different drive
control configurations.
The CDS and DDS can be switched over during normal operation. Additional data record
types also exist, however these can only be activated indirectly by means of a DDS
changeover.
– EDS: encoder data set
– MDS: Motor data set

Operation
Figure 6-2 Parameter categories

Operation
6.3.2 Drive objects

A drive object is a self-contained software function with its own parameters and, if necessary,
its own faults and alarms. Drive objects can be provided as standard (e.g. I/O evaluation), or
you can add single (e.g. option board) or multiple objects (e.g. drive control).
Figure 6-3 Drive objects
Standard drive objects

• Drive control
Drive control handles closed-loop control of the motor. 1 Power Module and at least 1
motor and up to 3 encoders are assigned to the drive control.
• Control Unit, inputs/outputs
The inputs/outputs on the Control Unit are evaluated within a drive object.
Optionally installed drive objects

• Option board evaluation
A further drive object handles evaluation of an installed option board. The specific method
of operation depends on the type of option board installed.
• Terminal Module evaluation
A separate drive object handles evaluation of the respective optional Terminal Modules.

Operation
Properties of a drive object

• Separate parameter space
• Separate window in STARTER
• Separate fault/alarm system
• Separate PROFIdrive telegram for process data
Configuring drive objects

When you commission the system for the first time using the STARTER tool, you will use
configuration parameters to set up the software-based "drive objects" which are processed on
the Control Unit. Various drive objects can be created within a Control Unit.
The drive objects are configurable function blocks and are used to execute specific drive
functions.
If you need to configure additional drive objects or delete existing ones after initial
commissioning, the drive system must be switched to configuration mode.
The parameters of a drive object cannot be accessed until the drive object has been
configured and you have switched from configuration mode to parameterization mode.
Note
Assignment during the initial commissioning
Each installed drive object is allocated a number between 0 and 63 during initial
commissioning for unique identification.
Parameters
• p0101 Drive object numbers
• r0102 Number of drive objects
• p0107 Drive object type
• p0108 Drive object configuration
6.3.3 Data sets
Description
For many applications, it is beneficial if more than one parameter can be changed
simultaneously by means of one external signal during operation/when the system is ready
for operation.
This can be carried out using indexed parameters, whereby the parameters are grouped
together in a data set according to their functionality and indexed. Indexing allows several
different settings, which can be activated by switching the data set, to be defined in each
parameter.

Operation
Note
Copying data sets
The command data sets and drive data sets can be copied in STARTER (Drive -> Configuration
-> "Command data sets" or "Drive data sets" tab).
The displayed command and drive data sets can be selected in the associated STARTER screen
forms.
CDS: Command data set

The BICO parameters (binector and connector inputs) are grouped together in a command
data set. These parameters are used to interconnect the signal sources of a drive (see
"Operation/BICO technology: Interconnecting signals").
The parameters that are grouped together in the command data set are marked in the
SINAMICS parameter list with "Data set CDS" and are assigned an index [0..n].
By parameterizing several command data sets and switching between them, the drive can be
operated with different pre-configured signal sources.
A command data set contains the following (examples):
• Binector inputs for control commands (digital signals)
– ON/OFF, enable signals (p0844, etc.)
– Jog (p1055, etc.)
• Connector inputs for setpoints (analog signals)
– Voltage setpoint for U/f control (p1330)
– Torque limits and scaling factors (p1522, p1523, p1528, p1529)
In the delivery condition, two command data sets are available; this number can be increased
to a maximum of four using p0170 (number of command data sets (CDS)).
The following parameters are available for selecting command data sets and for displaying
the currently selected command data set:
Table 6- 1 Command data set: selection and display
Select bit 1 Select bit 0 Display

CDS p0811 p0810 selected (r0836) active (r0050)
0 0 0 0 0
1 0 1 1 1
2 1 0 2 2
3 1 1 3 3
If a command data set, which does not exist, is selected, the current data set remains active.

Operation
Figure 6-4 Example: Switching between command data set 0 and 1
DDS: Drive data set

A drive data set contains various adjustable parameters that are relevant with respect to open
and closed-loop drive control:
• Numbers of the assigned motor and encoder data sets:
– p0186: Assigned motor data set (MDS)
– p0187 to p0189: up to 3 assigned encoder data sets (EDS)
• Various closed-loop control parameters, e.g.:
– Fixed speed setpoints (p1001 to p1015)
– Speed limits min./max. (p1080, p1082)
– Characteristic data of ramp-function generator (p1120 ff)
– Characteristic data of controller (p1240 ff)
– ...
The parameters that are grouped together in the drive data set are marked in the parameter
list with "Data set DDS" and are assigned an index [0..n].
It is possible to parameterize several drive data sets. You can switch easily between different
drive configurations (control type, motor, encoder) by selecting the corresponding drive data
set.
One drive object can manage up to 32 drive data sets. The number of drive data sets is
configured with p0180.
Binector inputs p0820 to p0824 are used to select a drive data set. They represent the
number of the drive data set (0 to 31) in binary format (where p0824 is the most significant
bit).
• p0820 BI: Drive data set selection DDS, bit 0

Operation
Supplementary conditions and recommendations

• Recommendation for the number of DDS in a drive
The number of DDS in a drive should correspond with the number of changeover options;
in other words:
p0180 (DDS) ≥ p0130 (MDS).
• Max. number of DDS for one drive object = 32 DDS
EDS: Encoder data set

An encoder data set contains various adjustable parameters describing the connected
encoder for the purpose of configuring the drive.
• Adjustable parameters, e.g.:
– Encoder interface component number (p0141)
– Encoder component number (p0142)
– Encoder type selection (p0400)
The parameters that are grouped together in the encoder data set are identified in the
SINAMICS parameter list by "Data set EDS" and are assigned an index [0..n].
A separate encoder data set is required for each encoder controlled by the Control Unit. Up to
3 encoder data sets are assigned to a drive data set via parameters p0187, p0188, and
p0189.
An encoder data set can only be changed using a DDS changeover.
Each encoder may only be assigned to one drive and within a drive must - in each drive data
set - either always be encoder 1, always encoder 2 or always encoder 3.
One application for the EDS changeover would be a power unit that alternately controls
several motors. A contactor circuit is used to changeover between these motors. Each of the
motors can be equipped with an encoder or be operated without an encoder. Each encoder
must be connected to its own SMx.
If encoder 1 (p0187) is changed over via DDS, then an MDS must also be changed over.
One drive object can manage up to 16 encoder data sets. The number of encoder data sets
configured is specified in p0140.
When a drive data set is selected, the assigned encoder data sets are selected automatically.

Operation
MDS: Motor data set

A motor data set contains various adjustable parameters describing the connected motor for
the purpose of configuring the drive. It also contains certain display parameters with
calculated data.
• Adjustable parameters, e.g.:
– Motor component number (p0131)
– Motor type selection (p0300)
– Rated motor data (p0304 ff)
– ...
• Display parameters, e.g.
– Calculated rated data (p0330 ff)
– ...
The parameters that are grouped together in the MDS are marked in the SINAMICS parameter
list with "Data set MDS" and are assigned an index [0..n].
A separate motor data set is required for each motor that is controlled by the Control Unit via
a Motor Module. The motor data set is assigned to a drive data set via parameter p0186.
A motor data set can only be changed using a DDS changeover.
The motor data set changeover is, for example, used for:
• Changing over between different motors
• Changeover between different windings in a motor (e.g. star-delta changeover)
• Motor data adaptation
If several motors are operated alternately on one Motor Module, a corresponding number of
drive data sets must be created. See "Functions / Drive functions" for additional information
and instructions on changing over motors.
One drive object can manage up to 16 motor data sets. The number of motor data sets in
p0130 must not exceed the number of drive data sets in p0180.
Example of data set assignment
Table 6- 2 Example, data set assignment
DDS Motor (p0186) Encoder 1 Encoder 2 Encoder 3

(p0187) (p0188) (p0189)
DDS 0 MDS 0 EDS 0 EDS 1 EDS 2
DDS 1 MDS 0 EDS 0 EDS 3 --
DDS 2 MDS 0 EDS 0 EDS 4 EDS 5
DDS 3 MDS 1 EDS 0 -- --

Operation
Copying the command data set (CDS)

Set parameter p0809 as follows:
1. p0809[0] = number of the command data set to be copied (source)
2. p0809[1] = number of the command data to which the data is to be copied (target)
3. p0809[2] = 1
Start copying.
Copying is finished when p0809[2] = 0.
Copying the drive data set (DDS)

1. p0819[0] = Number of the drive data set to be copied (source)
2. p0819[1] = Number of the drive data set to which the data is to be copied (target)
3. p0819[2] = 1
Start copying.
Copying is finished when p0819[2] = 0.
Copy motor data set (MDS)

1. p0139[0] = Number of the motor data set that is to be copied (source)
2. p0139[1] = Number of the motor data set which should be copied into (target)
3. p0139[2] = 1
Start copying.
Copying has been completed, if p0139[2] = 0.
Function diagram
FP 8560 Command data sets (CDS)

FP 8565 Drive data set (DDS)
FP 8570 Encoder data set (EDS)
FP 8575 Motor data sets (MDS)

Operation
Parameters
• p0120 Power Module data sets (PDS) number

• p0130 Motor data sets (MDS) number
• p0139[0...2] Copy motor data set (MDS)
• p0140 Encoder data sets (EDS) number
• p0170 Command data set (CDS) number
• p0180 Drive data set (DDS) number
• p0186 [0...n] Assigned motor data set (MDS)
• p0187[0...n] Encoder 1 encoder data set number
• p0809[0...2] Copy command data set CDS
• p0810 BI: Command data set selection CDS bit 0
• p0811 BI: Command data set selection CDS bit 1
• p0819[0...2] Copy drive data set DDS
• p0820[0...n] BI: Drive data set selection, bit 0
6.3.4 BICO technology: interconnecting signals
Description
Every drive contains a large number of interconnectable input and output variables and
internal control variables.
The drive unit can be adapted to a wide range of requirements using BICO technology
(Binector Connector Technology).
Digital signals, which can be connected freely by means of BICO parameters, are identified by
the prefix BI, BO, CI or CO in their parameter name. These parameters are identified
accordingly in the parameter list or in the function diagrams.

Operation
Note
Using STARTER
The STARTER parameterization and commissioning tool is recommended when using BICO
technology.
Binectors, BI: binector input, BO: Binector output

A binector is a digital (binary) signal without a unit which can assume the value 0 or 1.
Binectors are subdivided into binector inputs (signal sink) and binector outputs (signal
source).
Table 6- 3 Binectors
Abbreviation and Name Description

symbol
Binector input Can be interconnected to a binector output as
Binector Input source.
(signal sink) The number of the binector output must be en-
tered as a parameter value.
Binector output Can be used as a source for a binector input.
Binector output
(signal source)
Connectors, CI: connector input, CO: Connector output

A connector is a digital signal e.g. in 32–bit format. It can be used to emulate words (16 bits),
double words (32 bits) or analog signals. Connectors are subdivided into connector inputs
(signal sink) and connector outputs (signal source).
The options for interconnecting connectors are restricted to ensure that performance is not
adversely affected.
Table 6- 4 Connectors
Abbreviation and Name Description

symbol
Connector input Can be interconnected to a connector output as
Connector input source.
(signal sink) The number of the connector output must be
entered as a parameter value.
Connector output Can be used as a source for a connector input.
Connector output
(signal source)

Operation
Interconnecting signals using BICO technology

To interconnect two signals, a BICO input parameter (signal sink) must be assigned to the
desired BICO output parameter (signal source).
The following information is required in order to connect a binector/connector input to a
binector/connector output:
• Binectors: Parameter number, bit number, and drive object ID

• Connectors with no index: Parameter number and drive object ID
• Connectors with index: Parameter number, index, and drive object ID
• Data type (signal source for connector output parameter)
Figure 6-5 Interconnecting signals using BICO technology
Note
A connector input (CI) cannot be interconnected with any connector output (CO, signal
source). The same applies to the binector input (BI) and binector output (BO).
"Data type" in the parameter list provides information about the data type of the parameter
and the data type of the BICO parameter for each CI und BI parameter.
For CO and BO parameters, only the data type of the BICO parameter is given.
Notation:
• Data type BICO input: Data type parameter/Data type BICO parameter
Example: Unsigned32 / Integer16
• Data type BICO output: Data type BICO parameter
Example: FloatingPoint32
The possible interconnections between BICO input (signal sink) and BICO output (signal
source) are described in the List Manual in the table "Possible combinations for BICO
interconnections" in the section "Explanations on the parameter list".

Operation
The BICO parameter interconnection can be implemented in different data sets (CDS, DDS,
MDS, etc.). The different interconnections in the data sets are activated by switching the data
sets. Interconnections across drive objects are also possible.
Internal encoding of the binector/connector output parameters

The internal codes are needed, for example, to write BICO input parameters via PROFIdrive.
Figure 6-6 Internal encoding of the binector/connector output parameters
Example 1: interconnecting digital signals

Suppose you want to operate a drive via terminals DI 0 and DI 1 on the Control Unit using jog
1 and jog 2.
Figure 6-7 Interconnection of digital signals (example)

Operation
Example 2: connection of OC/OFF3 to several drives

The OFF3 signal is to be connected to two drives via terminal DI 2 on the Control Unit.
Each drive has a binector input 1. OFF3 and 2. OFF3. The two signals are processed via an
AND gate to STW1.2 (OFF3).
Figure 6-8 Connection of OFF3 to several drives (example)
Analysis of BICO interconnections

The following parameters exist for the analysis of existing BICO interconnections:
• r9481 Number of BICO interconnections

• r9482[0...n] BICO interconnections BI/CI parameters
• r9483[0...n] BICO interconnections BO/CO parameters
• p9494 BICO interconnections, search signal source
• p9495 BICO interconnections, search signal source number
• p9496 BICO interconnections, search signal source first index
BICO interconnections to other drives

The following parameters are available for BICO interconnections to other drives:
• r9490 Number of BICO interconnections to other drives

• r9491[0...9] BI/CI of BICO interconnections to other drives
• r9492[0...9] BO/CO of BICO interconnections to other drives
• p9493[0...9] Reset BICO interconnections to other drives

Operation
Binector-connector converters and connector-binector converters

Binector-connector converter
• Several digital signals are converted to a 32-bit integer double word or to a 16-bit integer
word.
• p2080[0...15] BI: PROFIdrive PZD send bit-serial
Connector-binector converter
• A 32-bit integer double word or a 16-bit integer word is converted to individual digital
signals.
• p2099[0...1] CI PROFIdrive PZD selection receive bit-serial
Fixed values for interconnection using BICO technology

The following connector outputs are available for interconnecting any fixed value settings:
• p2900[0...n] CO: Fixed value_%_1

• p2901[0...n] CO: Fixed value_%_2
• p2930[0...n] CO: Fixed Value_M_1
Example:
These parameters can be used to interconnect the scaling factor for the main setpoint or to
interconnect an additional torque.

Operation
6.3.5 Propagation of faults
Forwarding faults to the Control Unit

In the case of faults that are, for example, triggered by the Control Unit or a Terminal Module,
central functions of the drive are also often affected. As a result of propagation, faults that
are triggered by one drive object are therefore forwarded to other drive objects. This behavior
also applies to the faults that are set in a DCC chart on the Control Unit with the aid of the
DCC block.
Propagation types
There are the following types of propagation:
• BICO
The fault is propagated to all active drive objects with closed-loop control functions
(infeed, drive) to which there is a BICO interconnection.
• DRIVE
The fault is propagated to all active drive objects with closed-loop control functions.
• GLOBAL
The fault is propagated to all active drive objects.
• LOCAL
The behavior of this propagation type is dependent on parameter p3116.
– With binector input p3116 = 0 (factory setting) the following applies:
The fault is propagated to the first active drive object with closed-loop control
functions.
– With binector input p3116 = 1 signal, the following applies:
The fault is not forwarded.

Operation
6.4 Command sources
6.4 Command sources
6.4.1 "PROFIdrive" default setting
Preconditions
• The Power Module and the Control Unit have been correctly installed.
• The "PROFIdrive" default setting was chosen during commissioning:
• STARTER (p0700): "PROFIdrive"

• AOP30 (p0700): "1: G130 PROFIdrive"
Command sources
Figure 6-9 Command sources – AOP30 <--> PROFIdrive
Priority
The command source priorities are shown in the diagram "Command sources - AOP30 <->
PROFIdrive".
Note
LOCAL master control
All of the supplementary setpoints are deactivated for LOCAL master control.

Operation
6.4 Command sources
CU320 terminal assignment with "PROFIdrive" default setting

When you choose the "PROFIdrive" default setting, use the following terminal assignment for
the Control Unit:
Figure 6-10 Terminal assignment, Control Unit with the "PROFIdrive" default setting
Control word 1
The bit assignment for control word 1 is described in "Description of the control words and
setpoints".
Status word 1
The bit assignment for status word 1 is described in "Description of the status words and
actual values".
Changing over the command source

The command source can be changed over using the LOCAL/REMOTE key on the AOP30.

Operation
6.4 Command sources
6.4.2 "TM31 terminals" default setting
Preconditions
• The Power Module, Control Unit and TM31 have been correctly installed.
• The "TM31 terminals" default setting was chosen during commissioning:
• STARTER (p0700): "TM31 terminals"

• AOP30 (p0700): "2: TM31 terminals"
Command sources
Figure 6-11 Command sources AOP30 <-> TM31 terminals
Priority
The priority of the command sources is shown in the diagram "Command sources AOP30 <->
TM31 terminals".
Note

Operation
6.4 Command sources
TM31 terminal assignment with "TM31 terminals" default setting

When you choose the "TM31 terminals" default setting, the terminal assignment for TM31 is
as follows:
Figure 6-12 TM31 terminal assignment with "TM31 terminals" default setting

If necessary, the command source can be changed over using the LOCAL/REMOTE key on the
AOP30.

Operation
6.4 Command sources
6.4.3 "CU terminals" default setting
Preconditions
• The Power Module and the Control Unit have been correctly installed.
• The "CU terminals" default setting was chosen during commissioning:
• STARTER (p0700): "CU terminals"

• AOP30 (p0700): "3: CU terminals"
Command sources
Figure 6-13 Command sources AOP30 <-> CU terminals
Priority
The command source priorities are shown in the diagram "Command sources AOP30 <-> CU
terminals".
Note

Operation
6.4 Command sources
Terminal assignment, Control Unit with "CU terminals" default setting

When you choose the "CU terminals" default setting, use the following terminal assignment
for the Control Unit:
Figure 6-14 Terminal assignment, Control Unit with "CU terminals" default setting

AOP30.

Operation
6.4 Command sources
6.4.4 "PROFIdrive+TM31" default setting
Preconditions
• The Power Module, Control Unit, TM31 and PROFIBUS have been correctly installed.
• The "PROFIdrive+TM31" default setting was chosen during commissioning:
• STARTER (p0700): "PROFIdrive+TM31"

• AOP30 (p0700): "4: PROFIdrive+TM31"
Command sources
Figure 6-15 Command sources - AOP30 <-> PROFIdrive+TM31
Priority
The command source priorities are shown in the diagram "Command sources - AOP30 <->
PROFIdrive+TM31".
Note

Operation
6.4 Command sources
TM31 terminal assignment with "PROFIdrive+TM31" default setting
Figure 6-16 TM31 terminal assignment with "PROFIdrive+TM31" default setting

AOP30.

Operation
6.5 Setpoint sources
6.5.1 Analog inputs
Description
The customer terminal block TM31 features two analog inputs for specifying setpoints for
current or voltage signals.
In the factory setting, analog input 0 (terminal X521:1/2) is used as a voltage input in the
range 0 to 10 V.
Precondition
• The TM31 has been correctly installed.
• The default setting for analog inputs was chosen during commissioning:
• STARTER (p1000): "TM31 terminals"

• AOP30 (p1000): "2: TM31 terminals"
Signal flow diagram
Figure 6-17 Signal flow diagram: analog input 0
Function diagram
FP 9566 TM31 – analog input 0 (AI 0)

FP 9568 TM31 – analog input 1 (AI 1)

Operation
Parameter
• r4052 Actual input voltage/current

• p4053 Analog inputs smoothing time constant
• r4055 Current referenced input value
• p4056 Analog inputs type
• p4057 Analog inputs, characteristic value x1
• p4058 Analog inputs, characteristic value y1
• p4059 Analog inputs, characteristic value x2
• p4060 Analog inputs, characteristic value y2
• p4063 Analog inputs offset
Note
Delivery condition
In the factory setting and after basic commissioning, an input voltage of 10 V is equal to the
main setpoint 100% reference speed (p2000), which has been set to the maximum speed
(p1082).
Example: Switching analog input 0 from voltage to current input 0 to 20 mA
Current/voltage switchover
Set current/voltage selector to "Current" ("I").
Set analog input type 0 to 0 ... 20 mA.
Note
Save changes so that they are protected against power failure
The change to the analog input must then be stored on the CompactFlash card so that it is
protected in the event of a power failure.

Operation
F3505 – Fault: "Analog input wire break"

This fault is triggered when the analog input type (p4056) is set to 3 (4 ... 20 mA with open-
circuit monitoring) and the input current of 2 mA has been undershot.
The fault value can be used to determine the analog input in question.
Component number
3: 1. TM31
4: 2. TM31
0: Analog input 0: -X521:1/2
1: Analog input 1: -X521:3/4
6.5.2 Motorized potentiometer
Description
The digital motorized potentiometer enables you to set speeds remotely using switching
signals (+/- keys). It is activated via terminals or fieldbus. As long as a logical 1 is present at
signal input "MOP raise" (setpoint higher), the internal numerator integrates the setpoint. You
can set the integration time (time taken for the setpoint to increase) using parameter p1047.
In the same way, you can decrease the setpoint using signal input "MOP lower". The
deceleration ramp can be set using parameter p1048.
Configuration parameter p1030.0 = 1 (default setting = 0) enables non-volatile storage of the
current motorized potentiometer value when powering down the drive unit. When powering-
up the drive unit, the starting (initial) value of the motorized potentiometer is set to the last,
actual value that was present when the drive unit was powered-down.
Precondition
The default setting for the motorized potentiometer was chosen during commissioning:
• STARTER (p1000): "Motorized potentiometer"

• AOP30 (p1000): "3: Motorized potentiometer"

Operation
Signal flow diagram
Figure 6-18 Signal flow diagram: Motorized potentiometer
Function diagram
FD 3020 Motorized potentiometer
Parameter
• p1030 Motorized potentiometer, configuration

• p1037 Motorized potentiometer, maximum speed
• p1038 Motorized potentiometer, minimum speed
• p1047 Motorized potentiometer, ramp-up time
• p1048 Motorized potentiometer, ramp-down time
• r1050 Motorized potentiometer, setpoint after the ramp-function generator
6.5.3 Fixed speed setpoints
Description
A total of 15 variable fixed speed setpoints are available.
The default setting specified for the setpoint sources during commissioning via STARTER or
the operating panel makes three fixed speed setpoints available. They can be selected via
terminals or fieldbus.

Operation
Precondition
The default setting for the fixed speed setpoints was chosen during commissioning:
• STARTER (p1000): "Fixed setpoint"

• AOP30 (p1000): "4: Fixed setpoint"
Signal flow diagram
Figure 6-19 Signal flow diagram: Fixed speed setpoints
Function diagram
FP 3010 Fixed speed setpoints
Parameter
• p1001 Fixed speed setpoint 01

• r1024 Fixed speed setpoint effective
Note
Other fixed speed setpoints are available using p1004 to p1015. They can be selected using
p1020 to p1023.

Operation
6.6 Communication according to PROFIdrive
6.6.1 General information

PROFIdrive is the PROFIBUS and PROFINET profile for drive technology with a wide range of
applications in production and process automation systems.
PROFIdrive is independent of the bus system used (PROFIBUS, PROFINET).
Note
PROFIdrive for drive technology is described in the following document:
• PROFIdrive Profile Drive Technology
PROFIBUS User Organization e. V.
Haid-und-Neu-Strasse 7, D-76131 Karlsruhe
http://www.profibus.com
• IEC 61800-7
PROFIdrive device classes
Table 6- 5 PROFIdrive device classes
PROFIdrive PROFIBUS DP PROFINET

Peripheral device (P device) DP slave IO Device
Motion controller (higher-level Class 1 DP master IO Controller
controller or host of the automa-
tion system)
Supervisor (engineering station) Class 2 DP master IO Supervisor
• Drive unit (PROFIBUS: Slave, PROFINET IO: IO Device)

Example: CU320-2 Control Unit
• Controller (PROFIBUS: Master Class 1, PROFINET IO: IO controller)
A controller is typically a higher-level control in which the automation program runs.
Example: SIMATIC S7 and SIMOTION
• Supervisor (PROFIBUS: Master Class 2, PROFINET IO: IO Supervisor)
Devices for configuring, commissioning, operator control and monitoring while the bus is
in operation and devices which only exchange non-cyclic data with drive units and
controllers.
Examples: Programming devices, operator control and monitoring devices

Operation
Controllers, supervisor and drive units
Table 6- 6 Properties of the Controller, Supervisor, and Drive Unit
Properties Controller Supervisor Drive unit

As bus node Active Passive
Sending messages Permitted without external re- Only possible on request by the
quest controller
Receiving messages Possible without any restrictions Only receive and acknowledge
permitted
Note
Consistent naming conventions
For reasons of consistency, the terms "device", "controller", and "supervisor" are used below.
The terms "slave" and "master" are only applied in the PROFIBUS chapter and are still use
there.
Communication types
4 communication types are defined in the PROFIdrive profile:
• Cyclic data exchange via a cyclic data channel
Motion control systems require cyclically updated data in operation for open-loop and
closed-loop control tasks. This data must be sent to the drive units in the form of setpoints
or transmitted from the drive units in the form of actual values, via the communications
system. Transfer of this data is usually time-critical.
• Acyclic data exchange via an acyclic data channel
An acyclic parameter channel for exchanging parameters between the control/supervisor
and drive units is additionally available. Access to this data is not time-critical.
• Alarm channel
Alarms are output on an event-driven basis, and show the occurrence and expiry of error
states.
• Isochronous mode
– Cyclic data exchange in a fixed time grid
– The controller and device are synchronized.

Operation
Interface IF1 and IF2

The Control Unit can communicate via two different interfaces (IF1 and IF2).
Table 6- 7 Properties of IF1 and IF2
IF1 IF2
PROFIdrive and SIEMENS tele- x -
gram
Free telegram x x
Isochronous mode x x
Drive object types All All
Can be used for PROFINET IO PROFINET IO
PROFIBUS DP PROFIBUS DP
SINAMICS Link CANopen
PN Gate SINAMICS Link
Ethernet/IP PN Gate
Ethernet/IP
Cyclic operation x x
PROFIsafe x x
Note
For additional information on interfaces IF1 and IF2, see Chapter "Parallel operation of
communication interfaces (Page 323)".
6.6.2 Application classes
Description
There are different application classes for PROFIdrive according to the scope and type of the
application processes. PROFIdrive features a total of 6 application classes, the 3 most
important are considered here:
• Class 1 (AK1):
The drive is controlled using a speed setpoint via PROFIBUS/PROFINET. The complete
closed-loop speed control is realized in the drive itself.
Typical application examples include simple frequency converters for controlling pumps
and fans.
• Class 3 (AK3):
In addition to the speed control, the drive also includes a positioning control, which
means that it operates as an autonomous single-axis positioning drive while the higher-
level technological processes are performed in the control system. Positioning requests
are transferred to the drive controller via PROFINET (or PROFIBUS) and started.

Operation
• Class 4 (AK4):
This PROFIdrive application class defines a speed setpoint interface where the closed-loop
speed control is executed in the drive and the closed-loop position control in the control
system. This is required for robotic and machine tool applications with coordinated
motion sequences distributed across several drives.
Motion control is primarily implemented using a central numerical controller (NC). The
position control loop is closed via the bus, i.e. the communication between the controller
and the drive must be isochronous.
Selection of telegrams as a function of the application class

The telegrams listed in the table below can be used in the following application classes:
Table 6- 8 Selection of telegrams as a function of the application class
Telegram Description Class 1 Class 3 Class 4

(p0922 = x)
1 Speed setpoint, 16 bit x - -
2 Speed setpoint, 32 bit x - -
3 Speed setpoint, 32 bit with 1 position encoder x - x
4 Speed setpoint, 32 bit with 2 position encoders x - x
5 Speed setpoint, 32 bit with 1 position encoder and Dynamic Servo - - x
Control
6 Speed setpoint, 32 bit with 2 position encoders and Dynamic - - x
Servo Control
7 Basic positioner with selection of the traversing block - x -
9 Basic positioner with direct setpoint input (MDI) - x -
20 Speed setpoint, 16 bit VIK-NAMUR x - -
81 Standard encoder - - -
82 Standard encoder with speed actual value 16 bit - - -
83 Standard encoder with speed actual value 32 bit - - -
102 Speed setpoint, 32 bit with 1 position encoder and torque reduc- x - x
tion
103 Speed setpoint, 32 bit with 2 position encoders and torque reduc- x - x
tion
105 Speed setpoint, 32 bit with 1 position encoder, torque reduction - - x
and Dynamic Servo Control
106 Speed setpoint, 32 bit with 2 position encoders, torque reduction - - x
and Dynamic Servo Control
110 Basic positioner with direct setpoint input (MDI), override and - x -
position actual value
111 Basic positioner in the MDI mode - x -
116 Speed setpoint, 32 bit with 2 position encoders, torque reduction, - - x
DSC and additional actual values
118 Speed setpoint, 32 bit with 2 position encoders, torque reduction, - - x
DSC, additional actual values and 2 external encoders
125 Dynamic Servo Control with torque precontrol, 1 position encoder - - x
(encoder 1)
126 Dynamic Servo Control with torque precontrol, 2 position encod- - - x
ers (encoder 1 and encoder 2)

Operation
Telegram Description Class 1 Class 3 Class 4

(p0922 = x)
136 Dynamic Servo Control with torque precontrol, 2 position encod- - - x
ers (encoder 1 and encoder 2), 4 trace signals
138 Dynamic Servo Control with torque precontrol, 2 external position - - x
encoders (encoder 2 and encoder 3), 4 trace signals
139 Speed/position control with Dynamic Servo Control and torque - - x
precontrol, 1 position encoder, clamping status, additional actual
values
166 Hydraulic axis (HLA) with two encoder channels and HLA addi- - - -
tional signals
220 Speed setpoint, 32 bit, metal industry x - -
352 16-bit speed setpoint for PCS7 x - -
370 Infeed - - -
371 Infeed, metal industry - - -
390 Control Unit with digital inputs DI 0 … DI 15 and digital outputs - - -
DO 8 … DO 15
391 Control Unit with digital inputs DI 0 … DI 15, DO 8 … DO 15 and - - -
2 probes
392 Control Unit with digital inputs DI 0 … DI 15, digital outputs DO 8 - - -
… DO 15 and 6 probes
… DO 16, 8 probes and analog input
394 Control Unit with digital inputs DI 0 … DI 22 and digital outputs - - -
DO 8 … DO 16
… DO 16 and 16 probes
700 Supplementary PZD-0/3 - - -
999 Free interconnection and length x x x
6.6.3 Cyclic communication

Cyclic communication is used to exchange time-critical process data (e.g. setpoints and actual
values).

Operation
6.6.3.1 Telegrams and process data
General information
Selecting a telegram via CU parameter p0922 determines which process data is transferred.
From the perspective of the drive unit, the received process data comprises the receive words
and the process data to be sent, the send words.
The receive and send words comprise the following elements:
• Receive words: Control words and setpoints

• Send words: Status words and actual values
Default setting "Profidrive"

When the "Profidrive" default setting is chosen for command and setpoint selection (see
"Command sources / "Profidrive" default settings"), "Free telegram" (p0922 = 999) is selected.
The receive telegram is parameterized as follows as a result of the default setting:
STW1 NSOLL_A
The send telegram is as follows (factory setting):
ZSW1 NIST_GLATT IAIST_GLATT MIST_GLATT PIST_GLATT FAULT_CODE
You do not have to make any further settings in order to use these telegrams.
User-defined telegram selection

a. Standard telegrams
Standard telegrams are structured in accordance with PROFIdrive profile or internal company
specifications. Process data is automatically interconnected internally corresponding to the
telegram number set in parameter p0922.
The following standard telegrams can be set via parameter p0922:
• p0922 = 1 -> Speed setpoint, 16 bit

• p0922 = 2 -> Speed setpoint, 32 bit
• p0922 = 3 -> Speed setpoint 32 bit with 1 position controller
• p0922 = 4 -> Speed setpoint 32 bit with 2 position controller
• p0922 = 20 -> Speed setpoint, 16 bit VIK-NAMUR
• p0922 = 352 -> Speed setpoint, 16-bit PCS7

Operation
Depending on the setting in p0922, the interface mode of the control and status word is
automatically set:
• p0922 = 1, 352, 999:
STW 1/STW 1: Interface Mode SINAMICS / MICROMASTER, p2038 = 0
• p0922 = 20:
STW 1/STW 1: Interface Mode PROFIdrive VIK-NAMUR, p2038 = 2
b. Manufacturer-specific telegrams
The manufacturer-specific telegrams are structured in accordance with internal company
specifications. The internal process data links are set up automatically in accordance with the
telegram number setting.
The following vendor-specific telegrams can be set via p0922:
• p0922 = 220 Speed setpoint 32 bit, metal industry
c. Free telegrams (p0922 = 999)

Send and receive telegrams can be configured as required by using BICO technology to
interconnect the send and receive words. The default process data assigned under a) is
retained during the changeover to p0922 = 999, although it can be changed or
supplemented at any time.
To maintain compliance with the PROFIdrive profile, however, the following assignments
should be retained:
• Interconnect PZD receive word 1 as control word 1 (STW 1)
• Interconnect PZD send word 1 as status word 1 (STW 1)
Please refer to function diagrams FP2460 and FP2470 for details on interconnection options.
Telegram interconnections
• After changing p0922 = 999 (factory setting) to p0922 ≠ 999, the telegrams are
interconnected and blocked automatically.
Exceptions are telegrams 20, 220 and 352. There, in addition to the fixed
interconnections, selected process data (PZD) can be interconnected as required in the
send/receive telegram.
• When you change p0922 ≠ 999 to p0922 = 999, the previous telegram interconnection is
retained and this can be changed.
• If p0922 = 999, a telegram can be selected in p2079. A telegram interconnection is
automatically made and blocked. However, the telegram can also be extended.
This is an easy method for creating extended telegram interconnections on the basis of
existing telegrams.

Operation
6.6.3.2 Structure of the telegrams
Table 6- 9 Structure of the telegrams
Telegr. PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6 PZD 7 PZD 8 PZD 9 PZD 10
1 STW1 NSOLL_A
ZSW1 NIST_A
2 STW1 NSOLL_B STW2
ZSW1 NIST_B ZSW2
3 STW1 NSOLL_B STW2 G1_STW
ZSW1 NIST_B ZSW2 G1_ZSW G1_XIST1 G1_XACT2
4 STW1 NSOLL_B STW2 G1_STW G2_STW
ZSW1 NIST_B ZSW2 G1_ZSW Further assignment, see FP2420
20 STW1 NSOLL_A
ZSW1 NIST_A_G IAIST_ MIST_ PIST_ GLATT MELD_
LATT GLATT GLATT NAMUR
220 STW1_ NSOLL_B STW2_BM M_ADD M_LIM free free free free
BM
ZSW1_ NIST_A IAIST MIST WARN_ FAULT_ ZSW2_ free free free
BM CODE CODE BM
352 STW1 NSOLL_A PCS7_3 PCS7_4 PCS7_5 PCS7_6
ZSW1 NIST_A_G IAIST_ MIST_ WARN_ FAULT_
LATT GLATT GLATT CODE CODE
999 STW1 free free free free free free free free free
ZSW1 free free free free free free free free free
6.6.3.3 Overview of control words and setpoints
Table 6- 10 Overview of control words and setpoints
Abbreviation Description Parameter Function dia-

gram
STW1 Control word 1 (interface mode SINAMICS, See table "Control word 1 (interface mode FP2442
p2038 = 0) SINAMICS, p2038 = 0)"
STW1 Control word 1 (interface mode VIK- See table "Control word 1 (interface mode FP2441
NAMUR, p2038 = 2) VIK-NAMUR, p2038 = 2)"
STW1_BM Control word 1, metal industry (interface See table "Control word 1, metal industry FP2425
mode SINAMICS, p2038 = 0) (interface mode SINAMICS, p2038 = 0)"
STW2 Control word 2 (interface mode SINAMICS, See table "Control word 2 (interface mode FP2444
p2038 = 0) SINAMICS, p2038 = 0)"
STW2_BM Control word 2, metal industry (interface See table "Control word 2, metal industry FP2426
NSOLL_A Speed setpoint A (16-bit) p1070 FP3030
NSOLL_B Speed setpoint B (32-bit) p1155 FP3080
PCS7_x PCS7-specific setpoints

Operation
6.6.3.4 Overview of status words and actual values
Table 6- 11 Overview of status words and actual values
Abbreviation Description Parameter Function dia-

gram
ZSW1 Status word 1 (interface mode See table "Status word 1 (interface FP2452
SINAMICS, p2038 = 0) mode SINAMICS, p2038 = 0)"
ZSW1 Status word 1 (interface mode VIK- See table "Status word 1 (interface FP2451
NAMUR, p2038 = 2) mode VIK-NAMUR, p2038 = 2)"
ZSW1_BM Status word 1, metal industry (interface See table "Status word 1, metal industry FP2428
ZSW2 Status word 2 (interface mode See table "Status word 2 (interface FP2454
SINAMICS, p2038 = 0) mode SINAMICS, p2038 = 0)"
ZSW2_BM Status word 2, metal industry (interface See table "Status word 2, metal industry FP2429
NIST_A Speed setpoint A (16 bit) r0063[0] FP4715
NIST_B Speed setpoint B (32 bit) r0063 FP4710
IAIST Actual value of current r0068[0] FP6714
MIST Actual torque value r0080[0] FP6714
PIST Actual power value r0082[0] FP6714
NIST_GLATT Actual speed value smoothed r0063[1] FP4715
IAIST_GLATT Current actual value, smoothed r0068[1] FP6714
MIST_GLATT Torque actual value, smoothed r0080[1] FP6714
PIST_GLATT Power actual value, smoothed r0082[1] FP6714
MELD_NAMUR VIK-NAMUR message bit bar r3113, see table "NAMUR message bit --
bar"
WARN_CODE Alarm code r2132 FP8065
ERROR_CODE Error code r2131 FP8060
6.6.4 Acyclic communication

Acyclic communication, as opposed to cyclic communication, means data is transferred only
when an explicit request is made (e.g., in order to read and write parameters).
The "Read data record" and "Write data record" services are available for acyclic
communication.

Operation
The following options are available for reading and writing parameters:
• S7 protocol
This protocol uses the STARTER commissioning tool in online operation via
PROFIBUS/PROFINET, for example.
• PROFIdrive parameter channel with the following data records:
– PROFIBUS: Data block 47 (0x002F)
The DPV1 services are available for master class 1 and master class 2.
– PROFINET: Data block 47 and 0xB02F as global access, data block 0xB02E as local
access
Note
References
Please refer to the following documentation for a detailed description of acyclic
communication:
Reference: PROFIdrive profile
You can obtain the current version from "PROFIBUS and PROFINET International (PI)".
Addressing:
• PROFIBUS DP, addressing is carried out via the logical address or the diagnostics address.
• PROFINET IO, addressing is carried out exclusively via a diagnostics address that is
assigned to a module starting from slot 1. Parameters cannot be accessed using slot 0.
Figure 6-20 Reading and writing data

Operation
Characteristics of the parameter channel

• One 16-bit address exists for each parameter number and subindex.
• Simultaneous access by several additional PROFIBUS masters (master class 2) or PROFINET
IO Supervisor (e.g., commissioning tool).
• Transfer of different parameters in one access operation (multiple parameter request).
• Transfer of complete arrays or part of an array possible.
• Only one parameter request is processed at a time (no pipelining).
• A parameter request/parameter response must fit into a data set (e.g. PROFIBUS: max.
240 bytes).
• The request or the response header is user data.
6.6.4.1 Structure of requests and responses
Structure of parameter request and parameter response
Table 6- 12 Structure of the parameter request
Parameter request Offset

Values for Request header Request reference Request ID 0
write access Axis Number of parameters 2
only
1st parameter address Attribute Number of elements 4
Parameter number 6
Subindex 8
...
nth parameter address Attribute Number of elements
Parameter number
Subindex
1st parameter value(s) Format Number of values
Values
...
...
nth parameter value(s) Format Number of values
Values
...

Operation
Table 6- 13 Structure of the parameter response
Parameter response Offset

Values for read Response header Request reference mirrored Response ID 0
access only Axis mirrored Number of parameters 2
Error values 1st parameter value(s) Format Number of values 4
for negative
response only Values or error values 6
...
...
nth parameter value(s) Format Number of values
Values or error values
...
Description of fields in the parameter request and response
Table 6- 14 Fields in the parameter request and response
Field Data type Values Comment

Request reference Unsigned8 0x01 ... 0xFF
Unique identification of the request/response pair for the master. The master changes the request
reference with each new request. The slave mirrors the request reference in its response.
Request ID Unsigned8 0x01 Read job
0x02 Write job
Specifies the type of request.
In the case of a write request, the changes are made in a volatile memory (RAM). A save operation
is needed in order to transfer the modified data to the non-volatile memory (p0971, p0977).
Response ID Unsigned8 0x01 Read job(+)
0x02 Write job(+)
0x81 Read job(-)
0x82 Write job(-)
Mirrors the request ID and specifies whether request execution was positive or negative.
Negative means:
Cannot execute part or all of request.
The error values are transferred instead of the values for each subresponse.
Drive object Unsigned8 0x00 ... 0xFF Number
number Setting for the drive object number of a drive unit with more than one drive object. Different drive
objects with separate parameter number ranges can be accessed via the same DPV1 connection.
Number of parameters Unsigned8 0x01 ... 0x27 No. 1 ... 39
Limited by DPV1 telegram length
Defines the number of following areas for the parameter address and/or parameter value for multi-
parameter requests.
The number of parameters = 1 for single requests.
Attribute Unsigned8 0x10 Value
0x20 Description
0x30 Text (not implemented)
Type of parameter element accessed.
Number of elements Unsigned8 0x00 Special function
0x01 ... 0x75 No. 1 ... 117
Number of array elements accessed.

Operation
Field Data type Values Comment

Parameter number Unsigned16 0x0001 ... 0xFFFF No. 1 ... 65535
Addresses the parameter to be accessed.
Subindex Unsigned16 0x0000 ... 0xFFFF No. 0 ... 65535
Addresses the first array element of the parameter to be accessed.
Format Unsigned8 0x02 Data type integer8
0x03 Data type integer16
0x04 Data type integer32
0x05 Data type unsigned8
0x08 Data type floating point
Other values See the actual PROFIdrive profile
0x40 Zero (without values as a positive
subresponse of a write request)
0x41 Byte
0x42 Word
0x43 Double word
0x44 Error
The format and number specify the adjoining space containing values in the telegram.
For write access, it is preferable to specify data types according to the PROFIdrive profile. Bytes,
words and double words are also possible as a substitute.
Number of values Unsigned8 0x00 ... 0xEA No. 0 ... 234
Specifies the number of subsequent values.
Error values Unsigned16 0x0000 ... 0x00FF Meaning of error values
--> see following table
The error values in the event of a negative response.
If the values make up an odd number of bytes, a zero byte is attached. This ensures the integrity of
the word structure of the telegram.
Values Unsigned16 0x0000 ... 0x00FF
The values of the parameter for read or write access.
If the values make up an odd number of bytes, a zero byte is attached. This ensures the integrity of
the word structure of the telegram.

Operation
Error values in parameter responses
Table 6- 15 Error values in parameter responses
Error Meaning Comment Additional

value info
0x00 Illegal parameter number. Access to a parameter that does not exist. –
0x01 Parameter value cannot be changed. Modification access to a parameter value that cannot be Subindex
changed.
0x02 Lower or upper value limit exceeded. Modification access with value outside value limits. Subindex
0x03 Invalid subindex. Access to a subindex that does not exist. Subindex
0x04 No array. Access with subindex to an unindexed parameter. –
0x05 Wrong data type. Modification access with a value that does not match the –
data type of the parameter.
0x06 Illegal set operation (only reset al- Modification access with a value not equal to 0 in a case Subindex
lowed) where this is not allowed.
0x07 Description element cannot be Modification access to a description element that cannot Subindex
changed be changed.
0x09 No description data available Access to a description that does not exist (the parameter –
value exists).
0x10 Read job will not be executed. The read request is refused because know-how protection –
is active.
0x0B No parameter change rights. Modification access with no parameter change rights. –
0x0F No text array exists Access to a text array that does not exist (the parameter –
value exists).
0x11 Request cannot be executed due to Access is temporarily not possible for unspecified reasons. –
operating status.
0x14 Illegal value. Modification access with a value that is within the limits Subindex
but is illegal for other permanent reasons (parameter with
defined individual values).
0x15 Response too long. The length of the present response exceeds the maximum –
transfer length.
0x16 Illegal parameter address. Illegal or unsupported value for attribute, number of ele- –
ments, parameter number, subindex or a combination of
these.
0x17 Illegal format. Write request: illegal or unsupported parameter data for- –
mat.
0x18 Number of values inconsistent. Write request: a mismatch exists between the number of –
values in the parameter data and the number of elements
in the parameter address.
0x19 Drive object does not exist. You have attempted to access a drive object that does not –
exist.
0x20 Parameter text cannot be changed. – –
0x21 Service is not supported. Illegal or unknown request ID. –
0x65 Parameter presently deactivated. You have tried to access a parameter that, although availa- –
ble, does not currently perform a function (e.g., n control
set and access to a U/f control parameter).
0x6B Write access for the enabled control- Write access is possible while the device is in the "Control- –
ler. ler enable" state.
Pay attention to the parameter attribute "changeable" in
the List Manual (C1, C2, U, T).
0x6C Parameter %s [%s]: unit unknown. – –

Operation

value info
0x6D Parameter %s [%s]: write access only – –
in the commissioning state, encoder
(p0010 = 4).
0x6E Parameter %s [%s]: write access only – –
in the commissioning state, motor
(p0010 = 3).
0x6F Parameter %s [%s]: write access only – –
in the commissioning state, power
unit (p0010 = 2).
0x70 Parameter %s [%s]: write access only – –
in quick commissioning (p0010 = 1).
in the ready state (p0010 = 0).
in the commissioning state, parame-
ter reset (p0010 = 30).
in the commissioning state, safety
(p0010 = 95).
0x74 Parameter %s [%s]: Write access only – –
in the commissioning state, tech.
application/units (p0010 = 5).
in the commissioning state (p0010
not equal to 0).
in the commissioning state, down-
load (p0010 = 29).
0x77 Parameter %s [%s] must not be writ- – –
ten during download.
in the commissioning state, drive
configuration (device: p0009 = 3).
in the commissioning state, define
drive type (device: p0009 = 2).
0x7A Parameter %s [%s]: Write access only – –
in the commissioning state, data
record base configuration (de-
vice: p0009 = 4).
0x7B Parameter %s [%s]: Write access only – –
in the commissioning state, device
configuration (device: p0009 = 1).
0x7C Parameter %s [%s]: Write access only – –
download (device: p0009 = 29).
0x7D Parameter %s [%s]: Write access only – –
parameter reset (device: p0009 = 30).
0x7E Parameter %s [%s]: Write access only – –
ready (device: p0009 = 0).

Operation

value info
0x7F Parameter %s [%s]: Write access only – –
(device: p0009 not equal to 0).
0x81 Parameter %s [%s] must not be writ- – –
ten during download.
0x82 Transfer of master control is blocked – –
by BI: p0806.
0x83 Parameter %s [%s]: requested BICO BICO output does not supply float values, however the –
interconnection not possible. BICO input requires float values.
0x84 Parameter %s [%s]: parameter change – –
inhibited
(refer to p0300, p0400, p0922)
0x85 Parameter %s [%s]: access method – –
not defined.
0x87 Write job will not be executed. The write job is rejected because know-how protection is –
active.
0xC8 Below currently valid limit. Modification request for a value that, although within –
"absolute" limits, is below the currently valid lower limit.
0xC9 Above currently valid limit. Modification request for a value that, although within –
"absolute" limits, is above the currently valid upper limit
(e.g., specified by the actual converter rating).
0xCC Write access not permitted. Write access is not permitted because an access code is not –
available.

Operation
6.6.4.2 Determining the drive object numbers

Further information about the drive system (e.g., drive object numbers) can be determined as
follows from parameters p0101, r0102 and p0107/r0107:
1. The value of parameter r0102 ("Number of drive objects") is read via a read request from
drive object 1.
The drive object with drive object number 1 is the Control Unit (CU), which is always
present in every drive system, as a minimum.
2. Depending on the result of the initial read request, further read requests to drive object 1
are used to read the indices of parameter p0101 ("Drive object numbers"), as specified by
parameter r0102.
Example:
If the number of drive objects is "5", the values of indices 0 to 4 of parameter p0101 are
read. The relevant indices can also be read at once.
3. Following this, parameter r0107/p0107 ("Drive object type") is read for each drive object
(indicated by the drive object number).
Depending on the drive object, parameter 107 can be either an adjustable parameter or a
display parameter.
The value in parameter r0107/p0107 indicates the drive object type. The coding for the
drive object type is specified in the parameter list.
6.6.4.3 Example 1: Reading parameters
Preconditions
• The PROFIdrive controller has been commissioned and is fully operational.
• PROFIdrive communication between the controller and the device is operational.
• The controller can read and write data sets in conformance with PROFINET/PROFIBUS.
Task description
Following the occurrence of at least one fault (STW1.3 = "1") at drive 2 (also drive object
number 2), the active fault codes are to be read from the fault buffer r0945[0] ... r0945[7].
The request is to be handled using a request and response data block.
Basic procedure
1. Create a request to read the parameters.
2. Invoke request.
3. Evaluate response.

Operation
Create request
Table 6- 16 Parameter request

Request header Request reference = 25 hex Request ID = 01 hex 0+1
Axis = 02 hex Number of parameters = 2+3
01 hex
Parameter address Attribute = 10 hex Number of elements = 08 hex 4+5
Parameter no. = 945 dec 6
Subindex = 0 dec 8
Information about the parameter request:

• Request reference:
The value is selected at random from the valid value range. The request reference
establishes the relationship between request and response.
• Request identifier:
01 hex → This identifier is required for a read request.
• Axis:
02 hex → Drive 2, fault buffer with drive- and device-specific faults
• Number of parameters:
01 hex → One parameter is read.
• Attribute:
10 hex → The parameter values are read.
• Number of elements:
08 hex → The actual fault incident with eight faults is to be read.
• Parameter number:
945 dec → p0945 (fault code) is read.
• Subindex:
0 dec → Reading starts at index 0.
Invoke request.
If STW1.3 = "1" → Initiate parameter request

Operation
Evaluate response.
Table 6- 17 Parameter response

Response header Request reference mirrored = Response ID = 01 hex 0+1
25 hex
Axis mirrored = 02 hex Number of parameters = 2+3
01 hex
Parameter value Format = 06 hex Number of values = 08 hex 4+5
1st value = 1355 dec 6
2nd value = 0 dec 8
... ...
8th value = 0 dec 20
Information about the parameter response:

• Request reference mirrored:
This response belongs to the request with request reference 25.
• Response identifier:
01 hex → Read request positive, values available starting from 1st value
The values correspond to the values from the request.
• Format:
06 hex → Parameter values are in the unsigned16 format.
• Number of values:
08 hex → 8 parameter values are available.
• 1st value ... 8th Value:
A fault is only entered in the 1st value of the fault buffer for drive 2.
6.6.4.4 Example 2: Writing parameters (multi-parameter request)
Preconditions
• The PROFIdrive controller has been commissioned and is fully operational.
• PROFIdrive communication between the controller and the device is operational.
• The controller can read and write data sets in conformance with PROFINET/PROFIBUS.
• Special requirements for this example:
Control mode: Vector control (with extended setpoint channel)

Operation
Task description
Jog 1 and 2 are to be set up for drive 2 (also drive object number 2) via the input terminals of
the Control Unit. A parameter request is to be used to write the corresponding parameters as
follows:
• BI: p1055 = r0722.4 Jog bit 0

• BI: p1056 = r0722.5 Jog bit 1
• p1058 = 300 rpm Jog 1 speed setpoint
• p1059 = 600 rpm Jog 2 speed setpoint
The request is to be handled using a request and response data block.
Figure 6-21 Task description for multi-parameter request (example)
Basic procedure
1. Create a request to write the parameters.
2. Invoke request.
3. Evaluate response.

Operation
Create request
Table 6- 18 Parameter request

Request header Request reference = 40 hex Request ID = 02 hex 0+1
Axis = 02 hex Number of parameters = 2+3
04 hex
1st parameter ad- Attribute = 10 hex Number of elements = 01 hex 4+5
dress Parameter no. = 1055 dec 6
Subindex = 0 dec 8
2nd parameter ad- Attribute = 10 hex Number of elements = 01 hex 10 + 11
Subindex = 0 dec 14
3rd parameter ad- Attribute = 10 hex Number of elements = 01 hex 16 + 17
Subindex = 0 dec 20
4th parameter ad- Attribute = 10 hex Number of elements = 01 hex 22 + 23
Subindex = 0 dec 26
1st parameter val- Format = 07 hex Number of values = 01 hex 28 + 29
ue(s) Value = 02D2 hex 30
Value = 0404 hex 32
2nd parameter val- Format = 07 hex Number of values = 01 hex 34 + 35
ue(s) Value = 02D2 hex 36
Value = 0405 hex 38
3rd parameter val- Format = 08 hex Number of values = 01 hex 40 + 41
ue(s) Value = 4396 hex 42
Value = 0000 hex 44
4th parameter val- Format = 08 hex Number of values = 01 hex 46 + 47
ue(s) Value = 4416 hex 48
Value = 0000 hex 50
Notes regarding parameter request:

• Request reference:
The value is selected at random from the valid value range. The request reference
establishes the relationship between request and response.
02 hex → This identifier is required for a write request.
• Axis:
02 hex → The parameters are written to drive 2.
04 hex → The multi-parameter request comprises 4 individual parameter requests.

Operation
1st parameter address ... 4th parameter address

• Attribute:
10 hex → The parameter values are to be written.
• Number of elements:
01 hex → 1 array element is written.
• Parameter number:
Specifies the number of the parameter to be written (p1055, p1056, p1058, p1059).
• Subindex:
0 dec → ID of the first array element.
1st parameter value ... 4th parameter value
• Format:
07 hex → data type unsigned32
08 hex → data type floating-point
• Number of values:
01 hex → A value is written to each parameter in the specified format.
• Value:
BICO input parameter: Enter signal source:
Adjustable parameter: enter value
Invoke request.
Evaluate response.
Table 6- 19 Parameter response

Response header Request reference mirrored = Response ID = 02 hex 0
40 hex
Axis mirrored = 02 hex Number of parameters = 04 hex 2
Notes regarding parameter response:

This response belongs to the request with request reference 40.
02 hex → Write request positive
• Axis mirrored:
02 hex → The value matches the value from the request.
04 hex → The value matches the value from the request.

Operation
6.6.5 Diagnostics channels

The drive provides the standard diagnostics for PROFIBUS and PROFINET. This allows the
PROFIdrive classes of the drive to be integrated into the system diagnostics of a higher-level
control system and automatically displayed on an HMI.
The information transferred is saved for the drive objects in the following parameters:
• r0947[0...63] fault number • r3120[0..63] component fault

• r2122[0...63] alarm code • r3121[0..63] component alarm
• r9747[0...63] SI message code • r9745[0..63] SI component
(with safety messages) (with safety message)
The messages entered in these parameters are combined to create PROFIdrive message
classes for diagnostics. Determining the source of a message is realized by transferring the
component number as channel number.
The diagnostics are activated via the appropriate parameterization in the configuration tool
being used (e.g. via HW Config).
The functional scope of the diagnostic channels depends on the bus system.
PROFIdrive message classes

Faults Alarms Component assignment
PROFINET GSDML X X X
TIA X X X
PROFIBUS GSD X - -
TIA X - -
• The drive transfers the messages in the sequence in which they occurred.
• When a message occurs, the drive sends a communication message. The message remains
until the drive sends the associated outgoing message.
• The time stamps are generated from the higher-level controller when the messages are
received
• The existing mechanisms of TIA and S7 Classic can be used.
• Alarms or faults are acknowledged using the already known acknowledgment routes.
• Transfer is possible via interface IF1 and/or IF2.
Note
Constraint
If a shared device is activated, only the A-controller can receive diagnostics.
Note
Additional information
PROFIdrive message classes of the individual SINAMICS faults and alarms are provided in the
List Manual.

Operation
6.6.5.1 Diagnostics via PROFINET

For PROFINET, to transfer PROFIdrive message classes, channel diagnostics (Channel
Diagnosis) are used (see PROFINET IO specification (http://www.profibus.com)).
A message always comprises the following components in this specific sequence:
• Block Header (6 Byte)
– Blocktype
– Blocklength
– BlockversionHigh
– BlockversionLow
• API (4 Byte)
• Slot Number (2 Byte)
• Sub Slot Number (2 Byte)
• Channel Number (2 Byte)
• Channel Properties (0x8000) (2 Byte)
• User Structure Identifier (2 Byte)
• Channel Diagnosis Data (6 Byte)
– Channel Number (2 Byte)
– Channel Properties (2 Byte)
– Channel Error Type (2 Byte)
Overview
Figure 6-22 Components of a message

Operation
Individual components of the Channel Diagnosis Data block can be included n times in a
message. A precise explanation of these message components is subsequently provided:
Table 6- 20 Components of a message
Designation Data For SINAMICS

type/length
Value Meaning
Channel Number U16 1 ... 399 Component number
0x8000 No component assignment 1)
Channel Properties U16
.Type Bits 7 ... 0 0 No data length
.Accumulative Bit 8 0 1 channel; no group formation
.Maintenance Bits 10, 9 0 Fault → diagnostics
1 Alarm, Class 0 or A → maintenance required (Maintenance required)
Alarm, Class B or C → maintenance required (Maintenance demanded)
2
.Specifier Bits 12, 11 0 Not used
1 Message received
2 Message issued, no additional message available in the channel
3 Message issued, additional messages are available in the channel
.Direction Bits 15 ... 13 3 Input/Output
Channel Error Type U16 0x9000 Hardware / software error
0x9001 Network fault
0x9002 Supply voltage fault
0x9003 DC link overvoltage
0x9004 Power electronics faulted
0x9005 Overtemperature of the electronic components
0x9006 Ground fault / inter-phase short circuit
0x9007 Motor overload
0x9008 Communication error to the higher-level control system
0x9009 Safety monitoring channel has identified an error
0x900A Position/speed actual value incorrect or not available
0x900B Internal (DRIVE-CLiQ) communication error
0x900C Infeed faulted
0x900E Line filter faulted
0x900F External measured value / signal state outside the permissible range
0x9010 Application / technological function faulted
0x9011 Error in the parameterization / configuration /
commissioning procedure
0x9012 General drive fault
0x9013 Auxiliary unit faulted
1) For messages, which cannot be assigned to any particular component

Operation
System response - reading out diagnostics data

The converter requests diagnostics data via "Read data set" (detailed information is provided
in the PROFINET-IO specification (http://www.profibus.com)).
Example:
For example, a read record with index 0x800C can be used to read out diagnostics data from
specific sub slots.
The following rules apply exemplarily:
• 1 message block,
if at this drive object (one or several) faults of the same message class are identified.
• n messages
if, at this drive object, n faults of different message classes are identified.
Note
If a fault is active on the CU drive object, then this fault is propagated to all of the drive
objects associated with the CU. This fault can therefore be read out at each drive object.
6.6.5.2 Diagnostics via PROFIBUS

For communication via PROFIBUS, in the case of fault the following diagnostics data is
output:
• Standard diagnostics
• Identifier-related diagnostics
• Status messages/module status
• Channel-related diagnostics
• Data sets DS0/DS1 and diagnostics alarm
Message structure
The following applies if a message contains all of the specified diagnostics data:
• Standard diagnostics
Is always located at the beginning of the message.
• Data sets DS0/DS1 and diagnostics alarm
Is always located at the end of the message. This message part is always slot-specific. The
actual state of the slot responsible for the message is always transferred in the message.

Operation
The other diagnostics data (types) can be in any sequence. This is the reason that the
following diagnostics data include a header:
• Identifier-related diagnostics
• Status messages/module status
• Channel-related diagnostics
The diagnostic data type can be uniquely identified based on the header.
Note
The master must operate in the DPV1 mode.
Standard diagnostics
For communication via PROFIBUS, standard diagnostics is structured as follows.
Bit 7 6 5 4 3 2 1 0
Octet Name
1 Station Master_ Prm_Fault 0 Not_ Ext_Diag Cfg_Fault Station_ Station_
status 1 Lock Supported Not_ Non_
=0 Ready Exist
=0
2 Station 0 0 Sync_ Freeze_ WD_On 1 Stat_Diag Prm_Req
status 2 Mode Mode =0
3 Station Ext_ 0 0 0 0 0 0 0
status 3 Diag_
Overflow
4 Master_Add
5 Ident_Number (HighByte) of the slave
6 Ident_Number (LowByte) of the slave
In this context, the following values are decisive for diagnostics:

• Ext_Diag
– Group signal for diagnostics in the slave
– = 1, if at least 1 alarm is active
• Ext_Diag_Overflow
Display, diagnostics overflow in the slave (for more than 240 bytes)

Operation
Identifier-related diagnostics
The identifier-related diagnostics provides a bit (KB_n) for each slot 1 allocated when
configuring the device. If a diagnostics message is active at a slot, then its KB_n = true.
Bit 7 6 5 4 3 2 1 0
Octet Name
1 Header- 0 1 Block length (2 ... 32) incl. this byte
Byte
Station
status 1
2 Bit KB_7 KB_6 KB_5 KB_4 KB_3 KB_2 KB_1 KB_0
structure
3 Bit ... ... ... ... KB_11 KB_10 KB_9 KB_8
structure
... ...
x Bit ... ... KB_n+1 KB_n ... ... ... ...
structure
Status messages/module status

Status messages and module status briefly represent an overview of the state of the devices:
Bit 7 6 5 4 3 2 1 0
Octet Name
1 Header 0 0 Block length (2 ... 32) incl. this byte
byte
2 Module 0x82
status
3 Slot 0
4 Specifier 0
5 Slot_4 Slot_3 Slot_2 Slot_1
6 ... Slot_7 Slot_6 Slot_5
... ...
x 00 Slot_n ... ...
Note
Status value
Diagnostics for SINAMICS are only available in cyclic PROFIBUS operation, so that the state
00 = "Valid user data" is always output for all slots.

Operation
Channel-related diagnostics
Channel-related diagnostics encompasses the following data:
Bit 7 6 5 4 3 2 1 0
Octet Name
x Header- 1 1) 0 1) 0 ... 63 (module number) including these bytes
Byte
x+1 1 2) 1 2) 0 (no component assignment)
x+2 03) 03) Message classes:
2 Undervoltage
3 Overvoltage
9 Error
16 Hardware/software error
17 Line supply/filter faulted
18 DC-link overvoltage
19 Power electronics faulted
20 Electronic component overtemp.
21 Ground/phase fault detected
22 Motor overload
23 Commun. with controller faulted
24 Safety monit. Detected an error
25 Act. Position/speed value error
26 Internal communication faulted
27 Infeed faulted
28 Braking controller faulted
29 External signal state error
30 Application/function faulted
31 Parameterization/commiss. error
1) ≙ Channel-related diagnostics
2) ≙ Input/output
3) ≙ "Channel type "non specific"
System response
Only one signal is generated if channel-related diagnostics identifies several faults belonging
to the same message class at the same drive object.
Data sets DS0/DS1 and diagnostics alarm

The PROFIdrive message classes are transferred using diagnostic alarm DS0/DS1. All faults are
assigned channel 0. The drive objects are assigned using the slot number.

Operation
The structure is as follows:
Bit 7 6 5 4 3 2 1 0
Octet Name
1 Header-Byte 0 0 = 15 (block length)
2 0 = 1 (diagnostics alarm)
3 0 ... 244 (slot number ≙ drive object)
4 0 ... 31 (sequence number) Add_Ack Alarm_Specifier 1)
5 DS0 (byte 0) 0 0 0 0 1 2) 0 1 3) 1 4)
6 DS0 (byte 1) 0 0 0 1 5) 06) 06) 1 6) 1 6)
7 DS0 (Byte 2) 0 0 0 0 0 0 0 0
8 DS0 (byte 3) 0 0 0 0 0 0 0 0
9 Info (byte 1) Mixed = 0x45 (ChannelTypeID = SINAMICS)
10 Info (byte 2) = 24 (number of diagnostic bits/channel)
11 Info (byte 3) = 1 (1 channel signals)
12 Channel Error 0 0 0 0 0 0 0 Channel 0
Vector 1
13 Channel Err 7 Err 6 Err 5 Err 4 Err 3 Err 2 Err 1 Err 0
14 -related diag- Err 15 Err 14 Err 13 Err 12 Err 11 Err 10 Err 9 Err 8
nostics
15 (channel 0) 0 0 0 0 Err 19 Err 18 Err 17 Err 16
1) Alarm_Specifier
1 ≙ error has occurred and the slot is not OK
2 ≙ error is resolved and the slot is OK
3 ≙ error is resolved and the slot is not okay
2) Channel fault present
= 1; as long as the drive object has an error condition
3) Internal fault
4) Module fault
5) Channel information present
= 1; ≙ DS1 exists
6) Type class of module
= 0011; ≙ Distributed
6.6.6 Further information about PROFIdrive communication
Further information about PROFIdrive communication

Additional information about communication based on PROFIdrive can be taken from the
attached document "SINAMICS S120 Function Manual Communication" in Section
"Communication according to PROFIdrive".

Operation
6.7 Communication via PROFIBUS DP
6.7.1 PROFIBUS connection

For more information about the PROFIBUS connection, see "Electrical installation".
6.7.2 General information about PROFIBUS DP
6.7.2.1 General information about PROFIBUS DP for SINAMICS
General information
PROFIBUS is an open international fieldbus standard for a wide range of production and
process automation applications.
The following standards ensure open, multi-vendor systems:
• International standard EN 50170
• International standard IEC 61158
PROFIBUS is tuned for high-speed, time-critical data communication at field level.
Note
PROFIBUS for drive technology is standardized and described in the following document:
PROFIdrive Profile Drive Technology
Haid-und-Neu-Strasse 7, D-76131 Karlsruhe
http://www.profibus.com
Note
Before synchronizing to the isochronous PROFIBUS, all of the drive object pulses must be
inhibited - also for those drives that are not controlled via PROFIBUS.
PROFIBUS interface: The cyclic PZD channel is deactivated when the CBE20 is plugged in!
NOTICE
Destruction of the CU320-2 or other CAN bus nodes by connecting a CAN cable
Connecting a CAN cable to interface X126 of the CU320-2 can destroy the CU320-2 or other
CAN bus nodes.
• Do not connect any CAN cable to the X126 interface.

Operation
Master and slave

• Master and slave properties
Properties Master Slave

As bus node Active Passive
Send messages Permitted without external Only possible on request by
request master
Receive messages Possible without any re- Only receive and acknowledge
strictions permitted
• Master
The following classes are differentiated:
– Master class 1 (DPMC1):
Central automation stations that exchange data with the slaves in cyclic and acyclic
mode. Communication between the masters is also possible.
Examples: SIMATIC S7, SIMOTION
– Master class 2 (DPMC2):
Devices for configuration, commissioning, operator control and monitoring during bus
operation. Devices that only exchange data with the slaves in acyclic mode.
Examples: Programming devices, human machine interfaces
• Slaves
With respect to PROFIBUS, the SINAMICS drive unit is a slave.
Bus access method

PROFIBUS uses the token passing method, i.e. the active stations (masters) are arranged in a
logical ring in which the authorization to send is received within a defined time frame.
Within this time frame, the master with authorization to send can communicate with the
assigned slaves and/or with other masters in a master/slave procedure.
PROFIBUS telegram for cyclic data transmission and acyclic services

Each drive unit that supports cyclic process data exchange uses a telegram to send and
receive all the process data. A separate telegram is sent in order to perform all the acyclic
services (read/write parameters) under a single PROFIBUS address. The acyclic data is
transferred with a lower priority after cyclic data transmission.
The overall length of the telegram increases with the number of drive objects that are
involved in exchanging process data.

Operation
6.7.2.2 Sequence of DOs in the telegram
Sequence of drive objects in the telegram

On the drive side, the sequence of drive objects in the telegram is displayed via a list in
p0978[0...24] where it can also be changed.
Using the STARTER commissioning tool you can display the sequence of drive objects for a
commissioned drive system in the project navigator under "Drive unit" > "Communication" >
"Telegram configuration".
When you create the configuration on the controller side (e.g. HW Config), the process-data-
capable drive objects for the application are added to the telegram in the sequence shown
(see above).
The following drive objects can exchange process data:
• Active Infeed (A_INF)
• Basic Infeed (B_INF)
• Control Unit (CU_S)
• ENC
• Smart Infeed (S_INF)
• SERVO
• Terminal Board 30 (TB30)
• Terminal Module 15 (TM15)
• VECTOR
Note
The sequence of the drive objects
The sequence of drive objects in HW Config must be the same as that in the drive (p0978).
Drive objects after the first zero in p0978 must not be configured in the HW Config.
The structure of the telegram depends on the drive objects taken into account during
configuration. Configurations are permitted that do not take into account all of the drive
objects that are present in the drive system.
Example:
The following configurations, for example, are possible:
• Configuration with VECTOR, VECTOR, VECTOR
• Configuration with A_INF, VECTOR, VECTOR, VECTOR, TMB31
• etc.

Operation
6.7.3 Control via PROFIBUS
Diagnostics LED "COM (PROFIdrive)"

The PROFIBUS diagnostics LED is located on the front of the Control Unit. Its states are
described in the following table.
Table 6- 21 Description of the "COM" LED
Color State Description

----- OFF Cyclic communication is not (yet) running.
Note:
The PROFIdrive is ready for communication when the Control Unit is ready for operation
(see LED RDY).
Green Continuous light Cyclic communication is taking place.
Green 0.5 Hz flashing Cyclic communication has still not been fully established.
light Possible causes:
- The controller is not transmitting any setpoints.
- In isochronous mode, the controller did not send a Global Control or it sent a defective
Global Control (GC).
Red 0.5 Hz flashing PROFIBUS master is sending incorrect parameter assignment/configuration
light
Red 2 Hz flashing light Cyclic bus communication has been interrupted or could not be established.
Setting the PROFIBUS ID number

The PROFIBUS Ident Number (PNO-ID) can be set using p2042.
SINAMICS can be operated on PROFIBUS with various identities. This allows a PROFIBUS GSD
that is independent of the device to be used (e.g. PROFIdrive VIK-NAMUR with Ident Number
3AA0 hex).
• 0: SINAMICS S/G
• 1: VIK-NAMUR
New settings do not become active until after POWER ON, reset, or download.
Note
Totally Integrated Automation
The advantages of Totally Integrated Automation (TIA) can only be utilized when selecting
"0".

Operation
6.7.4 Monitoring: Telegram failure
Description
In monitoring for telegram failure, two cases are possible:
• Telegram failure with a bus fault
After a telegram failure and the additional monitoring time has elapsed (p2047), bit
r2043.0 is set to "1" and alarm A01920 is output. Binector output r2043.0 can be used for
an emergency stop, for example.
After the fault delay time (p2044) has expired, fault F01910 is output.
Fault F01910 triggers fault response OFF2 (pulse inhibit) for the infeed and OFF3 (quick
stop) in the drive.
The fault response can be re-parameterized if an OFF response is not to be initiated.
Fault F01910 can be acknowledged immediately. The drive can then be operated even
without PROFIdrive.
Figure 6-23 Monitoring telegram failure with a bus fault
• Telegram failure with a CPU stop

After telegram failure, bit r2043.0 is set to "1." Binector output r2043.0 can be used for an
emergency stop, for example.
After the fault delay time (p2044) has expired, fault F01910 is output.
Fault F01910 triggers fault response OFF2 (pulse inhibit) for the infeed and OFF3 (quick
stop) in the drive.
The fault response can be re-parameterized if an OFF response is not to be initiated.
Fault F01910 can be acknowledged immediately. The drive can then be operated even
without PROFIdrive.
Figure 6-24 Monitoring telegram failure for a CPU stop

Operation
6.8 Communication via PROFINET IO
6.7.5 Further information about communication via PROFIBUS DP
Further information about communication via PROFIBUS DP

For more information about communication via PROFIBUS DP, refer to "Communication via
PROFIBUS DP" in the accompanying "SINAMICS S120 Function Manual Communication".
6.8.1 Communication Board Ethernet CBE20
Description
The CBE20 communication board must be inserted into the option slot of the Control Unit.
Four Ethernet interfaces are available on the module. Diagnosis of the function mode and
communication are possible via LEDs.
Interface overview
Figure 6-25 Communication Board Ethernet CBE20

Operation
MAC address
The MAC address of the Ethernet interfaces is indicated on the upper side of the CBE20. The
label is only visible when the module has not yet been installed.
Note
Please note the MAC address prior to installing the module so that it is available to you for the
subsequent commissioning.
X1400 Ethernet interface
Table 6- 22 Connector X1400, port 1 - 4
Pin Signal name Technical data

1 RX+ Receive data +
2 RX- Receive data -
3 TX+ Transmit data +
4 --- Reserved, do not use
6 TX- Transmit data -
Screened backshell M_EXT Screen, permanently connected
Mounting
NOTICE
Damage or malfunctions to the Option Board by inserting and withdrawing in
operation
Withdrawing and inserting Option Boards during operation can damage them or cause the
Option Boards to malfunction.
• Only withdraw or insert Option Boards when the Control Unit is in a no voltage state.

Operation
Figure 6-26 Mounting the CBE20
6.8.2 Activating online operation: STARTER via PROFINET IO
Description
Online operation with PROFINET IO is implemented using TCP/IP.
Preconditions
• STARTER Version 4.2 or higher
• Control unit CU320-2 PN or CBE20
STARTER via PROFINET IO (example)
Figure 6-27 STARTER via PROFINET (example)

Operation
Procedure, establishing online operation with PROFINET

1. Setting the IP address in Windows
The PC/PG is referred here to a fixed, free IP address.
2. Settings in STARTER
3. Assigning the IP address and the name
The PROFINET interface must be "baptized" so that the STARTER can establish
communication.
4. Select online operation in STARTER.
Setting the IP address in Windows

On the desktop, right-click on "Network environment" -> Properties -> double-click on
Network card and choose -> Properties -> Internet Protocol (TCP/IP) -> Properties -> Enter the
freely-assignable addresses.
Figure 6-28 Internet Protocol (TCP/IP) properties

Operation
Settings in STARTER
The following settings are required in STARTER for communication via PROFINET:
• Extras -> Set PG/PC interface
Figure 6-29 Set the PG/PC interface
• Right-click Drive unit -> Target device -> Online access -> Module address
Figure 6-30 Activating online operation

Operation
Assigning the IP address and the name
Note
Naming devices
ST (Structured Text) conventions must be satisfied for the name assignment of IO devices in
PROFINET (SINAMICS components). The names must be unique within PROFINET.
The characters "-" and "." are not permitted in the name of an IO device.
Assignment with STARTER, "Accessible nodes" function

Use the STARTER to assign an IP address and a name to the PROFINET interface.
• Connect the direct Ethernet cable from the PG/PC to the PROFINET interface.
• Switch on the Control Unit.
• Open STARTER.
• A search is performed for available nodes in PROFINET via Project -> Accessible nodes or
the "Accessible nodes" button.
• The SINAMICS drive object is detected and displayed as a bus node with IP address 0.0.0.0
and without a name.
• Mark the bus node entry and select the displayed menu item "Edit Ethernet node" with the
right mouse button.
• In the following "Edit Ethernet node" screen, enter the device name for the PROFINET
interface and click the "Assign name" button. Enter the IP address (e.g. 169.254.11.22) in
the IP configuration and specify the subnet screen (e.g. 255.255.0.0). Then click the
"Assign IP configuration" button. Close the screen.
• The "Update (F5)" button displays the IP address and name in the entry for the bus node. If
not, close the "Accessible nodes" screen and perform another search for accessible nodes.
• If the PROFINET interface is displayed as bus node, mark the entry and click the "Accept"
button.
• The SINAMICS drive is displayed as a drive object in the project tree.
• Further configurations can be performed for the drive object.
• Click "Connect to target system" and load the project to the Control Unit's memory card
with Target system -> Load -> To target device.
Note
Storage location of the IP address
The IP address and device name for the Control Unit are stored on the memory card (non-
volatile).

Operation
6.8.3 General information about PROFINET IO
6.8.3.1 General information about PROFINET IO for SINAMICS
General information
PROFINET IO is an open Industrial Ethernet standard for a wide range of production and
process automation applications. PROFINET IO is based on Industrial Ethernet and observes
TCP/IP and IT standards.
Deterministic signal processing in real time is important in industrial networks. PROFINET IO
satisfies these requirements.
International standard IEC 61158 ensures open, multi-vendor systems
PROFINET IO is optimized for high-speed, time-critical data communication at field level.
PROFINET IO
Within the context of Totally Integrated Automation (TIA), PROFINET IO is the systematic
development of the following systems:
• PROFIBUS DP, the established fieldbus,
• Industrial Ethernet, the communications bus for the cell level.
Experience gained from both systems was integrated into PROFINET IO. As an Ethernet-based
automation standard defined by PROFIBUS International (PROFIBUS user organization),
PROFINET IO is a manufacturer-independent communication and engineering model.
PROFINET IO defines every aspect of the data exchange between IO controllers (devices with
what is known as "master functionality") and the IO devices (devices with what is known as
"slave functionality") as well as carrying out parameterization and diagnostics. A PROFINET IO
system is configured in virtually the same way as a PROFIBUS system.
A PROFINET IO system is made up of the following devices:
• The IO controller controls automation tasks.
• An IO Device is controlled and monitored by an IO controller. An IO device can consist of
several modules and submodules.
• An IO Supervisor is an engineering tool, typically based on a PC, with which the individual
IO devices (drive unit) are parameterized and diagnosed.
IO devices: Drive units with PROFINET interface

• SINAMICS G130 with CU320-2 DP and inserted CBE20
• SINAMICS G130 with CU320-2 PN
With SINAMICS G130 and CBE20 or with CU320-2 PN, communication via PROFINET IO with
RT is possible.

Operation
Cyclic communication using PROFINET IO with IRT or using RT is possible on all drive units
equipped with a PROFINET interface. This means that disturbance-free communication using
other standard protocols is guaranteed within the same network.
Note
CU320-2 DP and inserted CBE20
The cyclic process data channel for PROFIBUS DP is initially deactivated for a CU320-2 DP and
inserted CBE20. However, it can be reactivated with parameter p8839 = 1 at any time (see
Chapter "Parallel operation of communication interfaces (Page 323)").
References
Note
PROFINET for drive technology is standardized and described in the following document:
• PROFIBUS profile PROFIdrive – Profile Drive Technology
Version V4.2, October 2015
Haid-und-Neu-Strasse 7, D-76131 Karlsruhe, Germany
http://www.profibus.com, Order Number 3.172
• IEC 61800-7
6.8.3.2 Real-time (RT) and isochronous real-time (IRT) communication
Real-time communication
When communication takes place via TCP/IP, the resultant transmission times may be too
long and not defined to meet the production automation requirements. When
communicating time-critical IO user data, PROFINET IO therefore uses its own real-time
channel, rather than TCP/IP.
Real time means that a system processes external events over a defined period.
Determinism
Determinism means that a system will react in a predictable ("deterministic") manner.
With PROFINET IO with IRT, it is possible to precisely determine (predict) transmission times.
PROFINET IO with RT (Real Time)

Real-time data is treated with a higher priority than TCP(UDP)/IP data. Transmission of time-
critical data takes place at guaranteed time intervals. RT communication is the basis for data
exchange using PROFINET IO.

Operation
PROFINET IO with IRT (Isochronous Real Time)

Isochronous real time: Real time property of PROFINET IO where IRT telegrams are transferred
deterministically via planned communication paths in a defined sequence to achieve the best
possible synchronism and performance between the IO controller and IO device (drive unit).
IRT is also known as time-scheduled communication whereby knowledge about the network
structure (topology) is utilized. IRT requires special network components that support
planned data transfer.
SINAMICS cycle times of minimum 250 μs (on-board) / 500 μs (CBE20) and a jitter accuracy of
less than 1 μs can be achieved when this transmission method is implemented.
Figure 6-31 Bandwidth distribution/reservation, PROFINET IO
6.8.3.3 Addresses
MAC address
Every Ethernet and PROFINET interface is assigned a worldwide unique device identifier in the
factory. This 6-byte long device identifier is the MAC address. The MAC address is divided up
as follows:
• 3 bytes for the manufacturer's ID
• 3 bytes device identifier (consecutive number).
The MAC address is printed on a label (CBE20) or specified on the type plate (CU320-2 PN),
e.g.: 08-00-06-6B-80-C0.
The Control Unit CU320-2 PN has two onboard interfaces:
• One Ethernet interface
• A PROFINET interface with two ports
The two MAC addresses of the Ethernet and PROFINET interfaces are stamped on the type
plate.

Operation
IP address
The TCP/IP protocol is a prerequisite for establishing a connection and parameterization. For a
PROFINET device to be addressed as a node on Industrial Ethernet, this device also requires an
IP address that is unique within the network. The IP address is made up of 4 decimal numbers
with a range of values from 0 to 255. The decimal numbers are separated by a decimal point.
The IP address is made up as follows:
• Address of the station (also called host or network node)
• Address of the (sub)network
IP address assignment
The IP addresses of IO devices can be assigned by the IO controller and always have the same
subnet mask as the IO controller. In this case, the IP address is not stored permanently. The IP
address entry is lost after POWER ON/OFF. The IP address can be assigned retentively via the
STARTER function "Accessible nodes".
This function can also be performed with HW Config of STEP 7. The function is called "Edit
Ethernet node" here.
Note
IP addresses of the onboard interfaces
It is not permissible that the IP address band of the Ethernet interface and the PROFINET
interface are the same. The factory setting of the IP address of the Ethernet interface X127 is
169.254.11.22; the subnet mask is 255.255.0.0.
Ethernet interface X127 is intended for commissioning and diagnostics.
Do not use this interface for other purposes and ensure that X127 is always accessible (e.g.
for service).
Note
Part of a company network
If the network is part of an existing Ethernet company network, obtain the information (IP
address) from your network administrator.

Operation
Device name (NameOfStation)

When it is shipped, an IO device does not have a device name. An IO device can only be
addressed by an IO controller, for example, for the transfer of project engineering data
(including the IP address) during startup or for user data exchange in cyclic operation, after it
has been assigned a device name with the IO supervisor.
Note
Save device name retentively
The device name must be stored retentively using either STARTER or with the hardware
Config of STEP 7.
Note
Address information for interfaces
The address data for the corresponding interfaces can be entered in STARTER in the expert list
using the following parameters:
• Ethernet interfaces X127:
Parameters p8901, p8902 and p8903
• Internal PROFINET interfaces X150 P1 and P2:
• Interfaces of the optional CBE20 module:
Activating the interface configuration and saving it in non-volatile memory

To activate the interface configuration and save it in non-volatile memory, use the following
parameter settings:
• X127 Ethernet interfaces: p8905 = 2
• Internal PROFINET interfaces X150 P1 and P2: p8925 = 2
• Interfaces of the optional CBE20 module (X1400): p8945 = 2
Replacing Control Unit (IO device)

If the IP address and device name are stored in non-volatile memory, this data is also
transferred with the memory card of the Control Unit. The memory card allows a module to
be replaced without an IO supervisor when a fault occurs in a PROFINET device.
If a complete Control Unit needs to be replaced due to a device or module defect, the new
Control Unit automatically performs parameterization and configuration using the data on
the memory card. Following this, cyclic exchange of user data is restored.

Operation
6.8.3.4 Dynamic IP address assignment

In those cases in which the PROFINET interface is not used for the IO communication, it is
possible to generate an IP address centrally using a DHCP (DHCP = Dynamic Host
Configuration Protocol) server. The following requirements must be satisfied to do this:
• At least one DHCP server must be active.
• The PG/PC and the SINAMICS devices must be connected to the same physical Ethernet
subnet.
Note
DHCP is not supported together with PROFINET. No cyclical connection is established for an
activated DHCP. It is therefore recommended that DHCP not be used within PROFINET
networks!
The DHCP address assignment can be set from the SIMATIC Manager or using SINAMICS
parameters.
Setting the DHCP address assignment with SIMATIC Manager (STEP 7)

1. Call the "Target system > Edit Ethernet node" menu path in the SIMATIC Manager.
2. Click the "Search" button in the "Ethernet nodes" area.
3. Select the desired SINAMICS device.
You can now specify in the "Edit Ethernet nodes" configuration dialog that a dynamic IP
address will be generated via a DHCP server. The IP address can be identified in two ways:
– MAC address
– Device name (name of station)
The "MAC address" option has the disadvantage that the MAC addresses are no longer
correct after a device has been replaced.
4. Click the "Obtain the IP address from a DHCP server" option in the dialog to activate.
5. Activate either the "MAC address" or the "Device name" option in the "Identified via" area.
6. Click "Assign IP configuration".
The IP address is then taken from the DHCP server. The SINAMICS device uses the
associated setting after a POWER ON to obtain a new IP address from the DHCP server.

Operation
Setting the DHCP address assignment with SINAMICS parameters

The DHCP address assignment can also be initiated using SINAMICS parameters. In this case,
the Control Unit always retrieves the IP address from a DHCP server after each POWER ON.
1. Activate the DHCP address assignment using one of the following settings (where the values
2 and 3 mean "MAC address" and "Device name", respectively):
– For Ethernet onboard (X127): p8904 = 2 or 3
– For PROFINET onboard: p8924 = 2 or 3
– For CBE20 (X1400): p8944 = 2 or 3
The DHCP server now temporarily assigns an IP address.
2. You can now activate the interface configuration (value of 1) or activate and save retentively
(value of 2). Make one of the following settings:
– For Ethernet onboard (X127): p8905 = 1 or 2
– For PROFINET onboard: p8925 = 1 or 2 (applies only to SINAMICS S120 devices)
– For CBE20 (X1400): p8945 = 2
Direct activation is not possible for the CBE20. The configuration can only be saved.
The setting then becomes automatically active for the next POWER ON.
6.8.3.5 DCP flashing

This function is used to check the correct assignment to a module and its interfaces. This
function is supported by a CU320-2 DP/PN with inserted CBE20. The function can also be used
without CBE20 in a CU320-2 PN.
Activating DCP flashing:
1. In HW Config or the STEP 7 Manager, select the menu item "Target system > Ethernet > Edit
Ethernet node".
The "Edit Ethernet Node" dialog box opens.
2. Click the "Browse" button.
The "Browse Network" dialog box opens and displays the connected nodes.
3. Select the CU320-2 PN or the CU320-2 DP when a CBE20 is inserted as node.
The "DCP flashing" function is then activated via the "Flash" button.
The DCP flashing is switched to the RDY LED (READY LED 2 Hz, green/orange or red/orange)
on the CU320-2 DP.
The LED will continue to flash as long as the dialog is open. When the dialog box is closed,
the LED automatically goes dark.

Operation
6.8.3.6 Data transmission
Properties
The PROFINET interface on a drive unit supports the simultaneous operation of:
• IRT – isochronous real-time Ethernet
• RT – real-time Ethernet
• Standard Ethernet services (TCP/IP, LLDP, UDP and DCP)
PROFIdrive telegram for cyclic data transmission, acyclic services

PROFIdrive telegrams are available for implementing cyclic communication via PROFINET IO.
Telegrams to send and receive process data are available for each drive object of a drive unit
with cyclic process data exchange. In addition to cyclic data transfer, acyclic services can also
be used for parameterizing and configuring the drive unit. These acyclic services can be
utilized by the IO supervisor or IO controller.
Sequence of drive objects in the telegram

On the drive side, the sequence of drive objects in the telegram is displayed via a list in
p0978[0...24] where it can also be changed.
Using the STARTER commissioning tool you can display the sequence of drive objects for a
commissioned drive system in the project navigator under "Drive unit" > "Communication" >
"Telegram configuration".
When you create the configuration on the controller side (e.g. HW Config), the process-data-
capable drive objects for the application are added to the telegram in the sequence shown
(see above).
The following drive objects can exchange process data:
• Active Infeed (A_INF)
• Basic Infeed (B_INF)
• Control Unit (CU_S)
• ENC
• Smart Infeed (S_INF)
• SERVO
• Terminal Board 30 (TB30)
• VECTOR

Operation
Note
The order of the drive objects
The sequence of drive objects in HW Config must be the same as that in the drive (p0978).
Drive objects after the first zero in p0978 must not be configured in the HW Config.
The structure of the telegram depends on the drive objects taken into account during
configuration. Configurations are permitted that do not take into account all of the drive
objects that are present in the drive system.
Example:
The following configurations, for example, are possible:
• Configuration with VECTOR, VECTOR, VECTOR
• Configuration with A_INF, VECTOR, VECTOR, VECTOR, TMB31
• and additional etc.
6.8.3.7 Communication channels
PROFINET connection channels

• A Control Unit has an integrated Ethernet interface (X127).
• The Control Unit CU320-2 PN has a PROFINET interface (X150) with two ports onboard: P1
and P2.
• A Control Unit CU320-2 PN can establish a total of 8 acyclic connections simultaneously
via the integrated PROFINET interfaces.
Note
Using interface X127 LAN (Ethernet)
• Only local access is permissible.
• Either no networking or only local networking in a closed and locked electrical cabinet is
permissible
must be applied so that misuse through sabotage, data manipulation by unqualified persons
and intercepting confidential data is completely ruled out.

Operation
Control Unit with CBE20

The CBE20 Communication Board can be optionally inserted into Control Unit CU320-2 PN or
CU320-2 DP:
• The CBE20 Communication Board is a PROFINET switch with 4 additional PROFINET ports.
Note
PROFINET routing
Routing is neither possible between the onboard interfaces X127 and X150 of the CU320-2
PN, nor between the onboard interfaces of the CU320-2 PN and an inserted CBE20.
6.8.4 Communication with CBE20
6.8.4.1 Selecting the CBE20 firmware

The CBE20 is a Communication Board that can be flexibly used and which can be operated
with different communication profiles. Only one firmware of a communication profile can be
loaded at any one time. The available firmware files are saved with the communication
profiles in UFW files on the Control Unit memory card.
The required file is selected using parameter p8835. A POWER ON must be carried out after
selecting the required UFW file. During the subsequent system boot, the corresponding UFW
file is loaded. The new selection then becomes active.
Table 6- 23 Functionality and selection in the pointer file
Functionality (p8835) Pointer file content

PROFINET device 1
PN Gate 2
SINAMICS Link 3
EtherNet/IP 4
Customer-specific1) 99
1) Path for the UFW file and folders on the memory card: /OEM/SINAMICS/CODE/CB/CBE20.UFW
Identification of the firmware version

Using parameter r8858, the loaded firmware version of the PROFINET interface can be
identified uniquely.

Operation
Parameter
• p8835 CBE20 firmware selection

• r8858[0...39] COMM BOARD read diagnostics channel
• r8859[0...7] COMM BOARD identification data
6.8.4.2 EtherNet/IP
SINAMICS S120 supports the communication with the fieldbus EtherNet Industrial Protocol
(EtherNet/IP or also EIP). EtherNet/IP is an open standard based on Ethernet, which is
predominantly used in the automation industry. EtherNet/IP is supported by the Open
DeviceNet Vendor Association (ODVA).
For communication with EtherNet/IP, an Ethernet CBE20 option board is required. By setting
p8835 = 4, you can choose the communication profile EtherNet/IP. The profile becomes
active after POWER ON.
6.8.5 PROFINET media redundancy

To increase the availability of PROFINET, you can create a ring topology. If the ring is
interrupted at one point, the data paths between the devices are automatically reconfigured.
After reconfiguration, the devices can be re-accessed in the new topology that is created.
To create a ring topology with media redundancy, route the two ends of a line-type PROFINET
topology to a switch which serves as redundancy manager (e.g. a suitable SCALANCE switch).
Closing the linear bus topology is realized using 2 ports (ring ports) of the SCALANCE
redundancy manager, which monitors the data telegrams in the PROFINET ring. All other
connected PROFINET nodes are redundancy clients.
The Media Redundancy Protocol (MRP) is the standard procedure for media redundancy.
Using this procedure, a maximum of 50 devices can participate in each ring. In the case of an
interrupted cable, data transfer is only briefly interrupted as the system switches over to the
redundant data path.
If a short-term interruption is not permitted, data transfer must be set to IRT High
Performance. The uninterruptible MRRT is then automatically set. A SIMOTION controller (or
another suitable controller) is required in this case.
The two integrated PROFINET IO interfaces of the Control Units CU320-2 PN can be
configured as redundancy clients.
For a CBE20, only the first two ports are capable of establishing a ring topology. Routing
between the integrated PROFINET IO interfaces and a CBE20 is not possible.

Operation
6.8.6 PROFINET system redundancy
6.8.6.1 Overview
Redundant systems can be created when using the SINAMICS PROFINET Control Unit CU320-
2 PN.
The precondition for system-redundant systems is what is known as an H system. The H-
system consists of 2 fault-tolerant controls (master and reserve CPU), which are constantly
synchronized via fiber-optic cables. If one controller fails, the other automatically takes on the
job. This reduces system downtimes.
Preconditions
• SIMATIC controller S7-400H with two PROFINET H-CPUs type 41xH
• SINAMICS drive with a PROFINET Control Unit (CU320-2 PN)
• Redundant communication links
Benefits
• No system downtime in the case of a controller failure
• Component replacement possible during ongoing operation
• Configuration changes possible during ongoing operation
• Automatic synchronization after replacing components
Restrictions
• IRT is not supported.
• No simultaneous operation of Shared Device and system redundancy.
• Maximum 2 cyclic PROFINET connections.
• System redundancy is only possible via the onboard interface of SINAMICS PROFINET
Control Unit (CU320-2 PN)
• For the duration of switching from one controller to the other, the setpoints of the last
connection remain frozen and valid.

Operation
6.8.6.2 Design, configuring and diagnostics
Configuration
The figure below shows a sample structure of a system-redundant controller with 3
converters.
Figure 6-32 System redundancy with converters
Configuring
Configuring the redundancy takes place in STEP 7. In the converter, you only have to
configure the communication via PROFINET.
System redundancy does not depend on the topology of the system.
Diagnostics LEDs
Diagnostics states are shown as follows using LEDs with PROFINET system redundancy:
Color State Significance

Green Continuous light 2 redundancy connections available and setpoints are OK.
Green Flashing light Only one redundancy connection is available or setpoints are missing.
Red Flashing light 2 No connection or setpoint failure (F01910).
Hz

Operation
Additional information
You can find further descriptions of the PROFINET system redundancy online in the following
manuals:
• System manual “Fault-tolerant SIMATIC S7-400H systems”
SIMATICS S7-400H Manual
• Application description Configuration examples for S7-400H PROFINET
SIMATICS S7-400H configuration examples
6.8.6.3 Faults, alarms and parameters
Faults and alarms
• F01910 (N, A) Fieldbus: Setpoint timeout

• A01980 PN: Cyclic connection interrupted
• A01982 PROFINET: Second controller missing
• A01983 PROFINET: System redundancy switchover running
Parameter
• r2043.0...2 BO: IF1 PROFIdrive PZD status

• r8843.0...2 BO: IF2 PZD status
• r8936[0...1] PN state of the cyclic connection
• r8937[0...5] PN diagnostics
• r8960[0...2] PN subslot controller assignment
• r8961[0...3] PN IP Address Remote Controller 1
• r8962[0...3] PN IP Address Remote Controller 2

Operation
6.8.7 PROFIenergy
6.8.7.1 Description
PROFIenergy is an energy management system for production plants, based on the PROFINET
communication protocol. The functionality is certified in the PROFIenergy profile of the PNO.
Drive units which have PROFIenergy functionality, can be certified in an approved laboratory.
Certified devices support the PROFIenergy commands and respond accordingly to the
requirements and operating states.
SINAMICS supports the PROFIenergy profile V1.1. PROFIenergy commands are acyclically
transferred from the controller to the drive with PROFINET data sets. The PROFIenergy
commands are transferred using the PROFINET data set 0x80A0.
PROFIenergy data set access is only accepted via connection type "RT connection" or "IRT
connection".
If access is made via another type of connection (e.g. a supervisor connection, system
redundancy connection), accessing the data set is rejected with error code 0x80B0 "Invalid
Index".
There is exactly one PROFIenergy access point (PESAP) and this is on the MAP submodule of
the CU drive object.
If access is made via another module/submodule, the data set access is rejected with error
code 0x80B0 "Invalid Index".
PROFIenergy properties of the SINAMICS drive system

SINAMICS drive system devices meet the following requirements:
• Certified for PROFIenergy
• PROFIenergy function unit Class 3
• PROFIenergy energy-saving mode 2

Operation
SINAMICS devices support the following PROFIenergy functions:
Figure 6-33 PROFIenergy functions
6.8.7.2 Tasks of PROFIenergy

PROFIenergy is a data interface based on PROFINET. It allows loads to be shut down during
non-operational periods in a controlled fashion, and irrespective of the manufacturer and
device. Consequently, the process should be given only the energy it actually requires. The
majority of the energy is saved by the process, the PROFINET device itself contributes only a
few watts to the saving potential.

Operation
Figure 6-34 Energy saving during pauses with PROFIenergy
The following objectives are reached in detail by temporarily shutting down or stopping
unused drives and equipment:
• Lower energy costs.
• Reduction of thermal emissions.
• Longer service life by reducing the effective operating times.
• The drive units provide standardized consumption data for analysis.
• The PROFIenergy state of the participating devices is displayed.
• The PROFIenergy state is available with BICO interconnections for further processing, e.g.
to shutdown secondary systems that are not required.
Basics
The PROFINET devices and the power modules are shut down using special commands in the
user program of the PROFINET IO controller. No additional hardware is required; the
PROFIenergy commands are interpreted directly by the PROFINET devices.
6.8.7.3 PROFIenergy commands
Principle of operation
At the start and end of pauses, the plant or system operator activates or deactivates the
pause function of the plant or system after which the IO controller sends the PROFIenergy
"START_Pause" / "END_Pause" command to the PROFINET devices. The device then interprets
the content of the PROFIenergy command and switches off or on again.
You can call up device information via additional PROFIenergy functions. You can use these to
transfer the "START_Pause"/"END_Pause" command in plenty of time.

Operation
PROFIenergy control commands
Control command Description

START_Pause Switches from the operating state to the energy-saving mode
depending on the pause duration.
Switches from the energy-saving mode to the operating state
depending on the pause duration.
START_Pause_with_time_response Switches from the operating state to the energy-saving mode
and also specifies the transition times in the command re-
sponse.
END_Pause Switches from the energy-saving mode to the operating state.
Cancels a switch from the operating state to the energy-saving
mode.
PROFIenergy query commands
Query command Description

List_Energy_Saving_Modes Determines all supported energy-saving modes.
Get_Mode Determines the energy-saving mode.
PEM_Status Determines the current PROFIenergy status.
PEM_Status_with_CTTO Determines the actual PROFIenergy status, the same as for the
command "PEM status" and in addition with the regular transi-
tion time to the operating state.
PE_Identify Determines the supported PROFIenergy commands.
Query_Version Shows the implemented PROFIenergy profile.
Get_Measurement_List This command returns the measured value IDs that can be
accessed using the "Get_Measurement_Values" command.
Get_Measurement_List_with_object This command returns the measured value IDs and the associ-
_number ated object number that can be accessed using the
"Get_Measurement_Values_with_object_number" command.
Get_Measurement_Values The command returns the requested measured value using the
measured value ID:
• For power measured values:
The command addresses the sum of the measured value
over all control drive objects.
• For energy measured values:
The command returns the sum of the measured value over
all control drive objects.
• For power factors:
This measured value is supported only for a SINAMICS with
a control drive object.
Get_Measurement_Values_with_obj This command returns the requested measured values using
ect_number the measured value ID and the object number. The object
number corresponds to the drive object ID.
The drive object ID of the Control Unit is used to address the
measured values as with "Get_Measurement_Value".

Operation
6.8.7.4 PROFIenergy measured values
Table 6- 24 Overview of the PROFIenergy measured values
PROFIenergy measured PROFIenergy accuracy Unit SINAMICS source parameters Value range
value
ID Name Domain Class Parameters Name
34 Active power 1 12 W r0032 Active power Largest value for
smoothed r2004 of all drive
objects
166 Power factor 1 12 1 r0038 Smoothed pow- 0 ... 1
er factor
200 Active energy 2 11 Wh r0039[1] Energy accepted -
import
6.8.7.5 PROFIenergy energy-saving mode

The drive devices support PROFIenergy energy-saving mode 2. The following two parameters
indicate the effective PROFIenergy mode:
• Parameter r5600 indicates the currently active PROFIenergy mode.
• Using interconnectable bits, the r5613 parameter indicates whether the PROFIenergy
energy saving is active.
Activating the energy saving mode

The energy-saving mode can activated or deactivated for the drive devices using the
PROFIenergy control commands (see also PROFIenergy commands).
General converter behavior when in the PROFIenergy energy-saving mode

• When the PROFIenergy energy-saving mode is active, the converter issues alarm A08800.
• When the PROFIenergy energy-saving mode is active, the converter does not send any
diagnostic alarms.
• When the PROFIenergy energy-saving mode is active, then the READY-LED flashes green in
the on / off ratio: 500 ms on, 3000 ms off.
• If the bus connection to the control system is interrupted while the converter is in the
energy-saving mode, the converter exits the energy-saving mode and resumes normal
operation ("ready_to_operate").
• The converter changes into normal operation if the control system goes into the stop
condition while the converter is in the energy-saving mode.

Operation
6.8.7.6 PROFIenergy inhibit and pause time
Inhibit PROFIenergy
If you set p5611.0 = 1, you inhibit the response of the converter to PROFIenergy control
commands. In this case, the converter ignores the PROFIenergy control commands.
Pause time
• Minimum pause time: p5602
– When the pause time, which is sent using command "Start_Pause", is equal to or
greater than the value in p5602[1], then the converter goes into the energy-saving
mode.
– If the pause time is less than p5602[1], the converter ignores the command.
• Maximum duration: p5606
6.8.7.7 Function diagrams and parameters
Function diagram
FP 2381 PROFIenergy - Control commands / query commands

FP 2382 PROFIenergy - States
FP 2610 Sequence control - Sequencer
Parameter
• r5600 Pe hibernation ID
• p5602[0...1] Pe hibernation pause time, minimum
• p5606[0...1] Pe hibernation duration, maximum
• p5611 Pe energy-saving properties, general
• p5612[0...1] Pe energy-saving properties, mode-dependent
• r5613.0...1 CO/BO: Pe energy-saving active/inactive
• p5614 BI: Set Pe switching on inhibited signal source

Operation
6.8.8 Support of I&M data sets 1...4
Identification & Maintenance (I&M)

I&M data records contain information for a standardized and simplified identification and
maintenance of PROFINET devices. I&M data sets 1...4 contain system-specific information,
such as the installation location and date. PROFINET supports I&M data sets 0...4.
I&M data sets 1...3 can be set with the SIMATIC Manager (STEP 7) and also with HW Config
(STEP 7).
I&M parameters
Table 6- 25 Parameter designation, assignment and meaning
I&M parameter des- For- Size/ Initialization SINAMICS Meaning

ignation mat octets parameters
I&M 0: - - - r8820[62,63] The parameter indicates which I&M data sets
IM_SUPPORTED are supported.
The value 0x1E indicates that I&M data sets
1...4 are available.
I&M 1: Visible 32 Space p8806[0...31] Text that identifies the function or task of the
TAG_FUNCTION string 0x20…0x20 device.
I&M 1: Visible 22 Space p8806[32...5 Text that identifies the device location.
TAG_LOCATION string 0x20…0x20 3]
I&M 2: Visible 16 Space p8807[0...15] Text with the date of the installation or the
INSTALLATION_DATE string 0x20…0x7E initial commissioning of the device. The follow-
ing date formats are supported:
• YYYY-MM-DD
• YYYY-MM-DD hh:mm
– YYYY: Year
– MM: Month 01...12
– DD: Day 01...31
– hh: Hours 00...23
– mm: Minutes 00...59
The separators between the individual specifi-
cations, i.e. hyphen '-', blank ' ' and colon ':',
must be entered.
I&M 3: DESCRIPTOR Visible 54 Space p8808[0...53] Text with any comments or notes.
string 0x20…0x20

Operation
I&M parameter des- For- Size/ Initialization SINAMICS Meaning

ignation mat octets parameters
I&M 4: SIGNATURE Octet 54 Space p8809[0...53] The parameter can be filled automatically by
string 0x00…0x00 the system, in which case it contains a standard
value, namely, a functional check signature for
the change tracking by Safety Integrated. The
check signature has the following format:
• The first four octets (0...3) contain the con-
tent of parameter r9781 index 0: "SI change
monitoring checksum (Control Unit)".
• The second four octets (4...7) contain the
content of parameter r9782 index 0: "SI
change monitoring time stamp (Control
Unit)".
• The remainder (octets 8...53) contains ze-
roes.
The I&M data sets 1...4 are stored permanently in parameters p8806...p8809. Significant
properties of these four parameters:
• They can be displayed in the STARTER expert list.
• The SINAMICS "Reset parameter" (p0976 = 1, p0970 = 1) function does not have any
effect on the content of parameters.
• I&M data sets are not changed when the alternative parameter sets are stored or loaded.
The transfer of parameter sets between a memory card and non-volatile device memory
does not have any effect on the I&M data sets.
Parameters
• p8805[0...1] Identification and Maintenance configuration

• p8806[0...53] Identification and Maintenance 1
• r8809[0...53] Identification and Maintenance 4
6.8.9 Further information about communication via PROFINET IO
Further information about communication via PROFINET IO

For more information about communication via PROFINET IO, refer to "Communication via
PROFINET IO" in the accompanying "SINAMICS S120 Function Manual Communication".

Operation
6.9 Communication via SINAMICS Link
6.9.1 Basic principles of SINAMICS Link

SINAMICS Link allows data to be directly exchanged between a maximum of 64 Control Units
(CU320-2 PN and CU320-2 DP). The participating Control Units must be equipped with the
CBE20 supplementary module. Other nodes cannot be integrated into this communication.
Possible applications include e.g.:
• Torque distribution for n drives
• Setpoint cascading for n drives
• Load distribution of drives coupled through a material web
• Master/slave function for infeed units
Preconditions
The following preconditions must be fulfilled to operate SINAMICS Link:
• r0108.31: Function module "PROFINET CBE20" must be activated.
• r2064[1]: The bus cycle time (Tdp) must be an integer multiple of p0115[0] (current
controller cycle).
• r2064[2]: The master cycle time (Tmapc) must be an integer multiple of p0115[1] (speed
control cycle).
• p0115[0]: The current controller clock cycle must be set to 250 µs or 500 µs. One clock
cycle with 400 µs is not permitted. For 400 μs, alarm A01902 is output with alarm value
"4". As countermeasure, set the current controller cycle with p0115[0] to 500 µs.
Send and receive data

The SINAMICS Link telegram contains 32 indices (0...31) for the process data (PZD1...32).
Each PZD is precisely 1 word long (= 16 bits). Slots that are not required are automatically
populated with "0". There is always a fixed assignment between the index and PZD: The index
i always corresponds to PZD i+1.
Slot 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
PZD 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
SINAMICS Link telegram content, Part 1
Slot 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
PZD 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32
SINAMICS Link telegram content, Part 2

Operation
Each transfer cycle, every SINAMICS Link node can send 1 telegram with 32 PZD. Each node
receives all of the telegrams that are sent. For each transfer cycle clock, a node can select and
process up to 32 PZD from all telegrams that have been received. Single words and double
words can be sent and received. You must write double words in two consecutive PZD.
Limitations:
• In a telegram, a PZD may only be sent and received once. If a PZD occurs more than once
in a telegram, then Alarm A50002 or A50003 is output.
• Reading in own send data is not possible; otherwise an appropriate alarm is output.
– A50006: It is parameterized that own data sent can be received. This is not permitted.
– A50007: The send telegram word is larger than possible in the project.
– A50008: The receive telegram word is larger than possible in the project.
• The maximum number of PZD that can be received and sent also depends on the drive
object. The number of PZDs that can be evaluated corresponds to communication
according to PROFIdrive; however, for SINAMICS Link, it is limited to a maximum of 32
PZDs.
• If, as a result of a project download, parameters of the CBE20 are change, then alarm
A08531 is output. In this case, a POWER ON is required to activate the values.
Transmission time
With SINAMICS Link, a transmission time of up to 500 µs is possible (with a max. controller
cycle of 500 µs; synchronous bus cycle of 500 µs).
Bus cycle and number of nodes

You can operate the bus cycle of the SINAMICS Link with the current controller cycle, either
synchronized or non-synchronized.
• You set synchronized operation with p8812[0] = 1. A maximum of 64 nodes can then
communicate with one another via SINAMICS Link. To do so, set the maximum number of
nodes with p8811 (project selection):
Number of nodes/ Number of PZD Bus cycle (µs)

project no.
64 16 1000 or 2000
16 16 500
12 24 500
8 32 500
• A maximum of 64 participants can communicate with one another via SINAMICS Link.
If you change one of the parameters p8811, p8812, p8835 or p8836, then you must carry
out a POWER ON to accept the settings.

Operation
6.9.2 Topology
Only a line topology with the following structure is permitted for SINAMICS Link.
Figure 6-35 Maximum topology
Features
• The CBE20 can be assigned to IF1 or IF2 when SINAMICS Link is used.
The interface, assigned to the CBE20, must be switched into synchronous operation if
p8812[0] = 1 is set.
You must also make the following parameter settings in order to assign, e.g. IF1 to
SINAMICS Link:
– For IF1: p8839[0] = 2 (COMM BOARD)
– For IF2: p8839[1] = 1 (Control Unit onboard)
The following data is applicable for the case (IF1 ≙ SINAMICS Link):
• The number of the respective node must be entered manually in parameter p8836. A
different number must be assigned for each node.
Enter the numbers is ascending order, starting with "1".
• If p8836 is set to 0, the nodes and the complete following line is shut down for SINAMICS
Link.
• Gaps in the numbering are not permitted, as then SINAMICS Link would not function.
• The node with the number 1 is automatically the sync master of the communication link.
• The ports of the CBE20 must be interconnected strictly in accordance with the above
diagram. You must always connect port 2 (P2) of node n with port 1 (P1) of node n + 1.
• In the "SINAMICS Link" mode, ports 3 and 4 of the CBE20 can only be used in conjunction
with the STARTER commissioning tool.

Operation
Corresponding parameters for IF1 or IF2

Use different parameters for configuring, depending on which interface SINAMICS Link is
assigned:
Table 6- 26 Corresponding parameters for IF1 or IF2
Parameters IF1 IF2

Setting of the processing mode for PROFIdrive STW1.10 "Control by PLC". p2037 p8837
Connector output to interconnect the PZD (setpoints) received from the fieldbus controller r2050 r8850
in the word format.
Selects the PZD (actual values) to be sent to the fieldbus controller in the word format. p2051 p8851
Displays the PZD (actual values) sent to the fieldbus controller in the word format. r2053 r8853
Connector output to interconnect the PZD (setpoints) received from the fieldbus controller r2060 r8860
in the double word format.
Selects the PZD (actual values) to be sent to the fieldbus controller in the double word for- p2061 p8861
mat.
Displays the PZD (actual values) sent to the fieldbus controller in the double word format. r2063 r8863
6.9.3 Configuring and commissioning
Commissioning
When commissioning, proceed as follows:
1. Set the Control Unit parameter p0009 = 1 (device configuration).
2. Set the Control Unit parameter p8835 = 3 (SINAMICS Link).
3. Using p8839, define which interface should be used (for example for IF1: p8839[0] = 2).
4. If SINAMICS Link is assigned to IF1, set parameter p2037 of the drive objects to 2 (do not
freeze setpoints).
If SINAMICS Link was assigned IF2, then p8837 must be used for the setting.
5. Assign the nodes in parameter p8836 to the SINAMICS Link node number.
The first Control Unit is always assigned the number 1. Node number 0 means that for this
Control Unit SINAMICS Link has been shut down. Observe the specifications under
"Topology".
6. Check and/or correct the following parameters:
– p8811 must be identical for all nodes
– p8812[1] must be identical for all nodes
– p8812[0] may be different for local nodes
7. Set the Control Unit parameter p0009 = 0 (ready).
8. Then execute a "Copy RAM to ROM".
9. Carry out a POWER ON (switch off the Control Unit and switch on again).

Operation
Sending data
Note
The parameters listed in the following description refer to the assignment of SINAMICS Link
to IF1. If you assigned SINAMICS Link to IF2, then you find the corresponding parameters in
the previous chapter.
In this example, the first "Control Unit 1" node has two drive objects, "Drive 1" and "Drive 2".
Proceed as follows to send data:
1. If SINAMICS Link is assigned to IF1, then for each drive object, in its associated parameter
p2051[0...31], you define which data (PZDs) should be sent.
If SINAMICS Link was assigned IF2, then p8851 must be used for the setting. The data is
simultaneously reserved in the send slot of the p8871[0...31].
2. Enter the double words in p2061[x].
Double word data is simultaneously written to p8861[0...31].
3. For each drive object, allocate the send parameters in p8871[0...31] to a send slot of its own
node.
Table 6- 27 Compile send data of drive 1 (DO2)
p2051[x] p2061[x] Contents From parameter Telegram

Index Index word p8871
0 - ZSW1 r0899 1
- 1 Actual speed value part 1 r0061[0] 2
- Actual speed value part 2 3
- 3 Actual torque value part 1 r0080 4
- Actual torque value part 2 5
5 - Actual fault code r2131 6
6 - 0 0 0
... - ... - ...
15 - 0 0 0
... - ... - ...
31 - 0 0 0

Operation
Table 6- 28 Compile send data of drive 2 (DO3)
p2051[x] p2061[x] Contents From pa- Slots in the send buffer

Index Index rameter p8871[x]
x Telegram
word
- - - - 0...5 1) 0
0 - ZSW1 r0899 6 7
- 1 Actual speed value part 1 r0061[0] 7 8
- Actual speed value part 2 8 9
- 3 Actual torque value part 1 r0080 9 10
- Actual torque value part 2 10 11
5 - Actual fault code r2131 11 12
6 - 0 0 12 0
... ... ... ...
15 - 0 0 15 0
... ... ... ...
31 - 0 0 31 0
1) 0...5 here remain free, as they are already assigned by DO2.
Table 6- 29 Compile send data of Control Unit 1 (DO1)
p2051[x] p2061[x] Contents From pa- Slots in the send buffer

Index Index rameter p8871[x]
x Telegram
word
- - - - 0...11 1) 0
0 - Control word, faults/alarms r2138 12 13
- 1 Missing enables part 1 r0046 13 14
- Missing enables part 2 14 15
15 - 0 0 15 0
... ... ... ...
31 - 0 0 31 0
1) 0...11 here remain free, as they are already assigned by DO2 and DO3.
Send slots PZD 16 to 31 are not required for this telegram and are therefore filled with a zero.
1. For double words (e.g. 1 + 2), assign two consecutive send slots, e.g.
p2061[1] => p8871[1] = PZD 2 and p8871[2] = PZD 3.
2. Enter the following PZD into the next parameter slots of p2051[x] or p2061[2x].
3. Populate the unused slots of p8871[0...31] with zeros.
4. The sequence of the PZDs in the send telegram of this node are defined in parameter
p8871[0...31] by the entries in the required slots.

Operation
Receiving data
The sent telegrams of all nodes are simultaneously available at the SINAMICS Link. Each
telegram has a length of 32 PZD. Each telegram has a marker of the sender. You select those
PZD that you want to receive for the relevant node from all telegrams. You can process a
maximum of 32 PZD.
Note
The first word of the receive data
If you have not deactivated the evaluation of bit 10 with p2037 = 2, the first word of the
receive data (PZD 1) must be a control word, where bit 10 = 1 is set.
In this example, Control Unit 2 receives selected data from the telegram of Control Unit 1.
Proceed as follows to receive data:
1. In parameter p8872[0…31] enter the address of the node for which you want to read one or
more PZDs (e.g. p8872[3] = 1 → from node 1, read in PZD 4, p8872[15] = 0 → do not read
in PZD 16).
2. After setting the parameters, using parameter r2050[0…31] or r2060[0…31] you can read
out the values.
Table 6- 30 Receive data for Control Unit 2
From the sender Receiver

Transfer Phone Address Receive buffer Data transferred in
from Word 1) p8872[x] p8870[x] Parame- Contents
r2050[x] r2060[x]
p8871[x] ters
p2051[0] 0 1 PZD 1 0 - r0899 ZSW1
p2061[1] 1 1 PZD 2 - 1 r0061[0] Actual speed value part 1
2 1 PZD 3 - r0061[0] Actual speed value part 2
p2061[3] 3 1 PZD 4 - 3 r0080 Actual torque value part 1
4 1 PZD 5 - Actual torque value part 2
p2051[5] 5 1 PZD 6 5 - r2131 Actual fault code
p2051[4] 6 1 PZD 7 6 - r0899 ZSW1
p2061[5] 7 1 PZD 8 - 7 r0061[0] Actual speed value part 1
8 1 PZD 9 - Actual speed value part 2
p2061[6] 9 1 PZD 10 - 9 r0080 Actual torque value part 1
10 1 PZD 11 - Actual torque value part 2
p2051[7] 11 1 PZD 12 11 - r2131 Actual fault code
p2051[8] 12 1 PZD 13 12 - 2138 Control word, faults/alarms
p2061[9] 13 1 PZD 14 - 13 r0046 Missing enables part 1
14 1 PZD 15 - Missing enables part 2
- 15 0 PZD 16 15 - 0 Empty
... ... ... ... ... ... ... ...
- 31 0 PZD 32 31 0 0 -
1) Tel. word = telegram word

Operation
Note
For double words, two PZD must be read in succession. To do this, read in a 32 bit setpoint,
which is on PZD 2 + PZD 3 of the telegram of node 2. Emulate this setpoint on PZD 2 + PZD 3
of node 1:
p8872[1] = 2, p8870[1] = 2, p8872[2] = 2, p8870[2] = 3
Activating the SINAMICS Link

To activate SINAMICS Link connections, perform a POWER ON for all nodes.
Without POWER ON, the following can be changed:
• The assignments of p2051[x]/2061[2x] and the links of the read parameters
r2050[x]/2060[2x]
• Changes to parameters p8870, p8871 and p8872. Here, SINAMICS Link connections can
also be activated using p8842 = 1.
Settings for chassis units with rated pulse frequency 1.25 kHz
For the following chassis units with a rated pulse frequency of 1.25 kHz, in addition
parameter p0115[0] must be set from 400 µs to 250 µs or 500 µs:
• 3 AC 380 to 480 V: All chassis units with rated output current IN ≥ 605 A
• 3 AC 500 to 600 V: All chassis units
• 3 AC 660 to 690 V: All chassis units
Generally, the following conditions must be met:
1. r2064[1] bus cycle time (Tdp) must be an integer multiple of p0115[0] (current controller
clock cycle).
2. r2064[2] master cycle time (Tmapc) must be an integer multiple of p0115[1] (speed
controller cycle).

Operation
6.9.4 Example
Task
Configure SINAMICS Link for two nodes and transfer the following values:
• Send data from node 1 to node 2
– r0898 CO/BO: Control word, sequence control, drive 1 (1 PZD), in the example PZD 1
– r0079 CO: Total torque setpoint (2 PZD), in the example PZD 2
– r0021 CO: Smoothed actual speed (2 PZD), in the example PZD 3
• Send data from node 2 to node 1
– r0899 CO/BO: Status word, sequence control, drive 2 (1 PZD), in the example PZD 1
• IF1 is used for SINAMICS Link.
Procedure
1. For all nodes, set p0009 = 1 to change the device configuration.
2. For all CBE20 nodes, set the "SINAMICS Link" mode using p8835 = 3.
3. Limit the maximum number of nodes for all nodes with p8811 = 8. By setting p8811,
parameter p8812[1] is preassigned, and parameter p8836, if necessary, is corrected.
4. Assign the node numbers for the devices involved:
– Node 1 (≙ device 1): p8836 = 1
– Node 2 (≙ device 2): p8836 = 2
5. Set all CBE20 to the isochronous mode by setting p8812[0] = 1.
6. Make the following interface setting for all nodes:
– For IF1: p8839[0] = 2 (COMM BOARD)
– For IF2: p8839[1] = 1 (Control Unit onboard)
7. For both nodes p0009 = 0, carry out a "Copy RAM to ROM" followed by a POWER ON in order
to activate the modified firmware versions and the new settings in the CBE20.

Operation
8. Define the send data for node 1:

– Define the PZD that participant 1 should send:
p2051[0] = drive1:r0898 (PZD 1)
p2061[1] = drive1:r0079 (PZD 2 + PZD 3)
p2061[3] = drive1:r0021 (PZD 4 + PZD 5)
– Place these PZD in the send buffer (p8871) of node 1:
p8871[0] = 1 (r0898)
p8871[1] = 2 (r0079 1st part)
p8871[2] = 3 (r0079 2nd part)
p8871[3] = 4 (r0021 1st part)
p8871[4] = 5 (r0021 2nd part)
9. Define the receive data for node 2:
– Specify that the data placed in the receive buffer p8872 of node 2 in locations 0 to 4 is
received from node 1:
p8872[0] = 1
p8872[1] = 1
p8872[2] = 1
p8872[3] = 1
p8872[4] = 1
– Specify that PZD1, PZD2 and PZD3 of node 1 are to be placed in the receive buffer
p8870 of node 2 in locations 0 to 4:
p8870[0] = 1 (PZD1)
p8870[1] = 2 (PZD2 1st part)
p8870[2] = 3 (PZD2 2nd part)
p8870[3] = 4 (PZD3 1st part)
p8870[4] = 5 (PZD3 2nd part)
– r2050[0], r2060[1] and r2060[3] subsequently contain (after step 13) the values of
PZD 1, PZD 2 and PZD 3 of node 1.
10.Define the send data for node 2:
– Specify the PZD that node 2 should send:
:p2051[0] = drive1:r0899 (PZD length is 1 word)
– Place this PZD in the send buffer (p8871) of node 2:
p8871[0] = 1
11.Define the receive data for node 1:
– Specify the data that should be placed in the receive buffer p8872 of node 1 in location
0, received from node 2:
p8872[0] = 2
– Define that PZD1 of node 2 is saved in the receive buffer p8870 of node 1 in location 0:
p8870 [ 0] = 1
– r2050[0] subsequently contains (after step 13) the value of PZD 1 of node 2.
12.At the two nodes carry-out a "Copy RAM to ROM" to backup the parameterization and the
data.
13.Set p8842 =1, to activate parameters p8870, p8871 and p8872.

Operation
Figure 6-36 SINAMICS Link: Configuration example
6.9.5 Communication failure when booting or in cyclic operation

If at least one SINAMICS Link node does not correctly run up after commissioning or fails in
cyclic operation, then alarm A50005 is output to the other nodes: "Sender was not found on
SINAMICS Link".
The alarm value contains the number of the sender that was not found. The alarm is
automatically canceled after the fault has been resolved at the node involved.
If several nodes are involved, the message occurs a multiple number of times consecutively
with different node numbers. The alarm is automatically canceled after the fault has been
resolved at the nodes involved.
When a node fails in cyclic operation, in addition to alarm A50005, fault F08501 is output:
"COMM BOARD: Setpoint timeout".
Fault F08501 is not triggered at node 1. This node should be used for specifying setpoint
values to other nodes.

Operation
6.9.6 Transmission times for SINAMICS Link
Transmission times at a communication cycle of 1 ms

p2048 or p8848 = 1 ms
Bus cycle [ms] Transfer times [ms]

Sync both Sync send Sync receive Async both
0.5 1.0 1.5 1.3 1.6
1.0 1.5 2.1 2.1 2.2
2.0 3.0 3.6 3.1 2.8
Transmission times at a communication cycle of 4 ms

p2048 or p8848 = 4 ms
Bus cycle [ms] Transfer times [ms]

Sync both Sync send Sync receive Async both
0.5 1.0 3.0 2.8 4.6
1.0 1.5 3.6 3.6 5.2
2.0 3.0 5.1 4.6 5.8

Operation
6.9.7 Function diagrams and parameters
Function diagram
FP 2197 Control Unit communication - SINAMICS Link overview

(r0108.31 = 1, p8835 = 3)
FP 2198 Control Unit communication - SINAMICS Link configuration
(r0108.31 = 1, p8835 = 3)
FP 2199 Control Unit communication - SINAMICS Link receive data
(r0108.31 = 1, p8835 = 3)
FP 2200 Control Unit communication - SINAMICS Link send data
(r0108.31 = 1, p8835 = 3)
Parameters
• r0108.31: Drive objects function module PROFINET CBE20

• p0115 Sampling time for additional functions
• p2037 IF1 PROFIdrive STW1.10 = 0 mode
• r2050[0...31] CO: IF1 PROFIdrive PZD receive word
• p2051[0...31] CI: IF1 PROFIdrive PZD send word
• r2060[0...30] CO: IF1 PROFIdrive PZD receive double word
• p2061[0...30] CI: IF1 PROFIdrive PZD send double word
• p8811 SINAMICS Link project selection
• p8812[0...1] SINAMICS Link cycle settings
• p8836 SINAMICS Link node address
• p8839[0...1] PZD interface hardware assignment
• p8870[0...31] SINAMICS Link PZD receive word
• p8871[0...31] SINAMICS Link PZD send word
• p8872[0...31] SINAMICS Link PZD receive address

Operation
6.10 Communication via EtherNet/IP
6.10.1 Overview
EtherNet/IP (short: EIP) is real-time Ethernet, and is mainly used in automation technology.
The EtherNet Industrial Protocol (EtherNet/IP) is an open standard for industrial networks.
EtherNet/IP is used to transmit cyclic I/O data and acyclic parameter data. EtherNet/IP was
developed by Rockwell Automation and the Open Device-Net Vendor Association (ODVA) and
standardized in the series of international IEC 61158 standards. EtherNet/IP uses the basis
technology of Ethernet TCP/IP, which has been well proven in practice. Ethernet twisted-pair
cables or fiber-optic cables are used as data transmission medium. The CIP protocol (Common
Industrial Protocol) – known from DeviceNet and ControlNet – is used as application protocol.
General information about communication

Communication via EIP requires the following interfaces:
• The Ethernet interface (X1400) of the Ethernet CBE20 option board
• The onboard PROFINET interface (X150) at the CU320-2 PN Control Units
The interfaces are either individually available at the different Control Units, or together at
one Control Unit (e.g. at a CU320-2 PN with CBE20).
The following table provides an overview of the configurable Control Units and interfaces
that are available for communication via EIP.
Table 6- 31 Configurable Control Units and interfaces
Control Unit EIP via X150 EIP via X1400 (CBE20)

CU320-2 PN Yes No
CU320-2 PN with CBE20 (optional) Yes Yes
CU320-2 DP with CBE20 No Yes
Independent of the configuration, only one interface can be assigned for communication via
EIP. A simultaneous connection via the interfaces X150 and X1400 is not possible and is
acknowledged with alarm A08555(1).
6.10.2 Connect drive device to Ethernet/IP

In order that your drive can be connected to a control system via Ethernet, your control
system requires a generic I/O module for cyclic communication via Ethernet/IP. You manually
create this generic I/O module in the control system.

Operation
Create generic I/O module and connect the drive to the control system
To connect the drive to a control system via Ethernet, proceed as follows:
1. Connect the drive to the control system via an Ethernet cable.
2. In your control, create a generic I/O module with EtherNet/IP functionality:
– Insert a new module in your control system.
– Select a generic Ethernet module from the selection.
– Enter the network parameters for the newly inserted module (IP address, subnet mask,
standard gateway, station name).
3. For the generic I/O module, enter the lengths of the process data for cyclic communication,
which you have selected in STARTER, r2067[0] (input), r2067[1] (output), for example:
Standard telegram 2/2.
In the STARTER telegram configuration, read out the length of the process data for all
drive objects (for input and output) - and add them (see PROFIdrive "Telegrams and
process data (Page 220)").
– Input 101:
Here, enter the sum of all input process data of your drive objects from STARTER.
– Output 102:
Here, enter the sum of all output process data of your drive objects from STARTER.
– Configuration 103:
Here, you generally enter the value 0 or 1.
– 4 ms is supported as the minimum value for RPI (Requested Packet Interval).
4. In STARTER, set the same values for IP address, subnet mask, standard gateway and the
name station as in the control system (see Chapter "Configuring communication
(Page 293)").
Furthermore, you can find a detailed description of how to create a generic I/O module on the
following Internet page:
(Creating a generic I/O module
(https://support.industry.siemens.com/cs/ww/en/view/92045369)).
Routing and shielding Ethernet cables

You can find information on how to do this on the Internet page of "Open Device-Net Vendor
Association (ODVA)":
Ethernet IP (https://www.odva.org/Publication-Download).
Commissioning the drive in an EtherNet/IP network

To commission the drive, connect the drive via an interface (depending on the Control Unit
type: PROFIBUS, PROFINET, Ethernet, etc) with your computer, on which STARTER with
version ≥ 4.5 is installed.

Operation
6.10.3 Configuring communication
Requirements for communication

Check the communication settings using the following questions. If you answer "Yes" to the
questions, you have correctly set the communication settings and can control the drive via
the fieldbus.
• Is the drive correctly connected to EtherNet/IP?
• Has a generic module been created in your control system?
• Have the bus interface and IP address been correctly set?
• Have the signals that the drive and the control system exchange been correctly
interconnected?
Configuring EtherNet/IP via the onboard PROFINET X150 interface

To communicate with a higher-level control via EtherNet/IP, make the following settings for
the PROFINET interface at the CU320-2 PN:
1. With p2030 = 10, set the firmware version of "EtherNet/IP".
2. Set the IP address using p8921.
You can find the currently valid address in r8931.
3. Set the subnet mask using p8923.
You can find the currently valid subnet mask in r8933.
4. Set the standard gateway using p8922.
You can find the currently valid standard gateway in r8932.
5. Set the station name using p8920.
You can find the currently valid station name in r8930.
6. Select the setting "Save and activate configuration" as interface configuration using
p8925 = 2.
7. Save the data using command "Copy RAM to ROM".
Then switch off the drive power supply.
Wait until all LEDs on the drive are dark before switching on. Your settings become active
after switching on.
Configuring EtherNet/IP via interface X1400 at the CBE20

To communicate with a higher-level control via EtherNet/IP, make the following settings for
the CBE20:
1. With p8835 = 4, set the firmware version of "EtherNet/IP".
2. Using p8941, set the IP address for the CBE20.
You can find the currently valid address in r8951.

Operation

You can find the currently valid subnet mask in r8953.
You can find the currently valid standard gateway in r8952.
5. Set the station name using p8940.
You can find the currently valid station name in r8950.
6. Select the setting "Save and activate configuration" as interface configuration using
p8945 = 2.
7. Save the data using command "Copy RAM to ROM".
Then switch off the drive power supply.
Wait until all LEDs on the drive are dark before switching on. Your settings become active
after switching on.
6.10.4 Supported objects
Overview
Object class Object name Objects SINAMICS

required objects
hex dec
1 hex 1 Identity object x -
4 hex 4 Assembly Object x -
6 hex 6 Connection Management Object x -
32C hex 812 Siemens Drive Object - x
32D hex 813 Siemens Motor Data Object - x
F5 hex 245 TCP/IP Interface Object 1) x -
F6 hex 246 Ethernet Link Object 1) x -
300 hex 768 Stack Diagnostic Object - x
302 hex 770 Adapter Diagnostic Object - x
303 hex 771 Explicit Messages Diagnostic Object - x
304 hex 772 Explicit Message Diagnostic List Object - x
401 hex 1025 Parameter object - x
402 hex ... 1026 ... 1086 Parameter object - x
43E hex
1) These objects are part of the Ethernet/IP system management.
For Assembly Object "4 hex" you define the data length. Assembly Object is assigned a cycle
in the control system.

Operation
Identity Object, Instance Number: 1 hex
Supported services
Class • Get Attribute all Instance • Get Attribute all
• Get Attribute single • Get Attribute single
• Reset
Table 6- 32 Class Attribute
No. Service Type Name

1 get UINT16 Revision
2 get UINT16 Max Instance
3 get UINT16 Num of Instances
Table 6- 33 Instance Attribute
No. Service Type Name Value/explanation

1 get UINT16 Vendor ID 1251
2 get UINT16 Device Type
- Siemens Drive 0C hex
3 get UINT16 Product code r0964[1]
5 get UINT16 Status See the following table
6 get UINT32 Serial number Bits 0 ... 19: consecutive number;
bits 20 … 23: Production identifier
bits 24 … 27: Month of manufacture (0 = Jan, B =
Dec)
Bits 28 … 31: Year of manufacture (0 = 2002)
7 get Short Product name Max. length 32 bytes
String
Table 6- 34 Explanation for No. 5 of the previous table
Byte Bit Name Description

1 0 Owned 0: Converter is not assigned to a controller
1: Converter is assigned to a controller
1 Reserved
2 Configured 0: EtherNet/IP basic settings
1: Modified EtherNet/IP settings
3 Reserved
4…7 Extended Device 0: Self-test or status not known
Status 1: Firmware update active
2: At least one I/O connection with error
3: No I/O connections
4: Incorrect configuration in the ROM
5: Fatal fault
6: At least one I/O connection is active
7: All I/O connections in the quiescent state
8 … 15: Reserved
2 8 … 11 Not used
12 … 15 Reserved

Operation
Assembly Object, Instance Number: 4 hex
Supported services
Class • Get Attribute single Instance • Get Attribute single
• Set Attribute single


3 get Array of Assembly 1 byte array
UINT8
Connection Management Object, Instance Number: 6 hex
Supported services
Class • Get Attribute all Instance • Forward open
• Get Attribute single • Forward close
• Get Attribute single


1 get UINT16 OpenReqs Counters
2 get UINT16 OpenFormat Rejects Counters
3 get UINT16 OpenResource Rejects Counters
4 get UINT16 OpenOther Rejects Counters
5 get UINT16 CloseReqs Counters
6 get UINT16 CloseFormat Rejects Counters
7 get UINT16 CloseOther Rejects Counters
8 get UINT16 ConnTimeouts Counters
Number of bus errors

Operation
Siemens Drive Object, Instance Number: 32C hex
Supported services

No. Service Name Value/explanation

2 get, set Commisioning state p0010: commissioning parameter filter
3 … 18 get STW1 STW1 bit-by-bit access:
Attr. 3 = STW1.0
Attr. 18 = STW1.15
19 get Main setpoint Main setpoint
20 … 35 get ZSW1 ZSW1 bit-by-bit access:
Attr. 20 = ZSW1.0
Attr. 35 = ZSW1.15
36 get Actual Frequency Main actual value (actual frequency)
37 get, set Ramp Up Time p1120[0]: ramp-function generator ramp-up time
38 get, set Ramp Down Time p1121[0]: ramp-function generator ramp-down
time
39 get, set Current Limit p0640[0]: Current limit
40 get, set Frequency MAX Limit p1082[0]: Maximum speed
41 get, set Frequency MIN Limit p1080[0]: minimum speed
42 get, set OFF3 Ramp Down Time p1135[0]: OFF3 ramp-down time
43 get, set PID Enable p2200[0]: Technology controller enable
44 get, set PID Filter Time Constant p2265: Technology controller actual value filter
time constant
45 get, set PID D Gain p2274: technology controller differentiation time
constant
46 get, set PID P Gain p2280: technology controller proportional gain
47 get, set PID I Gain p2285: technology controller integral time
48 get, set PID Up Limit p2291: technology controller maximum limiting
49 get, set PID Down Limit p2292: technology controller minimum limiting
50 get Speed setpoint r0020: speed setpoint
51 get Output Frequency r0024: output frequency
52 get Output Voltage r0025: output voltage
53 get DC Link Voltage r0026[0]: DC link voltage
54 get Actual Current r0027: current actual value
55 get Actual Torque r0031: actual torque value
56 get Output power r0032: active power actual value

Operation
No. Service Name Value/explanation

57 get Motor Temperature r0035[0]: motor temperature
58 get Power Unit Tempera- r0037[0]: power unit temperature
ture
59 get Energy kWh r0039: energy display
60 get CDS Eff (Local Mode) r0050: active command data set
61 get Status Word 2 r2089[1]: status word 2
62 get Control Word 1 r0054: control word 1
63 get Motor Speed (Encoder) r0061: Actual speed value
64 get Digital Inputs r0722: Digital inputs status
65 get Digital Outputs r0747: digital outputs status
66 get Analog input 1 r0752[0]: analog input 1
67 get Analog input 2 r0752[1]: analog input 2
68 get Analog output 1 r0774[0]: analog output 1
69 get Analog output 2 r0774[1]: analog output 2
70 get Fault Code 1 r0947[0]: fault number 1
78 get Pulse Frequency r1801: pulse frequency
79 get Alarm Code 1 r2110[0]: alarm number 1
83 get PID setpoint Output r2260: technology controller setpoint after ramp-
function generator
84 get PID Feedback r2266: technology controller actual value after
filter
85 get PID Output r2294: Technology controller output signal
The instances are assigned using the slot sequence in p0978.

Operation
Siemens Motor Data Object, Instance Number: 32D hex
Supported services
Object "32D hex" is only available on "SERVO" and "VECTOR" drive objects:
• SERVO DO = 11
• VECTOR DO = 12

2 get, set UINT16 Commisioning p0010: commissioning parameter filter

state
3 get INT16 Motor Type p0300: motor type
6 get, set REAL Rated Current p0305: rated motor current
7 get, set REAL Rated Voltage p0304: rated motor voltage
8 get, set REAL Rated Power p0307: rated motor power
9 get, set REAL Rated Frequency p0310: rated motor frequency
10 get, set REAL Rated Tempera- p0605: Threshold and temperature value for moni-
ture toring the motor temperature
11 get, set REAL Max Speed p0322: maximum motor speed
12 get, set UINT16 Pole pair number p0314: motor pole pair number
13 get, set REAL Torque Constant p0316: motor torque constant
14 get, set REAL Inertia p0341: motor moment of inertia
15 get, set REAL Base Speed p0311: rated motor speed
19 get, set REAL Cos Phi p0308: rated motor power factor
The instances are assigned using the slot sequence in p0978.

Operation
TCP/IP Interface Object, Instance Number: F5 hex
Supported services


1 get UNIT32 Status Fixed value: 1 hex
1: Configuration acknowledged, by DHCP or saved
values
2 get UNIT32 Configuration Fixed value: 94 hex
Capability 4 hex: DHCP supported,
10 hex: Configuration can be adjusted,
80 hex: ACD-capable
3 get, set UNIT32 Configuration 1 hex: Saved values
Control 3 hex: DHCP
4 get, set UNIT16 Physical link Path Size (in WORDs)
Fixed value: 2 hex
UNIT8 Path
20 hex,
F6 hex,
24 hex,
05 hex, where 5 hex is the number of instances of
F6 hex (four physical ports plus one internal port).
5 get, set STRING Interface Configu- r61000: name of station
UNIT32 ration r61001: IP address
6 get, set UNIT16 Host Name Host Name Length
STRING -
10 get, set UNIT8 Select ACD local OM flash:
0: Disabled,
1: Enabled
11 get, set UNIT8 Last Conflict De- local OM flash ACD Activity
UNIT8 tected local OM flash Remote MAC
UNIT8 local OM flash ARP PDU

Operation
Link Object, Instance Number: F6 hex
Supported services


1 get UINT32 Interface Speed 0: link down,
10: 10 Mbps,
100: 100 Mbps
2 get - Interface Flags Bit 1: Link-Status
Bit 2: Duplex Mode (0: half duplex, 1 duplex)
bit 3 … 5: Automatic state identification
Bit 6: Reset required
Bit 7: Local hardware fault (0 = ok)
3 get ARRAY Physical Address r8935: Ethernet MAC address
4 get, Struct of Interface Counters Optional, required if the "Media Counters Attrib-
get_and ute" is implemented.
_clear UINT32 In Octets Received octets
UINT32 In Ucast Packets Received Unicast packets
UINT32 In NUcast Packets Received non-Unicast packets
UINT32 In Discards Incoming packets, not processed
UINT32 In Errors Incoming packets with errors
UINT32 In Unknown Protos Incoming packets with unknown protocol
UINT32 Out Octets Sent octets
UINT32 Out Ucast Packets Sent Unicast packets
UINT32 Out NUcast pack- Sent non-Unicast packets
ets
UINT32 Out Discards Outgoing packets, not processed
UINT32 Out Errors Outgoing packets, with errors

Operation

5 get, Struct of Media Counters Media-specific counters
get_and UINT32 Alignment Errors Structure received, which does not match the
_clear number of octets
UINT32 FCS Errors Structure received, which does not pass the FCS
check
UINT32 Single Collisions Structure successfully transmitted, precisely one
collision
UINT32 Multiple Collisions Structure successfully transmitted, several colli-
sions
UINT32 SQE Test Errors Number of SQE errors
UINT32 Deferred Trans- First transmission attempt delayed
missions
UINT32 Late Collisions Number of collisions that occurred delayed by 512
bit timers to the request
UINT32 Excessive Colli- Transmission unsuccessful as a result of intensive
sions collisions
UINT32 MAC Transmit Transmission unsuccessful as a result of an internal
Errors MAC sublayer transmission error.
UINT32 Carrier Sense Er- Number of errors when attempting to send a re-
rors quest frame, where the transmission condition was
lost or was not assigned
UINT32 Frame Too Long Structure too large
UINT32 MAC Receive Er- Transmission unsuccessful as a result of an internal
rors MAC sublayer receive error.
6 get, set Struct of Interface Control -
UINT16 Control Bits -
UINT16 Forced Interface -
Speed
10 get String Interface_Label Interface-Label
11 get - Interface capability Bit 0: Manual setting
Bit 1: Auto negotiate
Bit 2: Auto MDIX
Bit 3: Manual speed/duplex
Bits 4 – 31: reserved
Rest: Speed/duplex options
Parameter Object, Instance Number: 401 hex
Supported services

Operation

Parameter access to drive object 0 (DO 0) is realized via this class.
Example: Read parameter 2050[10] (connector output to interconnect the PZD received
from the fieldbus controller)
Get Attribute single function with the following values:
• Class = 401 hex
• Instance = 2050 = 802 hex ≙ parameter number
• Attribute = 10 = A hex ≙ Index 10
Example: Parameter 1520[0] writing (upper torque limit)

Set Attribute single function with the following values:
• Class = 401 hex
• Instance = 1520 = 5F0 hex ≙ parameter number
• Attribute = 0 = 0 hex ≙ index 0
• Data = 500.0 (value)
Parameter Object, Instance Number: 401 hex ... 43E hex
Supported services
• Get Attribute single • Set Attribute single

1 get UINT16 -
2 get UINT16 Max slot num
3 get UINT16 Max slot ID
Parameter access to drive object 0 (DO 0) is realized via this class.

The class structure is analog to 401 hex. Drive object (DO) is selected via the class number.
Example:
0x401 -> DO 1
0x402 -> DO 2
...
0x43E -> DO 62

Operation
6.10.5 Integrate the drive device into the Ethernet network via DHCP
Integrating the drive into the EtherNet/IP network via the onboard PROFINET interface X150.
Proceed as follows to integrate the drive into EtherNet/IP:
1. Set p8924 (PN DHCP mode) = 2 or 3
Parameterization Meaning
p8924 = 2 The DHCP server assigns the IP address based on the MAC address.
p8924 = 3 The DHCP server assigns the IP address based on the station name.
2. Save the settings with p8925 = 2.

The next time that it is run-up, the drive retrieves the IP address made available by a DHCP
server. After the drive has run-up, you can address the drive as Ethernet participant.
Note
Immediate switchover without restart
The switchover to DHCP is performed immediately and without a restart if the change is
carried out with the EIP command "Set Attribute Single" (class F5 hex, attribute 3), e.g.
using:
• An EIP control
• An EIP commissioning tool
Displays:
• r8930: Station name of the onboard PROFINET interface X150
• r8934: DHCP mode of the onboard PROFINET interface X150
• r8935: MAC address of the onboard PROFINET interface X150

Operation
Integrating the drive into the EtherNet/IP network via interface X1400 on the CBE20
Proceed as follows to integrate the drive into EtherNet/IP:
1. Set p8944 (CBE2x DHCP mode) = 2 or 3.
Parameterization Meaning
p8944 = 2 The DHCP server assigns the IP address based on the MAC address.
p8944 = 3 The DHCP server assigns the IP address based on the station name.
2. Save the settings with p8945 = 2.

The next time that it is run-up, the drive retrieves the IP address made available by a DHCP
server. After the drive has run-up, you can address the drive as Ethernet participant.
Note
Immediate switchover without restart
The switchover to DHCP is performed immediately and without a restart if the change is
carried out with the EIP command "Set Attribute Single" (class F5 hex, attribute 3), e.g.
using:
• An EIP control
• An EIP commissioning tool
Displays:
• r8950: Station name of interface X1400 at the CBE20
• r8954: DHCP mode of interface X1400 at the CBE20
• r8955: MAC address of interface X1400 at the CBE20
6.10.6 Parameters, faults and alarms
Parameters
• p0978 List of drive objects

• p0922 IF1 PROFIdrive PZD telegram selection
• p0999[0...99] List of modified parameters 10
• p8842 COMM BOARD activate send configuration
• p8920[0...239] PN name of station
• p8921[0...3] PN IP address
• p8922[0...3] PN default gateway
• p8923[0...3] PN Subnet Mask

Operation
• p8924 PN DHCP mode

• p8925 Activate PN interfaces configuration
• r8930[0...239] PN Name of Station actual
• r8931[0...3] PN IP Address actual
• r8932[0...3] PN Default Gateway actual
• r8933[0...3] PN subnet mask actual
• r8934 PN DHCP mode actual
• r8935[0...5] PN MAC address
• p8940[0...239] CBE2x Name of Station
• p8941[0...3] CBE2x IP address
• p8942[0...3] CBE2x Default Gateway
• p8943[0...3] CBE2x Subnet Mask
• p8944 CBE2x DHCP mode
• p8945 CBE2x interfaces configuration
• r8950[0...239] CBE2x Name of Station actual
• r8951[0...3] CBE2x IP address actual
• r8952[0...3] CBE2x Default Gateway actual
• r8953[0...3] CBE2x Subnet Mask actual
• r8954 CBE2x DHCP Mode actual
• r8955[0...5] CBE2x MAC address
Faults and alarms
• F01910 (N, A) Fieldbus: Setpoint timeout

• F08501 (N, A) PN/COMM BOARD: Setpoint timeout
• A01980 (F) PN: Cyclic connection interrupted
• A08526 (F) PN/COMM BOARD: No cyclic connection
• A01906 (F) EtherNet/IP Configuration error
• A50011 (F) EtherNetIP/COMM BOARD: Configuration error

Operation
6.11 Communication via MODBUS TCP
6.11.1 Overview
The Modbus protocol is a communication protocol based on a controller/device architecture.
Modbus offers three transmission modes:
• Modbus ASCII - via a serial interface
data in the ASCII code. The data throughput is lower compared to RTU.
• Modbus RTU - via a serial interface
data in the binary format. The data throughput is greater than in ASCII code.
• Modbus TCP - via Ethernet
data as TCP/IP packages. TCP port 502 is reserved for Modbus TCP.
With the the CU320-2 Control Unit, only transfer type "Modbus TCP" is available.
Modbus functionality
Process data and parameters are accessed via the Modbus register.
• Process data: 40100 - 40119
• Drive data: 40300 - 40522
• All parameters via DS47: 40601 - 40722
Modbus TCP always provides a basic Ethernet functionality, which corresponds to the
functionality of Ethernet interface X127:
• Commissioning access for STARTER with S7 protocol
• DCP to set the IP address etc.
• SNMP for identification
General information about communication

Communication with Modbus TCP is established via the Ethernet/PROFINET interfaces:
• X150:
For Modbus TCP with a CU320-2 PN.
• X1400:
For Modbus TCP with a CU320-2 PN or a CU320-2 DP via a CBE20.
Precisely one Modbus connection can be established. A simultaneous connection via the
interfaces X150 and X1400 is not possible and is acknowledged with alarm A08555(1).
However, you can use one interface for Modbus TCP, and the other as PROFINET interface.

Operation
Drive object that can be addressed via Modbus

With Modbus TCP, you always address drive object DO1 from the list of drive objects
(p0978[0]). A vector drive object must be in this parameter.
• However, Modbus TCP is only activated if, under p0978[0], there is a drive object that is
supported by Modbus TCP.
• If p0978[0] does not contain a valid drive object, then establishing communication is
acknowledged with alarm A08555(2).
Diagnostics LEDs in Modbus TCP

Diagnostics states are shown as follows using LEDs with Modbus TCP:
• X150: "PN" LED
• X1400 (CBE20): "OPT" LED
The following states can be displayed using these LEDs:
Color State Significance

Green Continuous Connections and setpoints are OK.
light
Green Flashing light Connection is OK, but no setpoints (dependent on timeout).
Red Flashing light No connection or setpoint timeout.
2 Hz
6.11.2 Configuring Modbus TCP via interface X150
Activate Modbus TCP via X150 (CU320-2 PN)

1. For drive object DO1, set p2030 = 13 (Modbus TCP).
2. Using p8921, set the IP address for the onboard PROFINET interface on the Control Unit.
5. Set the DHCP mode using p8924.
6. Select "Activate and save configuration" as interface configuration using p8925 = 2.
7. In the STARTER commissioning tool, check the list of drive object p0978.
When required, change the sequence of the drive objects using the telegram
configuration ("Drive device" > "Communication" > "Telegram configuration").
8. Save the settings in the STARTER commissioning tool and carry out a POWER ON.

Operation
Modbus settings with interface X150

Using the following parameters, set the communication for Modbus TCP with a X150
interface:
Parameters Explanation
p2040 Setting the monitoring time to monitor the received process data via fieldbus
interface.
If process data is not transferred within one cycle of the fieldbus monitoring
time, then the drive shuts down with fault F01910.
r2050[0...19] Connector output to interconnect the PZD received from the fieldbus controller
via IF1.
p2051[0...24] Selects the PZD (actual values) to be sent to the fieldbus controller in the word
format via IF1.
r2053[0...24] Displays the PZD (actual values) sent to the fieldbus controller in the word format
via IF1.
r2054 Status display for the internal communication interface.
p8839[0...1] Assigning the PN onboard interface (X150) for acyclic communication via PZD
interface 1 (IF1) and interface 2 (IF2).
r8850[0...19] Connector output to interconnect the PZD (setpoints) received in the word for-
mat via IF2.
p8851[0...24] Selects the PZD (actual values) to be sent in the word format via IF2.
r8853[0...24] Displays the PZD (actual values) sent in the word format via IF2.
r8854 Status display for COMM BOARD.
6.11.3 Configuring Modbus TCP via interface X1400
Activating Modbus TCP via X1400 (CBE20)

1. For drive object DO1, set p8835 = 5 (Modbus TCP).
2. Set the IP address for the CBE20 using p8941.
3. Set the standard gateway for the CBE20 using p8942.
4. Set the subnet mask for the CBE20 using p8943.
5. Set the DHCP mode for the CBE20 using p8944.
6. Select the setting "Activate and save configuration" as interface configuration using
p8945 = 2.
7. In the STARTER commissioning tool, check the list of drive object p0978.
When required, change the sequence of the drive objects using the telegram
configuration ("Drive device" > "Communication" > "Telegram configuration").
8. Save the settings in the STARTER commissioning tool and carry out a POWER ON.

Operation
Modbus settings with interface X1400

Using the following parameters, set the communication for Modbus TCP with a X1400
interface:
Parameters Explanation
r2050[0...19] Connector output to interconnect the PZD received from the fieldbus controller
via IF1.
p2051[0...24] Selects the PZD (actual values) to be sent to the fieldbus controller in the word
format via IF1.
r2053[0...24] Displays the PZD (actual values) sent to the fieldbus controller in the word format
via IF1.
r2054 Status display for the internal communication interface.
p8840 Setting the monitoring time to monitor the received process data via the COMM
BOARD.
If, within this time, the Control Unit does not receive any process data from the
COMM BOARD, then the drive shuts down with fault F08501.
p8839[0...1] Assigning the CBE20 interface (x1400) for cyclic communication via PZD inter-
face 1 (IF1) and interface 2 (IF2).
r8850[0...19] Connector output to interconnect the PZD (setpoints) received in the word for-
mat via IF2.
p8851[0...24] Selects the PZD (actual values) to be sent in the word format via IF2.
r8853[0...24] Displays the PZD (actual values) sent in the word format via IF2.
r8854 Status display for COMM BOARD.
6.11.4 Mapping tables
Modbus register and Control Unit parameters

The Modbus protocol contains register or bit numbers for addressing the memory. You must
assign the appropriate control words, status words, and parameters to these registers in the
device.
The valid holding register address range extends from 40001 up to 40722. When trying to
access other holding registers, the "Exception code" error is output
The process data are transferred into the register range from 40100 up to 40119.
Note
"R"; "W"; "R/W" in the Access column stands for read (with FC03); write (with FC06);
read/write.

Operation
Table 6- 49 Assigning the Modbus register to the parameters - process data
Register Description Ac- Unit Scaling ON/OFF text Data / parameter

cess or Value range
Control data
40100 Control word (see List Manual, func- R/W - 1 - Process data 1
tion diagram 2442)
40101 Main setpoint R/W - 1 - Process data 2
40102 STW 3 R/W - 1 - Process data 3
40103 STW 4 R/W - 1 - Process data 4
40104 PZD 5 R/W - 1 - Process data 5
Status data
40110 Status word (see List Manual, function R - 1 - Process data 1
diagram 2452)
40111 Main actual value R - 1 - Process data 2
40112 ZSW 3 R - 1 - Process data 3
40113 ZSW 4 R - 1 - Process data 4
40114 PZD 5 R - 1 - Process data 5
Table 6- 50 Assigning the Modbus register to the parameters - parameter data

cess or Value range
Drive identification
40300 Actual power unit code number R - 1 0 … 65535 r0200
40301 Control Unit firmware R - 1 0 … 65535 r0018 / 10000
Drive data
40320 Rated power of the power unit R kW 100 0 … 655.35 r0206
40321 Current limit R/W % 10 0.0 … 6553.5 p0640
40322 Ramp-up time R/W s 100 10.00 … 655.35 p1120
40323 Ramp-down time R/W s 100 10.00 … 655.35 p1121
40324 Reference speed R/W RPM 1 6 … 65535 p2000

Operation

cess or Value range
Drive diagnostics
40340 Speed setpoint R RPM 1 -32768 … 32767 r0020
40341 Actual speed value R RPM 1 -32768 … 32767 r0021
40342 Output frequency R Hz 100 - 327.68 … 327.67 r0024
40343 Output voltage R V 1 0 … 65535 r0025
40344 DC-link voltage R V 1 0 … 65535 r0026
40345 Actual current value R A 100 0 … 655.35 r0027
40347 Actual active power R kW 100 0 … 655.35 r0032
40349 Control priority R - 1 HAND AUTO r0807
Fault diagnostics
40400 Failure number, index 0 R - 1 0 … 65535 r0947[0]
40403 Fault number, index 3 R - 1 0 … 65535 r0947[3]
40408 Alarm number R - 1 0 … 65535 r2110[0]
40409 Actual alarm code R - 1 0 … 65535 r2132
40499 PRM ERROR code R - 1 0 … 255 -
Technology controller3)
40500 Technology controller enable R/W - 1 0…1 p2200, r2349.0
40501 Technology controller MOP R/W % 100 -200.0 … 200.0 p2240
Adapt technology controller 1)
40510 Time constant for actual-value filters R/W - 100 0.00 … 60.0 p2265
of the technology controller
40511 Scaling factor for actual value of the R/W % 100 0.00 … 500.00 p2269
technology controller
40512 Proportional amplification of the R/W - 1000 0.000 … 65.535 p2280
40513 Integral time of the technology con- R/W s 1 0 … 60 p2285
troller
40514 Time constant D-component of the R/W - 1 0 … 60 p2274
40515 Max. limit of technology controller R/W % 100 -200.0 … 200.0 p2291
40516 Min. limit technology controller R/W % 100 -200.0 … 200.0 p2292
PID diagnostics
40520 Effective setpoint acc. to internal R % 100 -100.0 … 100.0 r2250
technology controller MOP ramp-
function generator
40521 Actual value of technology controller R % 100 -100.0 … 100.0 r2266
after filter
40522 Output signal technology controller R % 100 -100.0 … 100.0 r2294
1) The technology controller parameters can only be accessed if, in the STARTER project, also the "Technology controller"
function module is activated.

Operation
Table 6- 51 Assignment of the Modbus register for general parameter access using DS47

cess or Value range
40601 DS47 Control R/W - - - -
40602 DS47 header R/W - - - -
40603 DS47 data 1 R/W - - - -
… …
40722 DS47 data 120 R/W - - - -
Note
Limited value range
Modbus TCP registers have a maximum 16 bit width. The values of display parameters (r
parameters) cannot always be represented with 16 bits. In these particular cases, the
maximum value that can be represented is displayed.
• Unsigned: 65535
• Signed min: -32768
• Signed max: 32767
6.11.5 Write and read access using function codes
Function codes used

For data exchange between the controller and device, predefined function codes are used for
communication via Modbus.
The Control Unit uses the following Modbus function codes:
• FC 03: Holding register to read data from the inverter
• FC 06: Write single register to write to individual register
• FC 16: Write to multiple registers to write to several registers
Structure of a Modbus TCP message
Table 6- 52 Individual components, including Modbus Application Header (MBAP) and function code
Application Data Unit (ADU)

Modbus Application Header Protocol Data Unit (PDU
Transaction ID Protocol ID Length Unit ID FCode Data
2 bytes 2 bytes 2 bytes 1 byte 1 byte 0 ... 252 bytes

Operation
Structure of a read request via Modbus function code 03 (FC 03)

Any valid register address is permitted as the start address.
Via FC 03, the control can address more than one register with one request. The number of
addressed registers is contained in bytes 10 and 11 of the read request.
Table 6- 53 Structure of a read request for device number 17, example
Value Byte Description

MBAP header
03 h 7
00 h 8 Register start address "High" (register 40110)
6D h 9 Register start address "Low"
00 h 10 Number of registers "High" (2 registers: 40110; 40111)
02 h 11 number of registers "Low"
The response returns the corresponding data set:
Table 6- 54 Device response to the read request, example

MBAP header
03 h 7 Function code
04 h 8 Number of bytes (4 bytes are returned)
11 h 9 Data, first register "High"
22 h 10 Data, first register "Low"
33 h 11 Data, second register "High"
44 h 12 Data, second register "Low"
Table 6- 55 Invalid read request
Read request Inverter response

Invalid register address Exception code 02 (invalid data address)
Read a write-only register Telegram in which all values are set to 0.
Read a reserved register
Controller addresses more than 125 registers Exception code 03 (invalid data value)
The start address and the number of registers of an Exception code 02 (invalid data address)
address are located outside of a defined register
block
Structure of a write request via Modbus function code 06 (FC 06)

Start address is the holding register address.
Via FC 06, with one request, only precisely one register can be addressed. The value, which is
written to the addressed register, is contained in bytes 10 and 11 of the write request.

Operation
Table 6- 56 Structure of a write request for device number 17, example

MBAP header
00 h 8 Register start address "High" (write register 40100)
63 h 9 Register start address "Low"
55 h 10 Register data "High"
66 h 11 Register data "Low"
The response returns register address (bytes 8 and 9) and the value (bytes 10 and 11), which
the higher-level control had written to the register.
Table 6- 57 Device response to the write request, example

MBAP header
00 h 8 Register start address "High"
63 h 9 Register start address "Low"
55 h 10 Register data "High"
66 h 11 Register data "Low"
Table 6- 58 Invalid write request
Write request Inverter response

Incorrect address (a holding register address does not exist) Exception Code 02 - invalid data ad-
dress
Write to a "read-only" register Exception Code 04 - device failure
Write to a reserved register
For Exception Code 4, via the holding register 40499, you can read out the internal drive
error code, which has occurred for the last parameter access via the holding register.
6.11.6 Communication via data set 47

Via FC 16, with one request, up to 122 registers can be written to directly one after the other,
while for Write Single Register (FC 06) you must individually write the header data for each
register.
Header
In addition to the transfer type, the start address and the number of the following registers in
the header.

Operation
User data
You control the access in the user data via register 40601.
In register 40602, you define the access as well as the length of the request data.
Register 40603 contains the request reference - it is defined by the user - and the access type
-reading or writing.
From register 40603 and higher, the request aligns communication via data set 47 according
to PROFIdrive.
Register 40604 contains the number of the drive object and the number of parameters that
are read out or written to.
Register 40605 contains the attribute that you use to control whether you read out the
parameter value or the parameter attribute. In the number of elements you specify how
many indices are read.
6.11.6.1 Communication details

General parameter access is realized using the Modbus register 40601 … 40722.
Communication via DS47 is controlled via register 40601. Register 40602 contains the
function code (always = 47 = 2F hex) and the number of the following user data. User data
are contained in registers 40603 … 40722.
Communication overview
Value in the register Explanation

40601 40602 40603 … 40722
0 47 … … Write values for acyclic access
1 47 Request Request data Activate acyclic access
length
[bytes]
2 47 Response Response data Response for a successful request
length
[bytes]
2 47 0 Error code Response for an erronous request
Error codes
1 hex: Invalid Length (invalid length)
2 hex: Invalid State (in the actual inverter state, this action is not permitted)
3 hex: Invalid function code (FC ≠ 2F hex)
4 hex: Response not ready (the response has still not been issued)
5 hex: Internal Error (general system error)
Incorrect access operations to parameters via data set 47 are logged in registers
40603 … 40722. The error codes are described in the PROFIdrive profile.

Operation
6.11.6.2 Examples: Read parameter
Table 6- 59 Write parameter request: Reading parameter value of r0002 from device number 17

MBAP header
10 h 7 Function code (write multiple)
0258 h 8,9 Register start address
0007 h 10,11 Number of registers to be read (40601 … 40607)
0E h 12 Number of data bytes (7 registers, each 2 bytes = 14 bytes)
0001 h 13,14 40601: DS47 Control = 1 (activate request)
2F0A h 15,16 40602: Function 2F h (47), request length 10 bytes (0A h)
8001 h 17,18 40603: Request reference = 80 h, request identifier = 1 h
0101 h 19,20 40604: DO-Id = 1, number of parameters = 1
1001 h 21,22 40605: Attribute, number of elements = 1
0002 h 23,24 40606: Parameter number = 2
0000 h 25,26 40607: Subindex = 0
Table 6- 60 Start parameter request: Reading parameter value of r0002 from device number 17

MBAP header
03 h 7 Function code (read)
0007 h 10,11 Number of registers to be read (40601 … 40607)
0010 h 12,13 Number of registers
Table 6- 61 Response for successful read operation

MBAP header
20 h 8 Number of following data bytes (20 h: 32 bytes ≙ 16 registers)
0002 h 9,10 40601: DS47 Control = 2 (the request was executed)
2F08 h 11,12 40602: Function code 2F h (47), response lengths 8 bytes
8001 h 13,14 40603: Request reference mirrored = 80 h,
response identifier = 1 (request parameter)
0101 h 15,16 40604: DO-ID = 1, number of parameters = 1
0301 h 17,18 40605: Format, number of elements = 1
001F h 19,20 40606: Parameter value = 1F h (31)
Table 6- 62 Response for unsuccessful read operation - read request still not completed

MBAP header
0001 h 9,10 40601: Check value 1 = request is processed
2F00 h 11,12 40602: Function code 2F h (47), response length 0 (error)
0004 h 13,14 40603: Error code: 0004 Response Not Ready (response has still not been
issued)

Operation
6.11.6.3 Examples: Write parameter
Table 6- 63 Write parameter request: Writing the parameter value of p1121 from device number 17

MBAP header
10 h 7 Function code (write multiple)
000A h 10,11 Number of registers to be written to (40601 … 40610)
14 h 12 Number of data bytes (10 registers, each 2 bytes = 20 bytes)
0001 h 13,14 40601: C1 (activate request)
2F10 h 15,16 40602: Function 2F h (47), request length 16 bytes (10 h)
8002 h 17,18 40603: Request reference = 80 h, request identifier = 2 h (write)
0101 h 19,20 40604: DO-Id = 1, number of parameters = 1
1001 h 21,22 40605: Attribute, number of elements = 1
0461 h 23,24 40606: Parameter number = 1121
0000 h 25,26 40607: Subindex = 0
0801 h 27,28 40608: Format + number of values
4142 h 29,30 40609: Parameter value 12,15
6666 h 31,32 40610: Parameter value
Table 6- 64 Start parameter request: Writing the parameter value of p1121 from device number 17

MBAP header
0007 h 10,11 Number of registers to be written to (40601 … 40610)
0010 h 12,13 Number of registers
Table 6- 65 Response for successful write operation

MBAP header
0002 h 9,10 40601: DS47 Control = 2 (request was executed)
2F04 h 11,12 40602: Function code 2F h (47), response length 4 bytes
8002 h 13,14 40603: Request reference mirrored = 80 h,
response identifier = 2 (change parameter)
0101 h 15,16 40604: DO-ID = 1, number of parameters = 1
Table 6- 66 Response for unsuccessful write operation - write request still not completed

MBAP header
0001 h 9,10 40601: DS47 Control = 1 (request is processed)
2F00 h 11,12 40602: Function code 2F h (47), response length 0 (error)
0004 h 13,14 40603: Error code: 0004 Response Not Ready (response has still not been
issued)

Operation
6.11.7 Communication procedure
Logical error
If the device detects a logical error within a request, it responds to the controller with an
"exception response". In the response, the device sets the highest bit in the function code to
1. If the device receives, for example, an unsupported function code from the controller, the
device responds with an "exception response" with code 01 (illegal function code).
Table 6- 67 Overview of exception codes
Exception Modbus name Remark

code
01 Illegal function code An unknown (unsupported) function code was sent to the
device.
02 Illegal Data Address An invalid address was requested.
03 Illegal data value An invalid data value was detected.
04 Server failure The device terminated while processing.
Process data monitoring time (setpoint timeout)

The "Setpoint timeout" only applies for access to process data (40100 ... 40109, 40110 ...
40119). The "Setpoint timeout" is not generated for parameter data (40300 … 40522).
Fieldbus interface:
In parameter p2040 you define the time for cyclic data exchange for process data.
Setting range: 0 ... 2000 s.
The time depends on the amount of data to be transferred and the control.
"Setpoint timeout" (F01910) is issued by the Modbus if p2040 is set to a value > 0 ms and no
process data is requested within this time period.
COMM BOARD (CBE20):

In parameter p8840 you define the time for cyclic process data exchange.
Setting range: 0 ... 2000 s.
The time depends on the amount of data to be transferred and the control.
"Setpoint timeout" (F08501) is issued by the Modbus if p8840 is set to a value > 0 ms and no
process data is requested within this time period.

Operation
6.11.8 Parameters, faults and alarms
Parameters
• p0978 List of drive objects

• p2030 Fieldbus interface protocol selection
• p2040 Fieldbus interface monitoring time:
• r2050[0...19] CO: IF1 PROFIdrive PZD receive word
• p2051[0...24] CI: IF1 PROFIdrive PZD send word
• r2053[0...24] IF1 PROFIdrive diagnostics PZD send word
• r2054 PROFIBUS status
• p8840 COMM BOARD monitoring time
• r8850[0...19] CO: IF2 PZD receive word
• p8851[0...24] CI: IF2 PZD send word
• r8853[0...24] IF2 diagnostics PZD send
• r8854 COMM BOARD state
• p8920[0...239] PN Name of Station
• p8921[0...3] PN IP address
• p8922[0...3] PN default gateway
• p8923[0...3 PN Subnet Mask
• p8924 PN DHCP mode
• p8925 PN interfaces configuration
• p8940[0...239] CBE2x Name of Station
• p8941[0...3] CBE2x IP address
• p8942[0...3] CBE2x Default Gateway
• p8943[0...3] CBE2x Subnet Mask
• p8944 CBE2x DHCP mode
• p8945 CBE2x interfaces configuration
Faults and alarms
• F01910 Fieldbus: Setpoint timeout

• A01925 (F) Modbus TCP connection interrupted
• F08501 (N, A) PN/COMM BOARD: Setpoint timeout
• A08526 (F) PN/COMM BOARD: No cyclic connection
• A08555 Modbus TCP commissioning fault

Operation
6.12 Communication services and used port numbers

The drive device supports the protocols listed in the following table. The address parameters,
the relevant communication layer as well as the communication role and the communication
direction are specified for each protocol.
This information allows you to match the security measures for the protection of the
automation system to the used protocols (e.g. firewall). As the security measures are limited
to Ethernet and PROFINET networks, no PROFIBUS protocols are listed in the table.
The following table shows the various layers and protocols that are used.
Layers and protocols
Report Port number (2) Link layer Function Description

(4) Transport layer
PROFINET protocols
DCP Not relevant (2) Ethernet II and Accessible DCP is used by PROFINET to determine
Discovery and IEEE 802.1Q and nodes, PROFINET devices and to make basic set-
configuration Ethertype 0x8892 PROFINET Dis- tings.
protocol (PROFINET) covery and DCP uses the special multicast MAC ad-
configuration dress:
xx-xx-xx-01-0E-CF,
xx-xx-xx = Organizationally Unique Identi-
fier
LLDP Not relevant (2) Ethernet II and PROFINET Link LLDP is used by PROFINET to determine
Link Layer Dis- IEEE 802.1Q and Layer Discovery and manage neighborhood relationships
covery protocol Ethertype 0x88CC protocol between PROFINET devices.
(PROFINET) LLDP uses the special multicast MAC ad-
dress:
01-80-C2-00-00-0E
MRP Not relevant (2) Ethernet II and PROFINET me- MRP enables the control of redundant
Media Redun- IEEE 802.1Q and dium redun- routes through a ring topology.
dancy Protocol Ethertype 0x88E3 dancy MRP uses the special multicast MAC ad-
(PROFINET) dress:
xx-xx-xx-01-15-4E,
xx-xx-xx = Organizationally Unique
Identifier
PTCP Not relevant (2) Ethernet II and PROFINET PTC allows a time delay measurements to
Precision Trans- IEEE 802.1Q and send clock and be made between RJ45 ports – therefore
parent Clock Ethertype 0x8892 time synchroni- send cycle synchronization and time syn-
Protocol (PROFINET) zation, based chronization.
on IEEE 1588 PTCP uses the special multicast MAC ad-
dress:
xx-xx-xx-01-0E-CF,
xx-xx-xx = Organizationally Unique Identi-
fier
PROFINET IO Not relevant (2) Ethernet II and PROFINET Cyclic The PROFINET IO telegrams are used to
data IEEE 802.1Q and IO data transfer cyclically transfer I/O data between the
Ethertype 0x8892 PROFINET IO controller and IO devices via
(PROFINET) Ethernet.

Operation
Report Port number (2) Link layer Function Description

(4) Transport layer
PROFINET Con- 34964 (4) UDP PROFINET con- The PROFINET context manager provides
text Manager nection less an endpoint mapper in order to establish
RPC an application relationship (PROFINET AR).
Connection-oriented communication protocols
FTP 21 (4) TCP Serv- FTP can be used for first commissioning.
File Transfer er/incoming FTP can be activated/deactivated using
Protocol parameter p8908.
DHCP 68 (4) UCP Dynamic Host Is used to query an IP address. Is closed
Dynamic Host Configuration when delivered, and is opened when se-
Configuration Protocol lecting the DHCP mode.
Protocol
http 80 (4) TCP Hypertext http is used for communication with the
Hypertext trans- transfer proto-CU-internal web server.
fer protocol col Is open in the delivery state and can be
deactivated.
ISO on TCP 102 (4) TCP ISO-on-TCP ISO on TCP (according to RFC 1006) is used
(according to protocol for the message-oriented data exchange to
a remote CPU, WinAC or devices of other
RFC 1006) suppliers.
Communication with ES, HMI, etc.
Is open in the delivery state and is always
required.
SNMP 161 (4) UDP Simple network SNMP enables the reading out and setting
Simple network management of network management data (SNMP
management protocol managed Objects) by the SNMP manager.
protocol Is open in the delivery state and is always
required.
https 443 (4) TCP Secure Hyper- https is used to communicate with the web
Secure Hyper- text transfer server integrated in the CPU via Transport
text transfer protocol Layer Security (TLS).
protocol Is open in the delivery state and can be
deactivated.
Internal proto- 5188 4 (TCP) Serv- Communication with commissioning tools
col er/incoming for downloading project data.
Reserved 49152...65535 (4) TCP - Dynamic port area that is used for the
(4) UDP active connection endpoint if the applica-
tion does not specify the local port.
EtherNet/IP protocols
Explicit messag- 44818 (4) TCP - Is used for parameter access, etc.
ing (4) UDP Is closed when delivered, and is opened
when selecting EtherNet/IP.
Implicit mes- 2222 (4) UDP - Is used for exchanging I/O data.
saging Is closed when delivered, and is opened
when selecting EtherNet/IP.
Modbus TCP protocols (server)
Request & re- 502 (4) TCP - Is used for exchanging data packages.
sponse Is closed when delivered, and is opened
when selecting Modbus TCP.

Operation
6.13 Parallel operation of communication interfaces
General information
The two cyclic interfaces for the setpoints and actual values differ by the parameter ranges
used (BICO technology etc.) and the functions that can be used. The interfaces are
designated as cyclic interface 1 (IF1) and cyclic interface 2 (IF2).
Cyclic process data (setpoints/actual values) are processed using interfaces IF1 and IF2. The
following interfaces are used:
• Onboard interfaces of the Control Unit for PROFIBUS DP or PROFINET.
• An optional interface (COMM board) for PROFINET (CBE20) or CANopen (CBE10) for
insertion in the Control Unit.
Parameter p8839 is used to set the parallel use of the Control Unit onboard interfaces and
COMM board. The functionality is assigned to interfaces IF1 and IF2 using indices.
For example, the following applications are possible:
• PROFIBUS DP for drive control and PROFINET for the acquisition of actual values/measured
values of the drive.
• PROFIBUS DP for control and PROFINET for engineering only
• Mixed mode with two masters (the first for logic and coordination and the second for
technology)
• SINAMICS Link via IF2 (CBE20), standard telegrams and PROFIsafe via IF1
• Operation of redundant communication interfaces
Assignment of communication interfaces to cyclic interfaces

With the factory setting p8839 = 99, the communication interfaces are permanently assigned
one of the cyclic interfaces (IF1, IF2), depending on the communication system, e.g.
PROFIBUS DP, PROFINET or CANopen.
The assignment to the cyclic interfaces can essentially be freely defined by user
parameterization for the parallel operation of the communication interfaces.
Table 6- 68 Properties of the cyclic interfaces IF1 and IF2
Feature IF1 IF2

Setpoint (BICO signal source) r2050, r2060 r8850, r8860
Actual value (BICO signal sink) p2051, p2061 p8851, p8861

Operation
Table 6- 69 Implicit assignment of hardware to cyclic interfaces for p8839[0] = p8839[1] = 99
Inserted hardware interface IF1 IF2

No option, only use Control Unit onboard interface Control Unit onboard --
(PROFIBUS, PROFINET or USS)
CU320-2 DP with CBE20 (optional PROFINET inter- COMM BOARD Control Unit onboard
face) PROFIBUS or Control
Unit onboard USS
CU320-2 PN with CBE20 (optional PROFINET inter- Control Unit onboard COMM BOARD
face) PROFINET
CAN option CBC10 Control Unit onboard COMM BOARD CAN
Parameter p8839[0,1] is used to set the parallel operation of the hardware interfaces and the
assignment to the cyclic interfaces IF1 and IF2 for the Control Unit drive object.
The object sequence for process data exchange via IF2 depends on the object sequence from
IF1; see "List of drive objects" (p0978).
The factory setting of p8839[0,1] = 99 enables the implicit assignment (see table above).
An alarm is generated in case of invalid or inconsistent parameterization of the assignment.
Note
Parallel operation of PROFIBUS and PROFINET
Either the isochronous mode or PROFIsafe functionality can be assigned to an interface via
p8815 (IF1 or IF2).
Example:
• p8815[0] = 1: IF1 supports the isochronous mode.
• p8815[1] = 2: IF2 supports PROFIsafe.
Additional configuration options are available if additionally the PROFINET module CBE20 is
inserted in the CU320-2 DP:
• p8839[0] = 1 and p8839[1] = 2: PROFIBUS isochronous, PROFINET cyclic
• p8839[0] = 2 and p8839[1] = 1: PROFINET isochronous, PROFIBUS cyclic

Operation
Parameters for IF2

The following parameters are available in order to optimize the IF2 for a PROFIBUS or
PROFINET interface:
• Receive and send process data:
r8850, p8851, r8853, r8860, p8861, r88631)
• Diagnostic parameters:
r8874, r8875, r88761)
• Binector-connector converters:
p8880, p8881, p8882, p8883, p8884, r88891)
• Connector-binector converters:
r8894, r8895, p8898, p88991)
1) Significance of 88xx identical to 20xx
Note
Using the HW Config configuration tool, a PROFIBUS slave / PROFINET device with two
interfaces cannot be shown. In parallel operation, this is the reason that a SINAMICS drive
appears 2x in the project or in 2 projects, although physically it is just one device.
Parameters
p8839 PZD interface hardware assignment

Description: Assigning the hardware for cyclic communication via PZD interface 1 and interface 2.
Value: 0: Inactive
1: Control Unit onboard
2: COMM BOARD
99: Automatic
For p8839, the following rules apply:

• The setting of p8839 applies for all drive objects of a Control Unit (device parameter).
• For the setting p8839[0] = 99 and p8839[1] = 99 (automatic assignment, factory setting),
the hardware used is automatically assigned to interfaces IF1 and IF2. Both indices must
be selected so that the automatic assignment is activated. If both indices are not selected,
then an alarm is output and the setting p8839[x] = 99 is treated just like 'inactive'.
• An alarm is issued if the same hardware (Control Unit onboard or COMM BOARD) is
selected in p8839[0] and p8839[1]. The following then applies: The setting of p8839[0]
and the setting of p8839[1] are treated just the same as "inactive".
• If the CAN board (CBC10) is used, the entry of p8839[0] = 2 is not permissible (no
assignment of the CAN board to IF1). An alarm is then issued.
• If p8839[x] is set to 2, and the COMM BOARD is missing or defective, then the
corresponding interface is not supplied from the Control Unit onboard interface. Message
A08550 is output instead.

Operation
Parameters
• p0922 IF1 PROFIdrive telegram selection

• p0978[0...24] List of drive objects
• p8815[0...1] IF1/IF2 PZD functionality selection

Operation
6.14 Engineering Software Drive Control Chart (DCC)
Graphical configuring and expansion of the device functionality by means of available closed-
loop control, arithmetic, and logic function blocks
Drive Control Chart (DCC) expands the facility for the simplest possible configuring of
technological functions for both the SIMOTION motion control system and the SINAMICS
drive system. This provides the user with a new dimension of system adaptability for specific
machine functions.
DCC does not restrict the number of functions that can be used; the only restriction is the
performance of the target platform.
The user-friendly DCC Editor enables easy graphical configuration and a clear representation
of control loop structures as well as a high degree of reusability of existing diagrams.
The open-loop and closed-loop control functionality is defined by using multi-instance-
enabled blocks (Drive Control Blocks (DCBs)) from a pre-defined library (DCB library) that are
selected and graphically linked by dragging and dropping.
Test and diagnostic functions allow verification of the program behavior, and troubleshooting
in the event of a fault.
The block library encompasses a large selection of closed-loop, arithmetic and logic function
blocks, as well as comprehensive open-loop and closed-loop control functions.
For combining, analyzing and acquiring binary signals, all commonly used logic functions are
available for selection (AND, XOR, on/off delay, RS flipflop, counter, etc.). Numerous
computation functions are available for monitoring and evaluating numerical variables; for
example absolute value generation, division, min/max evaluation.
Besides drive control functions, it is also a simple matter to configure axis winding functions,
PI controllers, ramp-function generators, and wobble generators.
Almost unlimited programming of control structures is possible in conjunction with the
SIMOTION motion control system. These can then be combined with other program sections
to form an overall program.
Drive Control Chart for SINAMICS also provides a convenient basis for resolving drive-level
open-loop and closed-loop control tasks directly in the drive. This results in further
adaptability of SINAMICS for the task set. On-site processing in the drive supports modular
machine concepts and results in increased overall machine performance.
Note
Detailed documentation
A detailed description of the DCC Editor and the available Drive Control Blocks is given in the
relevant documentation.

Operation

Setpoint channel and closed-loop control 7
7.1 Chapter content
This chapter provides information on the setpoint channel and closed-loop control functions.
• Setpoint channel
– Direction reversal
– Skip speed
– Minimum speed
– Speed limitation
– Ramp-function generator
• U/f control
• Vector speed control with / without encoder
Function diagrams
At certain points in this chapter, reference is made to function diagrams. These are stored on
the documentation CD in the "SINAMICS G130/G150 List Manual", which provides
experienced users with detailed descriptions of all the functions.

Setpoint channel and closed-loop control
7.2 Setpoint channel
7.2.1 Setpoint addition
Description
The supplementary setpoint can be used to enter correction values from higher-level closed-
loop controls. This can be implemented using the summing point of the main/supplementary
setpoint in the setpoint channel. Both variables are imported simultaneously via two separate
or one setpoint source and added in the setpoint channel.
Function diagram
FD 3030 Main/added setpoint, setpoint scaling, jogging
Parameter
• p1070 Main setpoint

• p1071 Main setpoint scaling
• r1073 Main setpoint effective
• p1075 Supplementary setpoint
• p1076 Supplementary setpoint scaling
• r1077 Supplementary setpoint effective
• r1078 Total setpoint effective

7.2.2 Direction reversal
Description
Due to the direction reversal in the setpoint channel the drive can be operated in both
directions with the same setpoint polarity.
Use the p1110 or p1111 parameter to block negative or positive direction of rotation.
Note
Incorrect rotating field when the cables were routed
If an incorrect phase sequence was connected when the cables were installed, and the
cabling cannot be changed, the phase sequence can be changed during drive commissioning
using p1821 (phase sequence direction reversal), thus enabling a direction reversal.
Modifying parameter p1821 produces a direction reversal of the motor and the actual
encoder value without changing the setpoint.
Preconditions
Direction reversal is initiated:
• via PROFIBUS by means of control word 1, bit 11
• via the cabinet operator panel (LOCAL mode) with the "Direction reversal" key.
Note
Delivery condition
Note that only one direction of rotation is enabled in the delivery condition when control is
carried out via the AOP30.
Function diagram
FP 3040 Direction limitation and direction reversal
Parameter
• p1110 BI: Inhibit negative direction

• p1111 BI: Inhibit positive direction
• p1113 BI: Setpoint inversion
• r1114 Setpoint after direction limiting

7.2.3 Skip frequency bands and minimum speed
Description
In the case of variable-speed drives, it is possible for the control range of the overall drive
train to contain bending-critical speeds that the drive must not be be operated at or the
vicinity of in steady-state condition. In other words, although the drive can pass through this
range, it must not remain within it because resonant oscillations may be excited. The skip
frequency bands allow this range to be blocked for steady-state operation. Because the points
at which critical whirling speeds occur in a drive train can vary depending on age or thermal
factors, a broader control range must be blocked. To prevent constant speed step changes in
the vicinity of these skip frequency bands (speeds), they are provided with a hysteresis.
The skip speed values apply in the positive and negative directions of rotation.
Specifying a minimum speed allows a specific range to be disabled around speed 0 rpm for
steady-state operation.
Signal flow diagram
Figure 7-1 Signal flow diagram: Skip frequency bands and minimum speed
Function diagram
FP 3050 Skip frequency bands and speed limiting

Parameter
• p1080 Minimum speed

• p1091 Skip frequency speed 1
• p1098 Suppression speed scaling
• r1099.0 Suppression bandwidth status word
• p1101 Skip frequency speed bandwidth
• p1106 Minimum speed signal source
• r1112 Speed setpoint after minimum limiting
7.2.4 Speed limitation
Description
Speed limitation aims to limit the maximum permissible speed of the entire drive train to
protect the drive and load machine/process against damage caused by excessive speeds.
Signal flow diagram
Figure 7-2 Signal flow diagram: Speed limitation

Function diagram
FP 3050 Skip frequency bands and speed limiting
Parameter
• p1082 Maximum speed

• p1083 CO: Speed limit in positive direction of rotation
• r1084 CO: Speed limit positive effective
• p1085 CI: Speed limit in positive direction of rotation
• p1086 CO: Speed limit in negative direction of rotation
• r1087 CO: Speed limit negative effective
• p1088 CI: Speed limit in negative direction of rotation
• r1119 CO: Ramp-function generator setpoint at the input
7.2.5 Ramp-function generator
Description
The ramp-function generator limits the rate at which the setpoint changes when the drive is
accelerating or decelerating. This prevents excessive setpoint step changes from damaging
the drive train. Additional rounding times can also be set in the lower and upper speed
ranges to improve control quality and prevent load surges, thereby protecting mechanical
components, such as shafts and couplings.
The ramp-up and ramp-down times each refer to the maximum speed (p1082). The rounding
times that can be set can prevent the actual speed value from being overshot when the
setpoint is approached, thereby improving control quality.
When final rounding set, a sudden reduction of the setpoint when ramping up can cause the
setpoint to overshoot if continuous smoothing has been selected via p1134 = 0. The larger
the selected final rounding time, the larger the overshoot.
Rounding is also effective in the zero crossover; in other words, when the direction is
reversed, the ramp-function generator output is reduced to zero via initial rounding, the
ramp-down time, and final rounding before the new, inverted setpoint is approached via
initial rounding, the ramp-up time, and final rounding. Rounding times that can be set
separately are active in the event of a fast stop (OFF3). The actual ramp-up/ramp-down times
increase with active rounding.
The rounding type can be set using p1134 and separately activated/deactivated using
p1151.0 at the zero point.

The ramp-up time (p1120) can be scaled using connector input p1138, the ramp-down time
(p1121) using connector input p1139. Scaling is deactivated in the factory setting.
Note
Effective ramp-up time
The effective ramp-up time increases when you enter the initial and final rounding times.
Effective ramp-up time = p1120 + (0.5 x p1130) + (0.5 x p1131)
Signal flow diagram
Figure 7-3 Signal flow diagram: Ramp-function generator
Ramp-function generator tracking

If the drive is in range of the torque limits, the actual speed value moves away from the
speed setpoint. The ramp-function generator tracking updates the speed setpoint in line with
the actual speed value and so levels the ramp.
p1145 can be used to deactivate ramp-function generator tracking (p1145 = 0) or to set the
permissible deviation (p1145 > 1). If the permissible deviation is reached, then the speed
setpoint at the ramp-function generator output will only be increased further in proportion to
the speed setpoint.
Parameters p1151.1 and p1151.2 can be used to set as to whether ramp-function generator
tracking is realized with or without polarity change.
Parameter r1199.5 displays whether the ramp-function generator tracking is active.

Figure 7-4 Ramp-function generator tracking
Without ramp-function generator tracking

• p1145 = 0
• Drive accelerates to t2, although the setpoint after t1 is smaller than the actual value
With ramp-function generator tracking
• At p1145 > 1 (values between 0 and 1 are not applicable), ramp-function generator
tracking is activated when the torque limit is approached. The ramp-function generator
output thereby only exceeds the actual speed value by the deviation value defined in
p1145.
• t1 and t2 are almost identical

Function diagram
FP 3070 Extended ramp-function generator

FP 3080 Ramp-function generator selection, status word, tracking
Parameter
• r1119 CO: Ramp-function generator setpoint at the input

• p1120 Ramp-function generator ramp-up time
• p1121 Ramp-function generator ramp-down time
• p1130 Ramp-function generator initial rounding time
• p1131 Ramp-function generator final rounding time
• p1134 Ramp-function generator rounding type
• p1135 OFF3 ramp-down time
• p1136 OFF3 initial rounding time
• p1137 OFF3 final rounding time
• p1138 CI: Ramp-function generator ramp-up time scaling
• p1139 CI: Ramp-function generator, ramp-down time
• p1140 BI: Enable ramp-function generator/disable ramp-function generator
• p1141 BI: Continue ramp-function generator/freeze ramp-function generator
• p1142 BI: Enable setpoint/inhibit setpoint
• P1143 BI: Accept ramp-function generator setting value
• P1144 CI: Ramp-function generator setting value
• p1145 Ramp-function generator tracking intensity
• P1148 Ramp function generator tolerance for ramp-up and ramp-down active
• r1149 CO: Ramp-function generator acceleration
• r1150 Ramp-function generator speed setpoint at the output
• p1151 Ramp-function generator configuration
• r1199.0...8 Ramp-function generator status word

7.3 V/f control
7.3 V/f control
Description
The simplest control technique is the U/f characteristic. whereby the stator voltage for the
induction motor or synchronous motor is controlled proportionately to the stator frequency.
This method has proved successful in a wide range of applications with low dynamic
requirements, such as:
• Pumps and fans
• Belt drives
• Multi-motor drives
The objective of U/f control is to maintain a constant flux Φ in the motor. whereby the flux is
proportional to the magnetization current (Iµ) or the ratio of voltage (U) to frequency (f).
Φ ~ Iµ ~ U/f
The torque (M) generated by the induction motors is, in turn, proportional to the product (or,
more precisely, the vector product (Φ x I)) of the flux and current.
M~ΦxI
To generate as much torque as possible with a given current, the motor must function using
the greatest possible constant flux. To maintain a constant flux (Φ), therefore, the voltage (V)
must change in proportion to the frequency (f) to ensure a constant magnetization current
(Iµ). The U/f characteristic control is derived from these principles.
The field-weakening range is above the rated motor frequency, where the maximum voltage
is reached. The flux and maximum torque decrease as the frequency increases; this is
illustrated in the following diagram.
Figure 7-5 Operating areas and characteristic curves for the induction motor with converter supply
Note
Ratio between the rated motor current and the rated device current
For U/f control, the permissible range of the ratio between the rated motor current (p0305)
and rated device current (r0207) is 1:1 to 1:12.

7.3 V/f control
Several variations of the U/f characteristic exist, which are shown in the following table:
Table 7- 1 p1300 U/f characteristics
Parameter Meaning Application / property

value
0 Linear characteristic Standard with variable voltage boost
1 Linear characteristic Characteristic that compensates for voltage

with flux current losses in the stator resistance for stat-
control (FCC) ic/dynamic loads (Flux Current Control FCC).
This is especially relevant for small motors as
these have a relatively high stator resistance.
2 Parabolic characteris- Characteristic that takes into account the

tic motor torque curve (e.g. fan/pump).
• Quadratic characteristic (f² characteristic)
• Energy saving because the low voltage
also results in small currents and losses.
3 Programmable char- Characteristic that takes into account the

acteristic motor/driven machine torque characteristic.
4 Linear characteristic Characteristic (see parameter value 0) and Eco mode at a constant operating point.
and ECO
• At constant operating point, the efficiency is optimized by varying the voltage.
• Active slip compensation is necessary here; the scaling must be set so that the slip
is fully compensated (p1335 = 100%).

7.3 V/f control
Parameter Meaning Application / property

value
5 Precise frequency Characteristic (see parameter value 0) that takes into account the specific technologi-
drives (textiles) cal features of an application (e.g. textile applications).
• The current limiting (Imax controller) only affects the output voltage and not the
output frequency.
• The slip compensation and resonance damping are disabled.
6 Precise frequency Characteristic (see parameter value 1) that takes into account the specific technologi-
drives with flux cur- cal features of an application (e.g. textile applications).
rent control (FCC)
• The current limiting (Imax controller) only affects the output voltage and not the
output frequency.
• The slip compensation and resonance damping are disabled.
Voltage losses in the stator resistance for static / dynamic loads are also compensated
(flux current control, FCC). This is particularly useful for small motors, since they have
a relatively high stator resistance.
7 Parabolic characteris- Characteristic (see parameter value 1) and Eco mode at a constant operating point.
tic and ECO
• At constant operating point, the efficiency is optimized by varying the voltage.
• Active slip compensation is necessary here; the scaling must be set so that the slip
is fully compensated (p1335 = 100%).
19 Independent voltage The user can define the output voltage of the converter independently of the fre-
setpoint quency using BICO parameter p1330 via the interfaces (e.g. analog input AI0 of the
TM31 –> p1330 = r4055[0]).
Function diagram
FP 6300 U/f control, overview

FP 6301 U/f characteristic and voltage boost
Parameter
• p1300 Open-loop/closed-loop control operating mode

• p1302 U/f control configuration
• p1320 U/f control programmable characteristic frequency 1
...
• p1327 U/f control programmable characteristic voltage 4
• p1330 CI: U/f control independent of voltage setpoint
• p1331 Voltage limitation
• p1333 U/f control FCC starting frequency
• r1348 U/f control Eco factor actual value
• p1350 U/f control soft starting

7.3 V/f control
7.3.1 Voltage boost
Description
With low output frequencies, the U/f characteristics yield only a small output voltage.
Further, at low frequencies the ohmic resistance of the stator windings has an effect and can
no longer be ignored with respect to the machine reactance. Therefore, at low frequencies
the magnetic flux is no longer proportional to the magnetization current or the U/f ratio.
There are several reasons for using the "Voltage boost" function:
• Magnetization build-up of an induction motor at n = 0 rpm
• Establishing a torque at n = 0 rpm, e.g. in order to hold a load
• Applying a breakaway, acceleration or braking torque
• Compensating ohmic losses in the windings and feeder cables
You can choose whether the voltage boost is to be active permanently (p1310) or only during
acceleration (p1311). In addition, a one-off voltage boost in the first power up after pulse
enable can be set via p1312.
Figure 7-6 Voltage boost total
Note
Voltage boost effect
The voltage boost affects all U/f characteristics (p1300).

7.3 V/f control
Note
Excessive motor temperature rise
If the voltage boost value is too high, this can result in a thermal overload of the motor
winding and in turn a shutdown.
Permanent voltage boost (p1310)

The voltage boost is active across the entire frequency range up to the rated frequency fn; at
higher frequencies, the value decreases continuously.
Figure 7-7 Permanent voltage boost (example: p1300 = 0, p1310 > 0, p1311 = p1312 = 0)

7.3 V/f control
Voltage boost during acceleration (p1311)

The voltage boost is only effective for one acceleration operation and only until the setpoint
is reached.
Voltage boost is only effective if the signal "ramp-up active" (r1199.0 = 1) is active.
You can use parameter r0056.6 to observe whether the voltage boost is active during
acceleration.
Figure 7-8 Voltage boost during acceleration (example: p1300 = 0, p1310 = 0, p1311 > 0)
Voltage boost at startup (p1312)

The voltage boost is only effective for the first acceleration operation after pulse enable and
only until the setpoint is reached.
Voltage boost is only effective if the signal "ramp-up active" (r1199.0 = 1) is active.
You can use parameter r0056.5 to observe whether the voltage boost is active at startup.
Function diagram
FP 6301 U/f characteristic and voltage boost

7.3 V/f control
Parameter
• r0056.5 Voltage boost at startup active/inactive

• r0056.6 Acceleration voltage active/inactive
• p0304 Rated motor voltage
• p0305 Rated motor current
• r0395 Stator resistance, actual
• p1310 Starting current (voltage boost) permanent
• p1311 Starting current (voltage boost) when accelerating
• p1312 Starting current (voltage boost) when starting
• r1315 Voltage boost total
7.3.2 Resonance damping
Description
Resonance damping damps oscillations in the active current, which often occur during no-
load operation.
Resonance damping is active in a range between 5 % and 90 % of the rated motor frequency
(p0310). The switch-off frequency is determined by p1349.
For p1300 = 5 and 6 (textiles) the resonance damping is internally disabled in order to be
able to precisely set the output frequency.
Figure 7-9 Resonance damping

7.3 V/f control
Note
Maximum frequency resonance damping
When p1349 = 0, the changeover limit is automatically set to 95 % of the rated motor
frequency, but only up to a maximum of 45 Hz.
Function diagram
FP 6310 Resonance damping and slip compensation
Parameters
• r0066 Output frequency

• r0078 torque-generating actual current value
• p1338 U/f control resonance damping gain
• p1339 U/f control resonance damping filter time constant
• p1349 U/f control resonance damping maximum frequency
7.3.3 Slip compensation
Description
The slip compensation acts so that the speed of induction motors is essentially kept constant
independent of the load (M1 or M2).
When the load is increased from M1 to M2, the setpoint frequency is increased automatically
so that the resulting frequency, and therefore also the motor speed, remain constant. For a
decrease in the load from M2 to M1, the setpoint frequency is automatically decreased
accordingly.
For p1300 = 4 and 7 (U/f controls with ECO), the slip compensation must be activated to
ensure correct operation.
For p1300 = 5 and 6 (textiles) the slip compensation is internally disabled in order to be able
to precisely set the output frequency.
If a motor holding brake is applied, a setting value can be specified at the slip compensation
output via p1351. A parameter setting of p1351 > 0 automatically activates the slip
compensation (p1335 = 100 %).

7.3 V/f control
Figure 7-10 Slip compensation
Function diagram
FP 6310 Resonance damping and slip compensation
Parameters
• r0330 Rated motor slip

• p1334 Slip compensation start frequency
• p1335 Slip compensation, scaling
p1335 = 0.0%: slip compensation is deactivated.
p1335 = 100.0%: slip is fully compensated.
• p1336 Slip compensation limit value
• r1337 CO: Actual slip compensation
• p1351 CO: Motor holding brake start frequency

7.4 Vector speed/torque control with/without encoder
Description
Compared with U/f control, vector control offers the following benefits:
• Stability vis-à-vis load and setpoint changes
• Short rise times with setpoint changes (–> better command behavior)
• Short settling times with load changes (–> better disturbance characteristic)
• Acceleration and braking are possible with maximum settable torque
• Motor protection due to variable torque limitation in motor and regenerative mode
• Drive and braking torque controlled independently of the speed
• Maximum breakaway torque possible at speed 0
These benefits are available without speed feedback.
Vector control can be used with or without an encoder.
The following criteria indicate when an encoder is required:
• High speed accuracy is required
• High dynamic response requirements
– Better control behavior
– Better response to disturbances
• Torque control is required in a control range greater than 1:10
• A defined and/or variable torque should be maintained for speeds below approx. 10 % of
the rated motor frequency (p0310)
• A speed controller is normally always required for applications in which an unknown
speed can represent a safety risk (where a load can drop, e.g. lifting gear, elevators, ...).
With regard to setpoint input, vector control is divided into:
• Speed control
• Torque/current control (in short: torque control)

7.4.1 Vector control without encoder
Description
For sensorless vector control only (SLVC: Sensorless Vector Control), the position of the flux
and actual speed must be determined via the electric motor model. The model is buffered by
the incoming currents and voltages. At low frequencies (approx. 0 Hz), the model cannot
determine the speed.
For this reason and due to uncertainties in the model parameters or inaccurate
measurements, the system is switched from closed-loop to open-loop operation in this range.
The switchover between closed-loop/open-loop controlled operation is controlled on the
basis of time and frequency conditions (p1755, p1756, p1758 - only for induction motors).
The system does not wait for the time condition to elapse if the setpoint frequency at the
ramp-function generator input and the actual frequency are below p1755 x (1 -
(p1756 / 100 %)) simultaneously.
The transition from open-loop to closed-loop operation always takes place when the
changeover speed in p1755 is exceeded (characteristic ① in the diagram below). If the speed
increase is set very slow and a changeover delay time > 0 is set in p1759, then the transition
takes place after the changeover delay time (characteristic ② in the diagram below).
Figure 7-11 Changeover conditions

Setting the torque setpoint

In open-loop operation, the calculated actual speed value is the same as the setpoint value.
For vertical loads and when accelerating, parameters p1610 (static torque setpoint) and
p1611 (additional acceleration torque) must be adjusted to the necessary maximum torque
in order to generate the static or dynamic load torque of the drive.
• If, for an induction motor, p1610 is set to 0 %, then only the magnetization current r0331
is impressed.
If a value of 100 % is set, then the rated motor current p0305 is impressed.
• For permanent-magnet synchronous motors, at p1610 = 0%, a pre-control absolute value
derived from the supplementary torque r1515 remains instead of the magnetizing current
for induction motors.
To ensure that the drive does not stall during acceleration, p1611 can be increased or
acceleration pre-control for the speed controller can be used. This is also advisable to ensure
that the motor is not subject to thermal overload at low speeds.
If the moment of inertia of the drive is almost constant, acceleration precontrol using p1496
offers more advantages than the supplementary accelerating torque with p1611. For the
rotating measurement, the moment of inertia of the drive is determined using p1900 = 3 and
p1960 = 1.
Features of the vector control without actual value speed encoder

Vector control without a speed sensor has the following characteristics at low frequencies:
• Closed-loop controlled operation for passive loads up to approx. 0 Hz output frequency
(p0500 = 2), for p1750.2 = 1 and p1750.3 = 1).
• Start an induction motor in the closed-loop controlled mode (after the motor has been
completely excited), if the speed setpoint before the ramp-function generator is greater
than p1755.
• Reversing without the need to switch into the open-loop controlled mode is possible, if
the range of the changeover speed (p1755) is passed through in a shorter time than the
changeover wait time set (p1758), and the speed setpoint before the ramp-function
generator lies outside the open-loop controlled speed range (p1755).
• In the "Torque control" mode, at low speeds, the system always switches over into the
open-loop controlled mode.
Note
Precondition
In this case, the speed setpoint upstream of the ramp-function generator must be greater
than the changeover speed in p1755.

Advantages of closed-loop controlled operation down to f = 0 Hz

Closed-loop operation to approx. 0 Hz (can be set using parameter p1755) and the possibility
to start or reverse at 0 Hz directly in closed-loop controlled operation (can be set using
parameter p1750) result in the following benefits:
• No switchover operation required within closed-loop control (bumpless behavior, no
frequency dips, no discontinuities in the torque).
• Closed-loop speed control without encoder down to and including 0 Hz
• Passive loads down to a frequency of 0 Hz
• Steady-state closed-loop speed control down to approx. 0 Hz possible
• Higher dynamic performance when compared to open-loop controlled operation
Note
Automatic changeover
If, in the closed-loop controlled mode, start from 0 Hz or reversing takes longer than 2 s, or
the time set in p1758 - then the system automatically changes over from closed-loop
controlled into open-loop controlled operation.
Note
Operation in sensorless torque control
Operation in sensor less torque control only makes sense if, in the speed range below the
changeover speed of the motor model (p1755), the setpoint torque is greater than the load
torque. The drive must be able to follow the setpoint and the associated setpoint speed
(p1499).
Closed-loop operation down to standstill for passive loads

By restricting to a passive load at the starting point, it is possible to maintain stationary
closed-loop operation down to zero frequency (standstill) without having to change over to
open-loop operation.
Parameter p1750.2 = 1 must be set.
The closed-loop control without switchover is restricted to applications involving passive
loads:
These include applications in which the load cannot produce a regenerative torque when
starting and the motor comes to a standstill when pulses are inhibited; for example, loads
with high moments of inertia, brakes, pumps, fans, centrifuges, extruders, ....
Standstill of any duration is possible without holding current, only the motor magnetization
current is impressed.
Steady-state regenerative operation at a frequency close to 0 Hz is not possible.
It is also possible to select sensorless control for passive loads during commissioning by
setting p0500 = 2 (technology application = passive loads (for sensorless control down to
f = 0)).
This function is activated automatically if quick commissioning is exited with p3900 > 0, or if
automatic calculation is called (p0340 = 1, 3, 5 or p0578 = 1).

Blocking drives
If the load torque is higher than the torque limiting of the sensorless vector control, the drive
is braked to zero speed (standstill). To avoid open-loop controlled mode being selected after
the time p1758, p1750.6 can be set to 1. Under certain circumstances p2177 (Motor blocked
delay time) must be increased.
Note
Exception for reversing drives
It is not permissible to use this setting if the load can force the drive to reverse.
Active loads
Active loads, with which the drive can be reversed, must be started with open-loop speed
control (e.g. hoisting gear). In this case, bit p1750.6 must be set to 0 (open-loop controlled
operation when the motor is blocked). The static (steady state) torque setpoint (p1610) must
be greater than the maximum occurring load torque.
Note
Loads that can drive the motor
For applications with high regenerative load torques at low speeds, p1750.7 can also be set
to 1 As a result, the speed changeover limits of the motor model are increased and a faster
changeover can be made into open-loop controlled operation.
Permanent-magnet synchronous motors
Standard procedure: open-loop controlled operation at low speeds

Permanent-magnet synchronous motors are normally started and reversed in open-loop
controlled operation. The changeover speeds are set to 10% as well as 5% of the rated motor
speed. Changeover is not subject to any time condition (p1758 is not evaluated). Prevailing
load torques (motor or regenerative) are adapted in open-loop operation, facilitating
constant-torque crossover to closed-loop operation even under high static loads. Whenever
the pulses are enabled, the rotor position is identified.

Figure 7-12 Zero crossing in open-loop controlled operation at low speeds
Extended method: closed-loop controlled operation to zero speed

By superimposing high-frequency pulses on the driving fundamental voltage and evaluating
the resulting offset pulse in the machine current, it is possible to determine the continuous
rotor position up to frequency zero (standstill).
1FW4 and 1PH8 series Siemens torque motors can be started from standstill with any load up
to the rated torque or even hold the load at standstill.
The procedure is suitable for motors with internal magnets.
Note
Use of a sine-wave filter
If a sine-wave filter is used, the open-loop controlled procedure should be used.
The following advantages are obtained by maintaining closed-loop controlled operation:

• No switchover required within closed-loop control (smooth switching, no discontinuities
in the torque).
• Sensorless closed-loop speed and torque control down to and including 0 Hz
• Higher dynamic performance when compared to open-loop controlled operation.
• Encoderless operation of drive line-ups (e.g. in the paper industry, master-slave
operation).
• Active (including hanging/suspended) loads down to zero frequency.

Supplementary conditions for the use of third-party motors:

• Experience shows that the procedure is very suitable for motors with magnets within the
rotor core (IPMSM - Interior Permanent Magnet Synchronous Motors).
• The ratio of stator quadrature reactance (Lsq): Stator direct-axis reactance (Lsd) must be
> 1 (recommendation: minimum > 1.5).
• The possible operating limits of the procedure depend upon up to what current the
asymmetrical reactance ratio (Lsq:Lsd) is retained in the motor. If the procedure should be
operable up to the rated motor torque, then the reactance ratio must be retained up to
the rated motor current.
A prerequisite for optimum behavior is the entry of the following parameters:
• Enter the saturation characteristic: p0362 - p0369
• Enter the load characteristic: p0398, p0399
Commissioning sequence for closed-loop controlled operation to zero speed:
• Run through the commissioning with motor identification at standstill.
• Enter the parameters for the saturation characteristic and the load characteristic.
• Activate closed-loop controlled operation down to zero speed using parameter
p1750.5 = 1.
Figure 7-13 Zero crossing in closed-loop controlled operation to zero speed

Function diagram
FP 6730 Interface to Motor Module (ASM), p0300 = 1)

FP 6731 Interface to Motor Module (PEM), p0300 = 2)
Parameters
• p0305 Rated motor current

• r0331 Motor magnetizing current/short-circuit current
• p0362 Saturation characteristic flux 1
... ...
p0365 Saturation characteristic flux 4
• p0366 Saturation characteristic I_mag 1

... ...
p0369 Saturation characteristic I_mag 4
• p0398 Magnet angle. Decoupling (cross saturation) coefficient 1

• p0398 Magnet angle. Decoupling (cross saturation) coefficient 3
• p0500 Technology application
• p0578 Calculating technology/unit-dependent parameters
• p1605 Pulse technique pattern configuration
• r1606 CO: Actual pulse technique pattern
• p1607 Pulse technique stimulus
• r1608 CO: Pulse technique answer
• p1610 Torque setpoint static (SLVC)
• p1611 Supplementary accelerating torque (SLVC)
• p1750 Motor model configuration
• p1755 Motor model changeover speed encoderless operation
• p1756 Motor model changeover speed hysteresis
• p1758 Motor model changeover delay time, closed/open-loop control
• p1759 Motor model changeover delay time open/closed loop control
• r1762.1 Motor model deviation component 1 - deviation model 2
• p1798 Motor model pulse technique speed adaptation Kp
• p1810.3 Modulator configuration - current measurement oversampling activated (for
pulse technique PEM)

7.4.2 Vector control with encoder
Description
Benefits of vector control with an encoder:
• The speed can be controlled right down to 0 Hz (standstill)
• Stable control response throughout the entire speed range
• Allows a defined and/or variable torque for speeds below approx. 10% of the rated motor
speed to be maintained
• Compared with speed control without an encoder, the dynamic response of drives with an
encoder is significantly better because the speed is measured directly and integrated in
the model created for the current components.
Motor model change

A model change takes place between the current model and the observer model within the
speed range p1752 x (100 % - p1753) and p1752. In the current-model range (i.e., at lower
speeds), torque accuracy depends on whether thermal tracking of the rotor resistance is
carried out correctly. In the observer-model range and at speeds of less than approx. 20% of
the rated speed, torque accuracy depends primarily on whether thermal tracking of the stator
resistance is carried out correctly. If the resistance of the supply cable is greater than 20 to 30
% of the total resistance, this should be entered in p0352 before motor data identification is
carried out (p1900/p1910).
To deactivate thermal adaptation, set p0620 = 0. This may be necessary if adaptation cannot
function accurately enough due to the following general conditions.
Causes of inaccuracies:
• A sensor is not used for the temperature measurement and the ambient temperatures
fluctuate significantly.
• The motor overtemperatures (p0626 to p0628) deviate greatly from the default settings
as a result of its design.
Function diagram
FP 4715 Actual speed value and rotor position measurement, motor encoder
FD 6030 Speed setpoint, droop
FP 6040 Speed controller with/without encoder
FP 6050 Speed controller adaptation (Kp_n/Tn_n adaptation)
FP 6060 Torque setpoint
FP 6490 Speed control configuration

7.4.3 Actual speed value filter
Description
The speed actual value filter is used to suppress cyclic disturbance variables in speed
acquisition.
The speed actual value filter can be set as follows:
• 2nd order lowpass (PT2: -40 dB/decade)
• General 2nd order filter
Bandstop and low-pass with reduction are converted into the parameters of the general 2nd
order filter using STARTER.
The speed actual value filter is activated with p1656.4 = 1. The properties of the speed actual
value filter are set in p1677 to p1681.
As long as changes to the data of the actual speed value filter are being made, the conversion
of the new filter data can be prevented using p1699 = 1.
When p1699 = 0 is set, the calculation will be performed and the new values applied.
Note
For the vector control, there are 2 current setpoint filters and one actual speed value filter.
The actual speed value filter has been allocated the number "5".
Function diagrams
FP 4715 Encoder evaluation - speed actual value and pole position sensing, motor en-
coder (encoder1), n_act_filter 5
Parameters
• p1655[4] CI: Speed actual value filter 5 natural frequency tuning

• p1656.4 Speed actual value filter 5 activation
• p1677 Actual speed value filter 5 type
• p1678 Actual speed value filter 5 denominator natural frequency
• p1679 Actual speed value filter 5 denominator damping
• p1680 Actual speed value filter 5 numerator natural frequency
• p1681 Actual speed value filter 5 numerator damping
• p1699 Filter data acceptance

7.4.4 Speed controller

Both closed-loop control techniques with and without encoder (SLVC, VC) have the same
speed controller structure that contains the following components as kernel:
• PI controller
• Speed controller pre-control
• Droop Function
The torque setpoint is generated from the total of the output variables and reduced to the
permissible magnitude by means of torque setpoint limitation.
Function of the speed controller

The speed controller receives its setpoint (r0062) from the setpoint channel and its actual
value (r0063) either directly from the speed actual value encoder (vector control with
encoder) or indirectly via the motor model (encoderless vector control). The system
difference is increased by the PI controller and, in conjunction with the pre-control, results in
the torque setpoint.
When the load torque increases, the speed setpoint is reduced proportionately when the
droop function is active, which means that the single drive within a group (two or more
mechanically connected motors) is relieved when the torque becomes too great.
Figure 7-14 Speed controller
The optimum speed controller setting can be determined via the automatic speed controller
optimization function (p1900 = 1, rotating measurement).
If the moment of inertia has been specified, the speed controller (Kp, Tn) can be calculated by
means of automatic parameterization (p0340 = 4). The controller parameters are defined in
accordance with the symmetrical optimum as follows:
Tn = 4 x Ts
Kp = 0.5 x r0345 / Ts = 2 x r0345 / Tn
Ts = Sum of the short delay times (includes p1442 and p1452).

If vibrations occur with these settings, the speed controller gain (Kp) will need to be reduced
manually. Actual-speed-value smoothing can also be increased (standard procedure for
gearless or high-frequency torsion vibrations) and the controller calculation performed again
because this value is also used to calculate Kp and Tn.
The following relationships apply for optimization:
• If Kp is increased, the controller becomes faster, although overshoot is increased.
However, signal ripples and vibrations in the speed control loop will increase.
• Although reducing Tn will also speed up the controller, it will increase overshoot.
When setting speed control manually, you are advised to define the dynamic response via Kp
(and actual-speed-value smoothing) first, so that the integral time can subsequently be
reduced as much as possible. Please remember that closed-loop control must also remain
stable in the field-weakening range.
To suppress any vibrations that occur in the speed controller, it is usually only necessary to
increase the smoothing time in p1452 for operation without an encoder or p1442 for
operation with an encoder, or reduce the controller gain.
The integral output of the speed controller can be monitored via r1482 and the limited
controller output via r1508 (torque setpoint).
Note
Reduced dynamic response for encoderless operation
In comparison with speed control with an encoder, the dynamic response of drives without
an encoder is significantly reduced. The actual speed is derived by means of a model
calculation based on the converter output variables for current and voltage that have a
corresponding interference level. To this end, the actual speed must be adjusted by means of
filter algorithms in the software.
Speed controller response when a brake is opened

After a motor has been a magnetized, "Open brake" is controlled. The value that the BICO
input delivers defines the speed controller response:
• BICO input p1475 (torque setting value for the motor holding brake) supplies a value of 0:
– The speed controller I component is immediately enabled; this means that the system
can respond to a slipping load and establish a holding torque.
– Depending on the parameter assignment, the speed setpoint remains inhibited until
the brake opening time has elapsed (p1275.6 = 0) - or until the brake feedback signal
is received (p1275.6 = 1).
• BICO input p1475 (torque setting value for the motor holding brake) supplies a value ≠ 0:
– The speed controller I component is held at the specified setting value until the "Brake
open" feedback signal is received.
– Only then are the speed controller I component and the speed setpoint enabled.

Function diagram
FP 6040 Speed controller with/without encoder
Parameters
• r0062 CO: Speed setpoint after the filter

• r0063 CO: Actual speed value smoothed
• p0340 Automatic calculation of motor/control parameters
• r0345 Rated motor startup time
• p1442 Speed controller actual speed value smoothing time
• p1452 Speed controller actual speed value smoothing time (without encoder)
• p1460 Speed controller P gain adaptation speed lower
• p1462 Speed controller integral time adaptation speed lower
• p1470 Speed controller encoderless operation P gain
• p1472 Speed controller encoderless operation integral time
• p1475 CI: Speed controller torque setting value for motor holding brake
• p1478 CI: Speed controller integrator setting value
• r1482 CO: Speed controller I torque output
• r1508 CO: Torque setpoint before supplementary torque
• p1960 Rotating measurement selection
Examples of speed controller settings

A few examples of speed controller settings with vector control without encoders (p1300 =
20) are provided below. These should not be considered to be generally valid and must be
checked in terms of the control response required.
• Fans (large centrifugal masses) and pumps
Kp (p1470) = 2 … 10
Tn (p1472) = 250 … 500 ms
The Kp = 2 and Tn = 500 ms settings result in asymptotic approximation of the actual
speed to the setpoint speed after a setpoint step change. During many simple control
procedures, this is satisfactory for pumps and fans.
• Stone mills, separators (large centrifugal masses)
Kp (p1470) = 12 … 20
Tn (p1472) = 500 … 1000 ms

• Kneader drives
Kp (p1470) = 10
Tn (p1472) = 200 … 400 ms
Note
Check speed control gain
We recommend checking the effective speed control gain (r1468) during operation. If this
value changes during operation, the Kp adaptation is being used (p1400.5 = 1). Kp
adaptation can if necessary be deactivated or its behavior changed.
• When operating with encoder (p1300 = 21)

A smoothing value for the actual speed value (p1442) = 5 … 20 ms ensures quieter
operations for motors with gear units.
7.4.4.1 Speed controller pre-control (integrated pre-control with balancing)
Description
The command behavior of the speed control loop can be improved by calculating the
accelerating torque from the speed setpoint and connecting it on the line side of the speed
controller. This torque setpoint mv is applied directly as an additive reference variable on the
input side/supply side of the current controller by means of adaptation elements (enabled via
p1496).
The torque setpoint (mv) is calculated from:
mv = p1496 x J x (dn/dt) = p1496 x p0341 x p0342 x (dn/dt)
The motor moment of inertia p0341 is calculated when commissioning the drive system. The
factor p0342 between the total moment of inertia J and the motor moment of inertia must
be determined manually or by optimizing the speed controller. The acceleration is calculated
from the speed difference over the time dn/dt.
Note
When using speed controller optimization
When optimizing the speed controller, the ratio between the total moment of inertia and that
of the motor (p0342) is determined and acceleration precontrol scaling (p1496) is set to
100 %.
If p1400.2 = p1400.3 = 0, then the pre-control balancing is automatically set.

Figure 7-15 Speed controller with pre-control
When correctly adapted, when accelerating, the speed controller only has to compensate
disturbance variables in its control loop. This is achieved with a relatively minor controlled
variable change at the controller output. Speed setpoint changes, on the other hand, are
carried out without involving the speed controller and are, therefore, performed more
quickly.
The effect of the pre-control variable can be adapted according to the application using the
weighting factor p1496. For p1496 = 100 %, precontrol is calculated according to the motor
and load moment of inertia (p0341, p0342). A balancing filter is used automatically to
prevent the speed controller acting against the injected torque setpoint. The time constant of
the balancing filter corresponds to the equivalent delay time of the speed control loop. Speed
controller pre-control is correctly set (p1496 = 100%, calibration using p0342) if the I
component of the speed controller (r1482) does not change while ramping-up or ramping-
down in the range n > 20 % x p0310. Thus, pre-control allows a new speed setpoint to be
approached without overshoot (prerequisite: torque limiting does switch in and the moment
of inertia remains constant).
If the speed controller is pre-controlled by means of injection, the speed setpoint (r0062) is
delayed with the same smoothing time (p1442 or p1452) as the actual value (r1445). This
ensures that no target/actual difference (r0064) occurs at the controller input during
acceleration, which would be attributable solely to the signal propagation time.
When speed pre-control is activated, the speed setpoint must be specified continuously or
without a higher interference level (avoids sudden torque changes). An appropriate signal
can be generated by smoothing the speed setpoint or activating ramp-function generator
rounding p1130 – p1131.
The startup time r0345 (Tstartup) is a measure for the total moment of inertia J of the machine
and describes the time during which the unloaded drive can be accelerated with the rated
motor torque r0333 (Mmot,rated) from standstill to the rated motor speed p0311 (nmot,rated).
r0345 = Tstartup = J x (2 x π x nmot,rated) / (60 x Mmot,rated) = p0341 x p0342 x (2 x π x p0311) / (60
x r0333)

If these supplementary conditions are in line with the application, the starting time can be
used as the lowest value for the ramp-up or ramp-down time.
Note
Setting the ramp-function generator
The ramp-up and ramp-down times (p1120; p1121) of the ramp-function generator in the
setpoint channel should be set accordingly so that the motor speed can track the setpoint
during acceleration and braking. This will optimize the function of speed controller pre-
control.
The acceleration precontrol using a connector input (p1495) is activated by the parameter
settings p1400.2 = 1 and p1400.3 = 0. p1428 (dead time) and p1429 (time constant) can be
set for balancing purposes.
Function diagram
FP 6031 Precontrol balancing reference/acceleration model
Parameter
• p0311 Rated motor speed

• r0333 Rated motor torque
• p0341 Motor moment of inertia
• p0342 Ratio between the total and motor moment of inertia
• r0345 Rated motor startup time
• p1400.2 Acceleration pre-control source
• p1428 Speed pre-control balancing dead time
• p1429 Speed pre-control balancing time constant
• p1496 Acceleration pre-control scaling
• r1518 Acceleration torque

7.4.4.2 Reference model
Description
The reference model is activated with p1400.3 = 1.
The reference model is used to emulate the speed control loop with a P speed controller.
The loop emulation can be set in p1433 to p1435. It becomes effective if p1437 is connected
to the output of the model r1436.
The reference model delays the setpoint-actual value deviation for the integral component of
the speed controller so that settling (stabilizing) operations can be suppressed.
The reference model can also be externally emulated and the external signal entered via
p1437.
Figure 7-16 Reference model
Function diagram
FP 6031 Precontrol balancing reference/acceleration model
Parameter
• p1400.3 Reference model speed setpoint I component

• p1433 Speed controller reference model natural frequency
• p1434 Speed controller reference model damping
• p1435 Speed controller reference model dead time
• r1436 Speed controller reference model speed setpoint output
• p1437 Speed controller reference model I component input

7.4.4.3 Speed controller adaptation
Description
With the speed controller adaptation, any speed controller oscillation can be suppressed.
The speed-dependent Kp_n/Tn_n adaptation is activated as default setting. The required
values are automatically calculated when commissioning and for the rotating measurement.
If, in spite of the automatic calculation, speed oscillations occur, then the Kp_n component
can also be tuned (optimized) using the free Kp_n adaptation. The free Kp_n adaptation is
activated by connecting a signal source at p1455. The factor calculated from this is multiplied
by the Kp_n value of the speed-dependent adaptation. The range of action of the free Kp_n
adaptation is set using parameters p1456 to p1459
In addition, using p1400.6 = 1, the Tn_n component of the speed-dependent adaptation can
be tuned. The Tn_n value of the speed-dependent adaptation is divided by the factor of the
free adaptation.
The Kp_n/Tn_n adaptation can be deactivated with p1400.5 = 0. As a consequence, the
dynamic reduction of the speed controller is deactivated.
Figure 7-17 Kp_n/Tn_n adaptation

Example of speed-dependent adaptation
Figure 7-18 Example of speed-dependent adaptation
For operation without encoder, a higher value is in p1464 than in p1465. As a consequence,
the behavior is inverted: Kp increases with increasing speed and Tn decreases.
Special case, encoderless operation in the field-weakening range

In encoderless operation, dynamic reduction for the field-weakening range can be activated
with p1400.0 = 1.
Kp/Tn ∼ flux setpoint
Kp/Tn decreases proportionally with the flux setpoint (minimum: factor 0.25).
This dynamic reduction is activated to reduce the controller dynamic response in the field-
weakening range. Up to the field-weakening range, the higher controller dynamic of the
speed controller is kept.
Function diagram
FP 6050 Speed controller adaptation (Kp_n/Tn_n adaptation)
Parameters
• p1400.5 Speed control configuration: Kp/Tn adaptation active

• p1400.6 Speed control configuration: Free Tn adaptation active
• p1470 Speed controller encoderless operation P gain
• p1472 Speed controller encoderless operation integral time

Free Kp_n adaptation

• p1455 Speed controller P gain adaptation signal
• p1456 Speed controller P gain adaptation lower starting point
• p1457 Speed controller P gain adaptation upper starting point
• p1458 Adaptation factor lower
• p1459 Adaptation factor upper
• p1466 CI: Speed controller P gain scaling
Speed-dependent Kp_n/Tn_n adaptation (VC only)
• p1460 Speed controller P gain adaptation speed lower
• p1461 Speed controller Kp adaptation speed, upper scaling
• p1462 Speed controller integral time adaptation speed lower
• p1463 Speed controller Tn adaptation speed, upper scaling
• p1464 Speed controller adaptation speed lower
• p1465 Speed controller adaptation speed upper
Dynamic response reduction field weakening (encoderless VC only)
• p1400.0 Speed control configuration: Automatic Kp/Tn adaptation active
7.4.4.4 Droop Function
Description
Droop (enabled via p1492) ensures that the speed setpoint is reduced proportionally as the
load torque increases.
The droop function has a torque limiting effect on a drive that is coupled to a different speed
(e.g. guide roller on a material web). In connection with the torque setpoint of a leading
speed-controlled drive, a very effective load distribution can also be implemented. With the
appropriate setting (in contrast to torque control or load distribution with overcontrol and
limitation), this load distribution can even handle a smooth mechanical coupling or if slip
should occur.
This method is only suitable to a limited extent for drives that are accelerated and braked
with significant changes in speed.
The droop feedback is used, for example, in applications in which two or more motors are
operated with a common shaft and fulfill the above requirements. It limits the torque
differences that can occur as a result of the coupling by appropriately modifying the speeds
of the individual motors. The load on the drive is reduced when the torque is excessively
high.

Figure 7-19 Speed controller with droop
Precondition
• All connected drives must be operated with vector and speed control (with or without
speed actual value encoder).
• The setpoints at the ramp function generators of the mechanically connected drives must
be identical; the ramp function generators must have identical ramp-up and ramp-down
times.
Function diagram
FP 6030 Speed setpoint, droop
Parameters
• r0079 Total speed setpoint

• r1482 Speed controller I torque output
• p1488 Droop input source
• p1489 Droop feedback scaling
• r1490 Droop feedback speed reduction
• p1492 Droop feedback enable
• r1508 Torque setpoint before supplementary torque

7.4.4.5 Open actual speed value
Description
Via parameter p1440 (CI: speed controller, speed actual value) is the signal source for the
speed actual value of the speed controller. The unsmoothed actual speed value r0063[0] has
been preset as the signal source in the factory.
Depending on the machine, parameter p1440 can be used, for example, to switch on a filter
in the actual value channel or feed in an external actual speed value.
Parameter r1443 displays the actual speed value available at p1440.
Note
Feed in an external actual speed value
When infeeding an external actual speed value, care should be taken that the monitoring
functions continue to be derived from the motor model.
Response for speed control with an encoder (p1300 = 21)

A motor encoder must always be available for the speed or position signal of the motor
model (e.g. evaluation via SMC, see p0400). The actual speed of the motor (r0061) and the
position information for synchronous motors still come from this motor encoder and are not
influenced by the setting in p1440.
Interconnection of p1440:
When interconnecting connector input p1440 with an external actual speed value, ensure the
speed scaling is the same (p2000).
The external speed signal should correspond to the average speed of the motor encoder
(r0061).
Response for speed control without an encoder (p1300 = 20)

Depending on the transmission path of the external speed signal, dead times will accumulate;
these dead times must be taken into account in the speed controller's parameter assignment
(p1470, p1472) and can lead to commensurate losses in dynamic performance.
Signal transmission times must therefore be minimized.
P1750.2 = 1 should be set so that the speed controller is also able to operate at standstill
(closed-loop controlled operation to zero frequency for passive loads). Otherwise, at low
speeds it switches over to speed-controlled operation, so that the speed controller is switched
off and the measured actual speed no longer has an influence.

Monitoring of the speed deviation between motor model and external speed
The external actual speed (r1443) is compared with the actual speed of the motor model
(r2169). If the deviation is greater than the tolerance threshold set in p3236, after the
switch-off delay time set in p3238 expires, fault F07937 (Drive: Speed deviation motor model
to external speed) is generated and the drive switched-off corresponding to the set response
(factory setting: OFF2).
Figure 7-20 Monitoring "Speed deviation model / external in tolerance"
Function diagram
FP 6040 Vector control – speed controller with/without encoder

FP 8012 Signals and monitoring function – Torque messages, motor blocked/stalled
Parameter
• r0063[0] Actual speed value unsmoothed

• p1440 CI: Speed controller actual speed value input
• p1442 Speed controller actual speed value smoothing time
• r1443 CO: Speed controller actual speed value at actual value input
• p1452 Speed controller actual speed value smoothing time (without encoder)
• r2169 CO: Actual speed value smoothed messages
• r2199.7 Speed deviation model / external in tolerance
• p3236 Speed threshold 7
• p3237 Hysteresis speed 7
• p3238 Switch-off delay n_act_motor model = n_act_external

7.4.5 Closed-loop torque control
Description
For speed control without encoder (p1300 = 20) or speed control with encoder (p1300 = 21),
a changeover can be made to torque control (following drive) using BICO parameter p1501.
A changeover cannot be made between speed and torque control if torque control is selected
directly with p1300 = 22 or 23. The torque setpoint and/or supplementary setpoint can be
entered using BICO parameter p1503 (CI: torque setpoint) or p1511 (CI: supplementary
torque setpoint). The supplementary torque is active both for torque and speed control. This
particular feature with the supplementary torque setpoint allows a precontrol torque to be
applied for speed control.
Note
No interconnection to fixed torque setpoints
For safety reasons, connecting to fixed torque setpoints is presently not possible.
Note
Regenerative energy without feedback capability
If energy is regenerated and cannot be injected back into the line supply, then a Braking
Module with connected braking resistor must be used.
Figure 7-21 Closed-loop speed/torque control

The total of the two torque setpoints is limited in the same way as the speed control torque
setpoint. Above the maximum speed (p1082), a speed limiting controller reduces the torque
limits in order to prevent the drive from accelerating any further.
A "real" closed-loop torque control (with a speed that automatically sets itself) is only possible
in the closed-loop control range but not in the open-loop control range of the sensorless
closed-loop vector control.
In the open-loop controlled range, the torque setpoint changes the setpoint speed via a
ramp-up integrator (integrating time ~ p1499 x p0341 x p0342). For this reason, encoderless
torque control at standstill is only suitable for applications that require an accelerating torque
but no load torque (e.g. traction drives). Closed-loop torque control with encoder does not
have this restriction.
OFF responses
• OFF1 and p1300 = 22, 23
– Response as for OFF2
• OFF1, p1501 = "1" signal and p1300 ≠ 22, 23
– No separate braking response; the braking response is provided by a drive that
specifies the torque.
– The pulses are inhibited when the brake application time (p1217) expires. Standstill is
detected when the speed actual value of the speed threshold (p1226) is undershot or
when the monitoring time (p1227) started when speed setpoint ≤ speed threshold
(p1226) expires.
– Switching on inhibited is activated.
• OFF2
– Immediate pulse suppression, the drive coasts to standstill.
– The motor brake (if parameterized) is closed immediately.
• OFF3
– Switch to speed-controlled operation
– The drive is immediately braked along the OFF3 down ramp (p1135) when n_set = 0 is
entered.
– When standstill is detected, the motor brake (if parameterized) is closed.
– The pulses are inhibited when the motor brake closing time (p1217) has elapsed.
Standstill is detected when the speed actual value of the speed threshold (p1226) is
undershot or when the monitoring time (p1227) started when speed setpoint ≤ speed
threshold (p1226) expires.

Function diagram
Parameter
• p0341 motor moment of inertia

• p1499 Accelerating for torque control, scaling
• p1501 Change over between speed/torque control
• p1503 Torque setpoint
• p1511 Supplementary torque 1
• p1512 Supplementary torque 1 scaling
• p1513 Supplementary torque 2
• p1514 Supplementary torque 2 scaling
• r1515 Supplementary torque total
7.4.6 Torque limiting
Description
The torque limiting value specifies the maximum permissible torque. Different limits can be
parameterized for motoring and generating operation.
Figure 7-22 Torque limiting

• p0640 Current limit

• p1520 CO: Torque limit, upper/motoring
• p1521 CO: Torque limit, lower/regenerative
• p1522 CI: Torque limit, upper/motoring
• p1523 CI: Torque limit, lower/regenerative
• p1524 CO: Torque limit, upper/motoring, scaling
• p1525 CO: Torque limit, lower/regenerative scaling
• p1530 Power limit, motoring
• p1531 Power limit, regenerating
The currently active torque limit values are displayed in the following parameters:
• r0067 Output current maximum

• r1526 Torque limit, upper/motoring without offset
• r1527 Torque limit, lower/regenerative without offset
All of the following limits act on the torque setpoint – that is either available at the speed
controller output for closed-loop speed control or as torque input, for closed-loop torque
control. The minimum or the maximum is used for the various limits. This minimum or
maximum is cyclically calculated and is displayed in the following parameters:
• r1538 Upper effective torque limit

• r1539 Lower effective torque limit
These cyclical values therefore limit the torque setpoint at the speed controller output/torque
input or indicate the instantaneous max. possible torque. If the torque setpoint is limited,
then this is displayed using the following parameters:
• r1407.8 Upper torque limit active

• r1407.9 Lower torque limit active
Function diagram

FP 6630 Upper/lower torque limit
FP 6640 Current/power/torque limits

7.4.7 Current setpoint filters
Description
The current setpoint filters are for suppressing cyclic disturbance variables that can be
caused, for example, by mechanical vibrations in the drive train.
The current actual value filters can be set as follows:
• 2nd order lowpass (PT2: -40 dB/decade)
• General 2nd order filter
Bandstop and low-pass with reduction are converted into the parameters of the general 2nd
order filter.
The current actual value filters are activated with p1656.0 = 1 or p1656.1 = 1. The properties
of the current actual value filters are set in p1657 to p1666.
As long as changes to the data of the current setpoint filter are being made, the conversion of
the new filter data can be prevented using p1699 = 1.
When p1699 = 0 is set, the calculation will be performed and the new values applied.
Function diagrams
FP 6710 Current setpoint filters
Parameter
• p1655[0] CI: Current setpoint filter 1 natural frequency tuning

• p1655[1] CI: Current setpoint filter 2 natural frequency tuning
• p1656.0 Current setpoint filter 1 activation
• p1657 Current setpoint filter 1 type
• p1658 Current setpoint filter 1 denominator natural frequency
• p1659 Current setpoint filter 1 denominator damping
• p1660 Current setpoint filter 1 numerator natural frequency
• p1661 Current setpoint filter 1 numerator damping
• p1656.1 Current setpoint filter 2 activation
• p1662 Current setpoint filter 2 type
• p1663 Current setpoint filter 2 denominator natural frequency
• p1664 Current setpoint filter 2 denominator damping
• p1665 Current setpoint filter 2 numerator natural frequency
• p1666 Current setpoint filter 2 numerator damping
• p1699 Filter data acceptance

7.4.8 Current controller adaptation

Current controller adaptation can be used to adapt the P gain of the current controller and
the dynamic precontrol of the Iq current controller depending on the current.
The current controller adaptation is directly activated with setting p1402.2 = 1 or deactivated
with p1402.2 = 0.
Using p1959.5, it is automatically activated (p1959.5 = 1) or deactivated (p1959.5 = 0).
Figure 7-23 Current controller adaptation for p0393 < 1, with p0391 < p0392
When swapping the Iq interpolation points (e.g. for induction motors), the current controller
adaptation appears as follows:
Figure 7-24 Current controller adaptation with swapped Iq interpolation points for p0393 > 1, with
p0392 < p0391
Function diagrams
FP 6714 Vector control - Iq and Id controller
Parameters
• p0391 Current controller adaptation, starting point KP

• p0392 Current controller adaptation, starting point KP adapted
• p0393 Current controller adaptation P gain scaling
• p1402 Current control and motor model configuration
• p1703 Isq current controller precontrol scaling
• p1715 Current controller P gain
• p1717 Current controller integral time
• p1959 Rotating measurement configuration

7.4.9 Permanent-magnet synchronous motors
Description
Permanent-magnet synchronous motors without encoders are supported during operations
without encoders.
Typical applications include direct drives with torque motors, which are characterized by high
torque at low speeds, e.g. Siemens 1FW3 series torque motors. When these drives are used,
gear units and mechanical parts subject to wear can be dispensed with if the application
allows this.
WARNING
Electric shock when permanent magnet synchronous motors rotate
As soon as the motor rotates, a voltage is generated at the terminals, which when touched,
can result in death or severe injury.
• Electrically disconnect the motor when working on the converter.
• If it is not possible to disconnect the connecting cables to the motor, secure the motor so
that it cannot undesirably rotate, e.g. using a holding brake.
Features
• Field weakening of up to approx. 1.2 x rated speed (depending on the supply voltage of
the converter and motor data, also see supplementary conditions)
• Flying restart (during operation without encoders, only when a VSM module is used to
record the motor speed and phase angle)
• Speed and torque control vector
• U/f control for diagnostics vector
• Motor identification
• Speed controller optimization (rotary measurement)
Supplementary conditions
• Maximum speed or maximum torque depend on the converter output voltage available
and the back EMF of the motor (calculation specifications: EMF must not exceed Urated,
converter).
• Calculating the maximum speed:
• Depending on the terminal voltage and load cycle, the maximum torque can be taken
from the motor data sheets / configuration instructions.

• No thermal model is available for the closed-loop control of a permanent-magnet

synchronous motor. The motor can only be protected against overheating by using
temperature sensors (PTC, KTY, PT1000). To achieve a high level of torque accuracy, we
recommend a temperature sensor (KTY, PT1000) to measure the motor temperature.
Commissioning
The following sequence is recommended for commissioning:
• Configure the drive
When the drive is being commissioned using STARTER or the AOP30 operator panel, the
permanent-magnet synchronous motor must be selected. The motor data specified in the
table below must then be entered. Finally, the motor identification routine and speed
optimization (p1900) are activated. Encoder adjustment is activated automatically
together with the motor identification routine.
• Motor identification (standstill measurement, p1910)
• Speed controller optimization (rotary measurement, p1960)
Motor data for permanent-magnet synchronous motors
Table 7- 2 Motor data type plate
Parameter Description Comment

p0304 Rated motor voltage If this value is not known, the value "0" can also be entered.
Entering the correct value, however, means that the stator
leakage inductance (p0356, p0357) can be calculated more
accurately.
p0305 Rated motor current
p0307 Rated motor power
p0310 Rated motor frequency
p0311 Rated motor speed
p0314 Motor pole pair number If this value is not known, the value "0" can also be entered.
p0316 Motor torque constant If this value is not known, the value "0" can also be entered.
If the torque constant kT is not stamped on the type plate or specified in the data sheet, you
can calculate this value from the rated motor data or from the stall current I0 and stall torque
M0 as follows:
or

The optional motor data can be entered if it is known. Otherwise, this data is estimated from
the type plate data or determined by means of motor identification or speed controller
optimization.
Table 7- 3 Motor data type plate
Parameter Description Comment

p0320 Rated motor short-circuit current For field weakening characteristic
p0322 Maximum motor speed Maximum mechanical speed
p0323 Maximum motor current De-magnetization protection
p0325 Rotor position identification current 1. Phase -
p0327 Optional load angle Optional otherwise leave at 90°
p0328 Reluctance torque constant -
p0329 Rotor position identification current -
p0341 Motor moment of inertia For speed controller pre-control
p0344 Motor weight -
p0350 Stator resistance, cold -
p0356 Quadrature axis stator inductance Lq -
p0357 In-line stator inductance Ld -
Short-circuit protection
For short-circuits that can occur in the drive converter or in the motor cable, the rotating
machine would supply the short-circuit until it comes to a standstill. An output contactor can
be used for protection. This should be located as close as possible to the motor. This is
particularly necessary if the motor can still be driven by the load when a fault develops. The
contactor must be provided with a protective circuit against overvoltage on the motor side so
that the motor winding is not damaged as a result of the shutdown.
Control signal r0863.1 (VECTOR) controls the contactor via a free digital output; the
checkback contact of the contactor is connected to parameter p0864 via a free digital input.
This means that if the drive converter develops a fault with a shutdown response, at the
instant in time that the pulses are inhibited, the motor is isolated from the drive converter so
that energy is not fed back to the fault location.
Function diagram
FP 6721 Vector control - Id setpoint (PEM, p0300 = 2)

FP 6724 Vector control – field weakening controller (PEM, p0300 = 2)
FP 6731 Vector control - interface to Motor Module (PEM, p0300 = 2)

Output terminals 8
8.1 Chapter content
This chapter provides information on:
• Analog outputs
• Digital outputs
Function diagrams
the CD in the "SINAMICS G130/G150 List Manual", which provides experienced users with
detailed descriptions of all the functions.

Output terminals
8.2 TM31 analog outputs
Description
The TM31 terminal block module features two analog outputs for outputting setpoints via
current or voltage signals.
Delivery condition:
• AO0: Actual speed value: 0 – 10 V
• AO1: Actual motor current: 0 – 10 V
Preconditions
• The Power Module, CU320-2, and TM31 have been correctly installed.
• The "TM31 terminals" or "PROFIdrive+TM31" default setting was chosen during
commissioning:
STARTER: "TM31 terminals" or "PROFIdrive+TM31"

AOP30: "2: TM31 terminals" or "4: PROFIdrive+TM31"
Signal flow diagram
Figure 8-1 Signal flow diagram: analog output 0
Function diagram
FP 1840, TM31 - analog outputs (AO 0 ... AO 1)

FP 9572

Output terminals
Parameter
• p4071 TM31 analog outputs, signal source

• p4073 TM31 analog outputs, smoothing time constant
• r4074 Analog outputs, actual output voltage/current
• p4076 TM31 analog outputs, type
• p4077 TM31 analog outputs, characteristic, value x1
• p4078 TM31 analog outputs, characteristic, value y1
• p4079 TM31 analog outputs, characteristic, value x2
• p4080 TM31 analog outputs, characteristic, value y2
8.2.1 List of signals for the analog signals
List of signals for the analog outputs
Table 8- 1 List of signals for the analog outputs
Signal Parameter Unit Scaling (100% =...)

See table below
Speed setpoint before the setpoint filter r0060 rpm p2000
Motor speed unsmoothed r0061 rpm p2000
Speed actual value after smoothing r0063 rpm p2000
Output frequency r0066 Hz Reference frequency
Output current r0068 Arms p2002
DC link voltage r0070 V p2001
Torque setpoint r0079 Nm p2003
Output power r0082 kW r2004
for diagnostic purposes
System deviation r0064 rpm p2000
Modulation depth r0074 % Reference modulation depth
Torque-generating current setpoint r0077 A p2002
Torque-generating actual current r0078 A p2002
Flux setpoint r0083 % Reference flux
Actual flux r0084 % Reference flux
for advanced diagnostics
Speed controller output r1480 Nm p2003
I component of speed controller r1482 Nm p2003

Output terminals
Scaling
Table 8- 2 Scaling
Size Scaling parameter Default for quick commissioning

Reference speed 100 % = p2000 p2000 = Maximum speed (p1082)
Reference voltage 100 % = p2001 p2001 = 1000 V
Reference current 100 % = p2002 p2002 = Current limit (p0640)
Reference torque 100 % = p2003 p2003 = 2 x rated motor torque
Reference power 100 % = r2004 r2004 = (p2003 x p2000 x π) / 30
Reference frequency 100 % = p2000/60
Reference modulation depth 100 % = Maximum output voltage without over-
load
Reference flux 100 % = Rated motor flux
Reference temperature 100% = p2006 p2006 = 100°C
Example: changing analog output 0 from voltage to current output 0 ... 20 mA
Current output present at terminal 3, ground is at terminal 2
Set analog output type 0 to 0 ... 20 mA.

Output terminals
Example: changing analog output 0 from voltage to current output 0 ... 20 mA and setting the
characteristic
Current output present at terminal 3, ground is at terminal 2
Set TM31.AO_type [analog output 0] to 0 ... 20 mA.
Set TM31.AO_char. x1 to 0.00%.
Set TM31.AO_char. y1 to 0 mA.
Set TM31.AO_char. x2 to 100.00%.
Set TM31.AO_char. y2 to 20 mA.

Output terminals
8.3 TM31 digital outputs
Description
Four bi-directional digital outputs (terminal X541) and two relay outputs (terminal X542) are
available on the optional TM31 terminal block module. These outputs are, for the most part,
freely parameterizable.
Preconditions
• The Power Module, CU320, and TM31 have been correctly installed.
• The "TM31 terminals" or "Profidrive+TM31" default setting was chosen during
commissioning:
STARTER: "TM31 terminals" or "Profidrive+TM31"

AOP30: "2: TM31 terminals" or "4: Profidrive+TM31"
Signal flow diagram
Figure 8-2 Signal flow diagram: Digital outputs
Delivery condition
Table 8- 3 Digital outputs, delivery condition
Digital output Terminal Delivery condition

DO0 X542: 2,3 "Enable pulses"
DO1 X542: 5,6 "No fault"
DI/DO8 X541: 2 "Ready to start"
DI/DO9 X541: 3
DI/DO10 X541:4
DI/DO11 X541: 5

Output terminals
Selection of possible connections for the digital outputs
Table 8- 4 Selection of possible connections for the digital outputs
Signal Bit in status Parameter

word 1
1 = Ready to start 0 r0899.0
1 = Ready 1 r0899.1
1 = Operation enabled 2 r0899.2
1 = Fault present 3 r2139.3
0 = Coast to stop active (OFF2 active) 4 r0899.4
0 = Fast stop active (OFF3 active) 5 r0899.5
1 = Closing lockout active 6 r0899.6
1 = Alarm present 7 r2139.7
1 = Speed setpoint/actual deviation within the tolerance band 8 r2197.7
1 = Master control requested 9 r0899.9
1 = f or n comparison value reached or exceeded 10 r2199.1
1 = I, M or P limit reached 11 r1407.7
1 = Open holding brake 12 r0899.12
0 = Alarm, motor overtemperature 13 r2135.14
1 = Motor rotates forward (n_act ≥ 0) 14 r2197.3
0 = Motor rotates backward (n_act < 0)
0 = Alarm thermal overload in power unit (A5000) 15 r2135.15
1 = Pulses enabled r0899.11

1 = n_act ≤ p2155 r2197.1
1 = n_act > p2155 r2197.2
1 = Ramp-up/ramp-down completed r2199.5
1 = |n_act| < p2161 (preferably as n_min or n=0 message) r2199.0
1 = |M_set| < p2174 r2198.10
1 = LOCAL mode active (control via operator panel or control panel) r0807.0
1 = Motor blocked r2198.6

Output terminals

Functions, monitoring, and protective functions 9
9.1 Chapter content
This chapter provides information on:
• Drive functions:
Motor identification, efficiency optimization, quick magnetization for induction motors,
Vdc control, automatic restart, flying restart, motor changeover, friction characteristic,
armature short-circuit braking, DC braking, increase in the output frequency, pulse
frequency wobbling, runtime, simulation operation, direction reversal, unit changeover,
derating behavior with increased pulse frequency, simple brake control, energy savings
indicator for fluid-flow machines, write protection, know-how protection, emergency
operation, web server.
• Extension functions:
Technology controller, bypass function, extended brake control, extended monitoring
functions, inertia estimator
• Monitoring and protective functions:
Power unit protection, thermal monitoring functions and overload responses, blocking
protection, stall protection, thermal motor protection.
Function diagrams
the CD in the "SINAMICS G130/G150 List Manual", which provides experienced users with
detailed descriptions of all the functions.

Functions, monitoring, and protective functions
9.2 Drive functions
9.2 Drive functions
9.2.1 Motor data identification and automatic speed controller optimization
Description
Two motor identification options, which are based on each other, are available:
• Motor identification with p1910 (standstill measurement)
• Rotating measurement with p1960 (speed controller optimization)
These can be selected more easily via p1900.
• p1900 = 2 selects the motor identification (motor not rotating).
• p1900 = 1 also activates the rotating measurement; setting p1910 = 1 and p1960
depending on the current control type (p1300).
Parameter p1960 is set depending on p1300 as follows:
• p1960 = 1, if p1300 = 20 or 22 (encoderless control)
• p1960 = 2, if p1300 = 21 or 23 (control with encoder)
The measurements parameterized using p1900 are started in the following sequence after
the corresponding drive has been enabled:
1. Motor identification at standstill, after the measurement has been completed, the pulses are
inhibited and parameter p1910 is reset to 0.
2. Encoder adjustment - after the measurement has been completed, the pulses are inhibited
and parameter p1990 is reset to 0.
3. Rotating measurement - after the measurement has been successfully completed, the pulses
are inhibited and parameter p1960 is reset to 0.
4. After all of the activated measurements have been successfully completed, reset parameter
p1900 = 0.
The measurement progress can be monitored using r0047.
Completion of the individual motor data identification runs can be read via parameters r3925
to r3928.
Note
Non-volatile saving
To set the new controller setting permanently, the data must be saved with p0977 or p0971
in a non-volatile memory.
Note
The motor data identification runs only influence the currently valid motor data set (MDS).

9.2 Drive functions
WARNING
the drive.
9.2.1.1 Motor data identification
Description
Motor identification with p1910 is used for determining the motor parameters at standstill
(see also p1960: speed controller optimization):
• Equivalent circuit diagram data p1910 = 1
• Magnetization characteristic p1910 = 3
For control-related reasons, you are strongly advised to carry out motor identification
because the equivalent circuit diagram data, motor cable resistance, IGBT on-state voltage
and compensation for the IGBT lockout time can only be estimated if the data on the rating
plate is used. For this reason, the stator resistance is a very important for the stability of
sensorless vector control or for the voltage boost for the U/f characteristic.
Motor identification is essential if long supply cables or third-party motors are used. When
motor data identification is started for the first time, the following data is determined with
p1910 on the basis of the data on the rating plate:
Table 9- 1 Data determined using p1910
p1910 Induction motor Permanent-magnet synchronous motor

p1910 = 1 • Rated magnetization current (p0320) • Stator resistance (p0350)
• Stator resistance (p0350) • Stator resistance q axis (p0356)
• Rotor resistance (p0354) • Stator inductance d axis (p0357)
• Stator leakage inductance (p0356) • Drive converter valve threshold voltage (p1825)
• Rotor leakage inductance (p0358) • Converter valve interlocking times (p1828 ...
• Magnetizing inductance (p0360) p1830)
• Drive converter valve threshold voltage (p1825)
• Converter valve interlocking times (p1828 ...
p1830)
p1910 = 3 • Saturation characteristics (p0362 ... p0366) not recommended
Notice: When encoder adjustment is complete, the
motor is automatically rotated approx. one revolu-
tion in order to determine the zero marker of the
encoder.

9.2 Drive functions
Since the type plate data provides the initialization values for identification, you must ensure
that it is entered correctly and consistently (taking into account the connection type
(star/delta)) so that the above data can be determined.
It is recommended that the motor feeder cable resistance (p0352) is entered before the
standstill measurement (p1910) is performed, so that it can be subtracted from the total
measured resistance when the stator resistance is calculated (p0350).
Entering the cable resistance improves the accuracy of thermal resistance adaptation,
particularly when long supply cables are used. This governs behavior at low speeds,
particularly during encoderless vector control.
For p1909.20 = 1 (and p0352 = 0), the supply cable resistance is set from the difference of
the measured value and the default value of the automatic parameterization or the value of
the data set for list motors. The supply cable resistance then normally no needs to be
entered.
Figure 9-1 Equivalent circuit diagram for induction motor and cable
If an output filter (see p0230) or series inductance (p0353) is used, its data must also be
entered before the standstill measurement is carried out.
The inductance value is then subtracted from the total measured value of the leakage. With
sine-wave filters, only the stator resistance, valve threshold voltage, and valve interlocking
time are measured.
Note
Large spread of the rated motor impedance
Leakage values in excess of 35 to 40 % of the rated motor impedance will restrict the
dynamic response of speed and current control in the voltage limit range and in field-
weakening operation.

9.2 Drive functions
Note
Perform standstill measurement with the motor in a cold state
Standstill measurement must be carried out when the motor is cold. In p0625, enter the
estimated motor ambient temperature during the measurement (for PT1000 or KTY sensor:
set p0600, p0601 and read r0035). This is the reference point for the thermal motor model
and thermal RS/RR adaptation.
In addition to the equivalent circuit diagram data, motor data identification (p1910 = 3) can
be used for induction motors to determine the rated magnetizing current and the
magnetizing characteristic of the motor. Due to the higher accuracy, if possible these values
should be determined as part of the rotating measurement (without encoder: p1960 = 1, 3;
with encoder: p1960 = 2, 4). If the drive is operated in the field-weakening range, this
characteristic should be determined for vector control in particular. The magnetization
characteristic can be used to calculate the field-generating current in the field-weakening
range more accurately, thereby increasing torque accuracy.
Note
Results of the rotating measurement
In comparison with standstill measurement (p1910) for induction motors, rotating
measurement (p1960) allows the rated magnetization current and saturation characteristic
to be determined more accurately.
Figure 9-2 Magnetization characteristic

9.2 Drive functions
Carrying out motor identification

• Enter p1910 > 0. Alarm A07991 is displayed.
• Identification starts when the motor is switched on.
• p1910 resets itself to "0" (successful identification) or
fault F07990 is output.
• r0047 displays the current status of the measurement.
Note
Non-volatile saving
WARNING
Unexpected motor movement when identifying the motor
When the motor identification is selected, after commissioning the drive may cause the
motor to move.
the drive.
Measurement without automatic adaptation of the control parameters (p1909.17)

p1909.17 = 1 can be used, for example, to measure the motor parameters after a motor
replacement, without automatically adapting the control parameters via p0340.

9.2 Drive functions
9.2.1.2 Rotating measurement and speed controller optimization
Description
"Rotating measurement" can be activated using p1960 or using p1900 = 1.
The main difference between rotating measurement and standstill measurement is speed
control optimization, with which the drive's moment of inertia is ascertained and speed
controller is set. In addition, the saturation characteristic and rated magnetizing current of
induction motors are measured and so make a significant contribution to improving the
torque accuracy.
If rotating measurement is not to be carried out at the speed set in p1965, this parameter can
be changed before the measurement is started. Higher speeds are recommended.
The same applies to the speed in p1961, at which the saturation characteristic is determined
and the encoder test is carried out.
The speed controller is set to the symmetrical optimum in accordance with dynamic factor
p1967. p1967 must be set before the optimization run and only affects the calculation of the
controller parameters.
If, during the measurement, it becomes clear that the the drive cannot operate in a stable
manner with the specified dynamic factor or that the torque ripples are too great, the
dynamic response is reduced automatically and the result displayed in r1968. The drive must
also be checked to ensure that it is stable across the entire range. The dynamic response
might need to be reduced or the Kp_n/Tn_n adaptation for the speed controller
parameterized accordingly.
Note
Dynamic response reduced too much
If the dynamic response of the speed controller is reduced excessively because of load
oscillations, the oscillation test can also be deactivated (p1959.4 = 0).
When commissioning induction machines, you are advised to proceed as follows:

• Before connecting the load, a complete "rotating measurement" (without encoder: p1960
= 1; with encoder: p1960 = 2) should be carried out. Since the induction machine is idling,
you can expect highly accurate results for the saturation characteristic and the rated
magnetization current.
• When the load is connected, speed controller optimization should be repeated because
the total moment of inertia has changed. This is realized by selecting parameter p1960
(without encoder: p1960 = 3; with encoder: p1960 = 4).
The saturation characteristic recording is automatically deactivated in parameter p1959
during the speed tuning run.
When permanent-magnet synchronous motors are commissioned, the speed controller
should be tuned (p1900 = 3 or p1960 > 0) when the load is connected.

9.2 Drive functions
Carrying out the rotating measurement (p1960 > 0)

The following measurements are carried out when the enable signals are set and a switch-on
command is issued in accordance with the settings in p1959 and p1960.
• Encoder test
If a speed encoder is used, the direction of rotation and the pulse number are checked.
• Only for induction motors:
– Measurement of the magnetization characteristic (p0362 to p0369)
– Measurement of the magnetization current (p0320) and determination of the offset
voltage of the converter for offset compensation
– Measurement of the saturation of the leakage inductance and setting of the current
controller adaptation (p0391 to p0393)
This is automatically activated with 1LA1 and 1LA8 motors (p0300 = 11, 18) (see
p1959.5).
• Speed controller optimization
– p1470 and p1472, when p1960 = 1 (operation without encoder)
– p1460 and p1462, when p1960 = 2 (operation with encoder)
– Setting the Kp adaptation
• Acceleration precontrol setting (p1496, p1517)
• Setting for ratio between the total moment of inertia and that of the motor (p0342)
Note
Non-volatile saving
WARNING
the drive.
Note
Speed controller optimization for operation with encoder
If speed controller optimization is carried out for operation with an encoder, the control
mode will be temporarily changed over to encoderless speed control automatically, in order
to be able to carry out the encoder test.

9.2 Drive functions
9.2.1.3 Shortened rotating measurement

A normal rotating measurement cannot always be performed when the load is connected.
When switching the motor on for the first time, a short measurement of the moment of
inertia and the measurement of the magnetizing current and the saturation characteristic can
be performed with a simplified measuring procedure.
The following settings apply for the shortened rotating measurement:
• Measurement shortened (p1959.12 = 1)
• After measurement: Direct transfer to operation (p1959.13 = 1)
During the shortened rotating measurement, the drive is not ramped up to the rated speed,
but to the value set in p1965 (factory setting, 40 %). Parameter p1961 can be adjusted at the
plant, but it must be high enough to ensure that the machine has left open-loop controlled
operation. The machine should be operated in no-load operation (torque < 30% of Mrated) as
far as is possible.
During the shortened rotating measurement the saving of parameters is disabled, because
parameter adjustments are automatically made for the measurement, which are to be
reassigned after the measurement.
Measurement shortened (p1959.12 = 1)

If p1959.12 = 1 is set, a shortened rotating measurement is carried out. In this case, the
magnetizing current and moment of inertia are determined with a somewhat lower degree of
accuracy; the vibration test is no longer required.
After the end of the measurement, the drive is brought to a standstill and all the parameters
modified for performing the measurement are set to their original values.
p1959.12 has no effect on p1960 = 3, 4.
After measurement: Direct transfer to operation (p1959.13 = 1)

If p1959.13 = 1 is set, the drive is not stopped after the end of the shortened measurement,
but is instead moved to the desired setpoint speed with the set ramp up.
Since braking to standstill cannot be performed during this measurement and no pulses are
locked, no more parameters can be changed that could later be written back during
operation.
Do not change controller parameters during the measurement (p1959.11 = 1)

With the rotating measurement, the drive independently changes its speed controller
parameters during start-up. This is also performed when bits 3 (recalculate speed controller
parameters) and 4 (speed controller optimization/tuning) of parameter 1959 are not set. In
many cases, however, the decoupling of drives is linked to high cost. The loads have high
moments of inertia. The controller parameters set by the drive do not always match the drive
application and may therefore potentially cause damage to the mechanical system.
If p1959.11 = 1 is set, the recalculation of the speed controller parameters is prevented.

9.2 Drive functions
9.2.1.4 Parameters
• r0047 Motor data identification and speed controller optimization

• p1900 Motor data identification and rotating measurement
• p1909 Motor data identification, control word
• p1910 Motor data identification selection
• p1959 Rotating measurement configuration
• p1960 Rotating measurement selection
• p1961 Saturation characteristic speed to determine
• p1965 Speed controller optimization speed
• p1967 Speed controller optimization dynamic factor
• r1968 Speed controller optimization actual dynamic factor
• r1973 Rotating measurement encoder test pulse number determined
• p1980 Pole position identification procedure
• r3925 Identification final display
• r3927 Motor data identification, control word
• r3928 Rotating measurement configuration
9.2.2 Efficiency optimization
9.2.2.1 Description
For induction motors, efficiency optimization has the following advantages:
• Lower energy costs
• Lower motor temperature rise
• Reduced motor noise levels
Disadvantages of efficiency optimization
• Longer acceleration times
• More significant speed dips for torque surges
• Lower dynamic response
However, the disadvantages are only relevant if the motor must respond with a high dynamic
performance. Also when that the efficiency optimization is active, the converter motor
control prevents the motor from stalling.

9.2 Drive functions
Optimization techniques
Speed and torque are specified by the driven machine. As a consequence, the flux is the
remaining variable for optimizing the efficiency.
The efficiency of induction motors can be optimized using 2 different techniques. Both
techniques optimize the efficiency using the flux.
It only makes sense to activate efficiency optimization if the dynamic response requirements
are low (e.g. pump and fan applications).
9.2.2.2 Simple efficiency optimization (method 1)

For p1580 = 100 %, the flux in the motor under no-load operating conditions is reduced to
half of the setpoint (reference) flux (p1570/2). As soon as a load is connected to the drive,
the setpoint (reference) flux increases linearly with the load and reaches the setpoint set in
p1570 at approx. r0077 = r0331 x p1570.
Figure 9-3 Efficiency optimization
In the field-weakening range, the final value is reduced by the actual degree of field
weakening. The smoothing time (p1582) should be set to approx. 100 ms to 200 ms. Flux
differentiation (see also p1401.1) is automatically deactivated internally following
magnetization.
Figure 9-4 Basic efficiency optimization

9.2 Drive functions
9.2.2.3 Advanced efficiency optimization (method 2)

The advanced efficiency optimization generally achieves a better efficiency than the basic
efficiency optimization. With this technique, the actual motor operating point is determined
as a function of the efficiency and flux - and the flux is set to achieve the optimum efficiency.
Depending on the motor operating point, the inverter either decreases or increases the flux in
partial load operation of the motor.
Advanced efficiency optimization with flux Advanced efficiency optimization with flux
reduction reduction
The advanced efficiency optimization is deactivated in the factory setting.
To activate advanced efficiency optimization, set p1401.14 = 1.
9.2.2.4 Function diagrams, parameters
Function diagram
FP 6722 Field weakening characteristic, Id setpoint (ASM, p0300 = 1)

FP 6723 Field weakening controller, flux controller for induction motor (p0300 = 1)
Parameter
• r0077 Current setpoints, torque-generating

• r0331 Motor magnetizing current/short-circuit current (actual)
• p1401 Flux control configuration
• p1570 Flux setpoint
• p1580 Efficiency optimization
• p1582 Flux setpoint smoothing time

9.2 Drive functions
9.2.3 Fast magnetization for induction motors
Description
Fast magnetization for induction motors reduces the delay time when magnetizing.
This shorter delay time is required for applications where a change is frequently made
between various motors and one converter. After being switched to a different motor, a new
data set must be loaded in the converter and then the motor magnetized. This can result in
excessive waiting times, which can be significantly reduced by means of quick magnetization.
Features
• Rapid flux build-up by impressing a field-producing current at the current limit, which
considerably reduces the magnetization time.
• If the "Flying restart" function is activated, the excitation build-up time set in p0346 is still
used.
Commissioning
Parameter setting p1401.6 = 1 is necessary to activate fast magnetization.
This setting initiates the following sequence during motor starting:
• The maximum excitation build-up current of the induction motor (referred to the
permitted rated power module current (r0207[0])) is set using parameter p0644 (Current
limit excitation build-up induction motor).
• The field-generating current setpoint jumps to the value set in p0644 or the maximum of
Imax = 0.9 x r0067 (high limit field-generating current setpoint).
• The flux increases as fast as physically possible with the specified current.
• The flux setpoint r0083 is made to follow accordingly.
• As soon as the flux threshold value programmed in p1573 is reached (min.: 10%, max.
200%, factory setting: 100%), excitation ceases and the speed setpoint is enabled. The
flux threshold value must not be set too low for a large load as the torque-generating
current is limited during the magnetizing time.
Note
Influence of the flux threshold value
The flux threshold value set in parameter p1573 is effective only if the actual flux during
magnetization reaches the value programmed in p1573 before the time set in p0346.
• The flux is increased further until the flux setpoint in (p1570) is reached.
• The field-producing current setpoint is reduced by means of a flux controller with P gain
(p1590) and the parameterized smoothing factor (p1616).

9.2 Drive functions
Notes
When quick magnetization is selected (p1401.6 = 1), smooth starting is deactivated internally
and alarm A07416 displayed.
When the stator resistance identification function is active (see p0621 "Identification of stator
resistance after restart"), quick magnetization is deactivated internally and alarm A07416
displayed.
The parameter does not work when combined with the "flying restart" function (see p1200),
i.e. flying restart is performed without quick magnetization.
Alarms and faults
Flux controller configuration

When a function controlled using parameters p1401 and p0621 is activated, the system
checks whether any other incompatible function has already been selected. If this is the case,
alarm A07416 is displayed with the number of the parameter that is incompatible with that
of the configuration (i.e. p0621 or p1401).
As these are data-set-dependent parameters (p1401 is DDS-dependent and p0621 MDS-
dependent), the number of the data set is also specified in the alarm value.
The configuration of the flow control (p1401) has inconsistencies.
Error causes and remedies
Cause Remedy
1 = Quick magnetizing (p1401.6) for soft • Deactivate smooth starting: p1401.0 = 0
starting (p1401.0)
• Deactivate quick magnetization: p1401.6 = 0
2 = Quick magnetizing (p1401.6) for flux • Deactivate flux build-up control: p1401.2 = 0
build-up control (p1401.2)
3 = Quick magnetization (p1401.6) for Rs • Change Rs identification parameter settings:
identification (stator resistance identifica-
p0621 = 0, 1
tion) after restart (p0621 = 2)
Flux controller output limited

If the current limit (p0640) is set very low (below the rated magnetizing current value,
p0320), it is possible that the parameterized flux setpoint (p1570) is never reached.
As soon as the time in p0346 (magnetization time) is exceeded, fault F07411 is output.
Generally, the magnetization time is significantly longer than the flux build-up time
associated with quick magnetization.

9.2 Drive functions
Error causes and remedies

When fast magnetization is configured (p1401.6 = 1), the specified flux setpoint is not
reached even though the current setpoint = 90 % of maximum current.
Cause Remedy
Motor data is incorrect. Correct the motor data.
Motor data and motor connection type Check the motor connection type.
(star/delta) do not match.
Current limit in p0640 is set too low for the Correct the current limits (p0640, p0323).
motor concerned.
Induction motor (encoderless, open-loop Reduce the load on the induction motor.
controlled) at I2t limit.
Power unit rating is too low. • Possibly use a higher rating power unit.
• Check the motor feeder cable.
Function diagram
FP 6491 Flux control configuration

FP 6722 Field weakening characteristic, Id setpoint (ASM, p0300 = 1)
FP 6723 Field weakening controller, flux controller (ASM, p0300 = 1)
Parameter
• r0207 Rated power unit current

• p0320 Motor rated magnetization current / short-circuit current
• p0346 Motor excitation build-up time
• p0621 Stator resistance identification after restart
• p0640 Current limit
• p0644 Induction motor excitation current limit
• p1401 Flux control configuration
• p1570 Flux setpoint
• p1573 Flux threshold value magnetization
• p1590 Flux controller P gain
• p1616 Current setpoint smoothing time

9.2 Drive functions
9.2.4 Vdc control
Description
The "Vdc control" function can be activated using the appropriate measures if an overvoltage
or undervoltage is present in the DC link.
• Overvoltage in the DC link
– Typical cause:
The drive operates in regenerative mode and is supplying too much energy to the DC
link.
– Remedy:
By reducing the regenerative torque, the DC-link voltage is maintained within
permissible limits.
Note
Fault F30002 "DC-link overvoltage"
When switching off or during rapid load changes, if failure often arises and fault
F30002 "DC-link overvoltage" is reported, you may be able to improve the situation by
increasing the gain factor for the Vdc controller p1250 (p1290), e.g. from "1.00" to
"2.00".
• Undervoltage in the DC link

– Typical cause:
Failure of the supply voltage or infeed for the DC link.
– Remedy:
Specify a regenerative torque for the rotating drive to compensate the existing losses,
thereby stabilizing the voltage in the DC link. This process is known as kinetic
buffering.
Kinetic buffering is only possible as long as energy is generated by the movement of
the drive.

9.2 Drive functions
Properties
• Vdc control
– Comprises Vdc_max control and Vdc_min control (kinetic buffering), which are
independent of each other.
– Contains a joint PI controller. The dynamic factor is used to set Vdc_min and Vdc_max
control independently of each other.
• Vdc_min control (kinetic buffering)
– The kinetic energy of the motor is used for buffering the DC-link voltage in the event of
a momentary power failure, thereby delaying the drive.
• Vdc_max control
– Control momentary regenerative load without shutdown using "overvoltage in the DC
link".
– Vdc_max control is only recommended for a supply without active closed-loop control
for the DC link and without feedback.
Description of Vdc_min control (kinetic buffering)
Figure 9-5 Switching Vdc_min control on/off (kinetic buffering)

9.2 Drive functions
Note
Activation of kinetic buffering
Kinetic buffering must only be activated when the optional components (TM31, SMC30,
VSM, etc.) are supplied by an external voltage source.
When Vdc_min control is enabled with p1240 = 2.3 (p1280), it is activated if the power fails
when the Vdc_min switch-in level (r1246 (r1286)) is undershot. Seen generally, the
regenerative energy (braking energy) of the machine when the motor speed is reduced, is
used to support the inverter DC link voltage. This means that when Vdc_min control is active,
the motor speed no longer follows the main setpoint and can be reduced to zero. The drive
continues operating until the shutdown threshold of the DC link voltage is undershot (see
"Switching Vdc_min control on/off" <1>).
Note
Parameter specifications in brackets
All parameter specifications in parentheses refer to U/f control.
Distinction between U/f control and speed control:

• U/f control
The Vdc_min controller acts on the speed setpoint channel. When Vdc_min control is
active, the drive setpoint speed is reduced so that the drive becomes regenerative.
• Speed control
The Vdc_min controller acts on the speed controller output and affects the torque-
generating current setpoint. When Vdc_min control is active, the torque-generating
current setpoint is reduced so that the drive becomes regenerative.
If the power fails, the DC link voltage decreases due to the lack of power from the supply
system. When the DC link voltage threshold set via parameter p1245 (p1285) is reached, the
Vdc_min controller is activated. Due to the PID properties of the controller, the motor speed is
reduced to the extent that the regenerative drive energy maintains the DC link voltage at the
level set in p1245 (p1285). The kinetic energy of the drive governs the dropout characteristic
of the motor speed and, in turn, the buffering duration. For flywheel drives with high
centrifugal mass (e.g. fans), buffering can last several seconds. However, for drives with a
low centrifugal mass (e.g. pumps), buffering can lie in the range 100 – 200 ms. When the
power is restored, the Vdc_min controller is deactivated and the drive is ramped up to its
setpoint speed at the ramp-function generator ramp. As long as the Vdc_min controller is
active, an alarm A7402 (drive: DC link voltage minimum controller active) will be issued.
If the drive can no longer generate any regenerative energy (because, for example, it is
almost at a standstill), the DC link voltage continues to drop. If the minimum DC link voltage
is undershot (see "Switching Vdc_min control on/off" <1>), the drive will shut down with fault
F30003 (power unit: DC link undervoltage).
If a speed threshold set with parameter p1257 (p1297) is undershot when Vdc_min control is
active (see diagram "Switching Vdc_min control on/off" <2>), the drive is shut down with
F7405 (drive: kinetic buffering minimum speed not reached).

9.2 Drive functions
If a shutdown with undervoltage in the DC link (F30003) occurs without the drive coming to
a standstill despite the fact that Vdc_min control is active, the controller may have to be
optimized via dynamic factor p1247 (p1287). Increasing the dynamic factor in p1247
(p1287) causes the controller to intervene more quickly. The default setting for this
parameter, however, should be sufficient for most applications.
Parameter p1256 = 1 (p1296) can be used to activate time monitoring for kinetic buffering.
The monitoring time can be set in parameter p1255 (p1295). If buffering (i.e. the power
failure) lasts longer than the time set here, the drive is switched off with fault F7406 (drive:
kinetic buffering maximum time exceeded). The standard fault reaction for this fault is OFF3,
which means that this function can be used for controlled drive deceleration in the event of a
power failure. In this case, excess regenerative energy can only be dissipated via an
additional braking resistor.
Description of Vdc_max control
Figure 9-6 Activating/deactivating the Vdc_max control
The switch-on level of the Vdc_max control (r1242 or r1282) is calculated as follows:
• when the automatic switch-on level sensing is disabled (p1254 (p1294) = 0)
– ACAC device: r1242 (r1282) = 1.15 x √2 x p0210 (device supply voltage)
– DCAC device: r1242 (r1282) = 1.15 x p0210 (device supply voltage)
• when the automatic switch-on level sensing is enabled (p1254 (p1294) = 1)
r1242 (r1282) = Vdc_max - 50 V (Vdc_max: overvoltage threshold of the converter)

9.2 Drive functions
Function diagram
FP 6220 (FP 6320) Vdc_max controller and Vdc_min controller
Parameter
• p1240 (p1280) Vdc controller or Vdc monitoring configuration

• r1242 (r1282) Vdc_min controller switch-in level
• p1243 (p1283) Vdc_max controller dynamic factor
• p1245 (p1285) Vdc_min controller switch-on level (kinetic buffering)
• r1246 (r1286) Vdc_min controller switch-on level (kinetic buffering)
• p1247 (p1287) Vdc_min controller dynamic factor (kinetic buffering)
• (p1288) Vdc_max controller ramp-function generator feedback factor (V/f)
• p1249 (p1289) Vdc_max controller speed threshold
• p1250 (p1290) Vdc controller proportional gain
• p1251 (p1291) Vdc controller integral action time
• p1252 (p1292) Vdc controller derivative-action time
• (p1293) Vdc_min controller output limit (V/f)
• p1254 (p1294) Vdc_max controller automatic ON level detection
• p1255 (p1295) Vdc_min controller time threshold
• p1256 (p1296) Vdc_min controller response (kinetic buffering)
• p1257 (p1297) Vdc_min controller speed threshold
• r1258 (r1298) Vdc controller output

9.2 Drive functions
9.2.5 Automatic restart function
Description
The automatic restart function automatically restarts the converter after an undervoltage or a
power failure. The alarms present are acknowledged and the drive is restarted automatically.
The drive can be restarted using:
• The standard procedure starting from standstill, or
• Starting the drive with the flying restart function.
For drives with low moments of inertia and load torques that allow the drive to come to a
standstill within a matter of seconds (e.g., pump drives operating against a pressure
head), then starting from standstill is recommended.
Note
Drives with high moments of inertia
The flying restart function can also be activated for drives with large moments of inertia (such
as fan drives). This enables you to switch to the motor that is still rotating.
WARNING
Unexpected movement of the motor during automatic restart
If p1210 is set to values >1, the motor can be restarted automatically without the need to
issue the ON command.
In the event of prolonged power failures and when the automatic restart function is
activated (p1210 > 1), the drive may have been at a standstill for a long time and mistakenly
considered to have been switched off.
For this reason, entering the area around the drive when it is in this condition can cause
death, severe injury or material damage.
• Ensure that the EMERGENCY STOP functions are always fully functional.
Wait for the demagnetizing time

To prevent the motor from switching to phase opposition when the drive is being restarted,
there is a delay while the motor demagnetizes (t = 2.3 x motor magnetization time constant).
Once this time has elapsed, the inverter is enabled and the motor is supplied with power.

9.2 Drive functions
Automatic restart mode
Table 9- 2 Automatic restart mode
p1210 Mode Meaning

0 Disables automatic Automatic restart inactive
restart
1 Acknowledges all faults Any faults that are present, are acknowledged automatically once
without restarting the cause has been rectified. If further faults occur after faults
have been acknowledged, these will also be acknowledged au-
tomatically. A minimum time of p1212 + 1 s must expire between
successful fault acknowledgement and a fault re-occurring if the
signal ON/OFF1 (control word 1, bit 0) is at a HIGH signal level. If
the ON/OFF1 signal is set to LOW, the time between a fault being
acknowledged and another fault occurring must be at least 1 s.
With p1210 = 1, no F07320 fault is generated if the acknowl-
edgement attempt is unsuccessful, for example as the faults
occur too frequently.
4 Automatic restart after An automatic restart is only carried out, if fault F30003 has also
power failure, without occurred at the Motor Module, or there is a HIGH signal at bi-
additional startup at- nector input p1208[1], or in the case of an infeed drive object
tempts (A_Infeed), fault F06200 has occurred. If additional faults are
pending, then these faults will also be acknowledged; if this is
successful, the startup attempt will be resumed. The failure of the
CU's 24 V power supply will be interpreted as a line supply failure.
For the case that only the phase voltage fails, time monitoring
can be set using p1213.
6 Restart after fault with An automatic restart is carried out after any fault or for
additional startup at- p1208[0] = 1. If the faults occur one after the other, then the
tempts number of startup attempts is defined using p1211. Monitoring
over time can be set using p1213.
14 Restart after power As with p1210 = 4. Pending faults must be manually acknowl-
failure after manual edged.
acknowledgement This is followed by an automatic restart.
16 Restart after fault after As with p1210 = 6. Pending faults must be manually acknowl-
manual acknowledge- edged.
ment This is followed by an automatic restart.
Startup attempts (p1211) and waiting time (p1212)

p1211 is used to specify the number of startup attempts. The number is decremented
internally after each successful fault acknowledgement (line supply voltage must be restored
or the infeed signals that it is ready). Fault F07320 is output when the number of
parameterized startup attempts is reached.
If p1211 = x, x + 1 startup attempts will be made.

9.2 Drive functions
Note
Start of a startup attempt
A startup attempt starts immediately when the fault occurs.
The faults are acknowledged automatically at intervals of half the waiting time p1212.
Following successful acknowledgement and restoration of the voltage, the system is
automatically powered up again.
The startup attempt has been successfully completed if the flying restart and the motor
magnetization (induction motor) have been completed (r0056.4 = 1) and one additional
second has expired. The startup counter is not reset to the initial value p1211 until this point.
If additional faults occur between successful acknowledgement and the end of the startup
attempt, then the startup counter, when it is acknowledged, is also decremented.
Automatic restart monitoring time (p1213)

• p1213[0] = Monitoring time for restart
The monitoring time starts when the faults are detected. If the automatic
acknowledgements are not successful, the monitoring time will continue. If the drive has
not successfully restarted by the time the monitoring time expires (flying restart and
motor magnetization must have been completed: r0056.4 = 1), fault F07320 is output.
The monitoring is deactivated with p1213 = 0. If p1213 is set to a value lower than the
sum of p1212, the magnetization time r0346 and the additional delay time due to flying
restart, then fault F07320 will be generated on every restart attempt. If, for p1210 = 1,
the time in p1213 is set to a value lower than p1212, then fault F07320 will also be
generated on every restart attempt.
The monitoring time must be extended if the faults that occur cannot be immediately and
successfully acknowledged (e.g. when faults are permanently present).
For p1210 = 14, 16 manual acknowledgement of the pending fault must take place within
the time in p1213[0]. Otherwise the fault F07320 is generated after the time set.
• p1213[1] = Monitoring time for resetting the starting counter
The starting counter (see r1214) is only reset to starting value p1211 once the time in
p1213[1] has expired after a successful restart. The delay time is not effective for error
acknowledgment without an automatic restart (p1210 = 1). If the power supply fails
(blackout), the wait time only starts once the power has been restored and the Control
Unit is ramped up. The starting counter is reset to the starting value p1211, if F07320
occurred, the switch-on command is recalled and the fault acknowledged.
If starting value p1211 or mode p1210 is changed, the starting counter is immediately
updated.

9.2 Drive functions
Faults without automatic restart (p1206)

Up to 10 fault numbers for which the automatic restart should not be effective can be
selected via p1206[0...9].
The parameter is only effective if p1210 = 6 and p1210 = 16.
Parameters
• p1206[0...9] Faults without automatic restart

• p1207 BI: Automatic restart (AR) - connection to the following drive object
• p1208[0...1] BI: Automatic restart modification, infeed
• p1210 Automatic restart mode
• p1211 Automatic restart, start attempts
• p1212 Automatic restart, delay time start attempts
• p1213[0...1] Automatic restart monitoring time
• r1214 Automatic restart status
9.2.6 Flying restart
Description
The "Flying restart" function (enabled via p1200) allows the converter to switch to a motor
that is still rotating. Switching on the converter without the flying restart function would not
allow any flux to build up in the motor while it is rotating. Since the motor cannot generate
any torque without flux, this can cause it to switch off due to overcurrent (F07801).
The flying restart function first determines the speed of the drive with which V/f or vector
control is initialized. so that the converter and motor frequency can be synchronized.
During the standard start-up procedure for the converter, the motor must be at a standstill.
The converter then accelerates the motor to the setpoint speed. In many cases, however, the
motor is not at a standstill.

9.2 Drive functions
Two different situations are possible here:

1. The drive rotates as a result of external influences, such as water (pump drives) or air (fan
drives). In this case, the drive can also rotate against the direction of rotation.
2. The drive rotates as a result of a previous shutdown (e.g. OFF2 or a power failure). The drive
slowly coasts to a standstill as a result of the kinetic energy stored in the drive train
(example: induced-draft fan with a high moment of inertia and a steeply descending load
characteristic in the lower speed range).
In accordance with the setting chosen (p1200), the flying restart function is activated in the
following situations:
• Once power has been restored and the automatic restart function is active
• After a shutdown with the OFF2 command (pulse inhibit) when the automatic restart
function is active
• When the ON command is issued.
Note
Applications for flying restart function
The flying restart function must be used when the motor may still be running or is being
driven by the load to prevent shutdowns due to overcurrent (F7801).
Note
Information on flying restart function
If the value set for parameter p1203 (search speed factor) is higher, the search curve is flatter
and, as a result, the search time is longer. A lower value has the opposite effect.
In motors with a low moment of inertia, the flying restart function can cause the drive to
accelerate slightly.
In group drives, the flying restart function should not be activated due to the different
coasting properties of the individual motors.

9.2 Drive functions
9.2.6.1 Flying restart without an encoder
Description
Depending on parameter p1200, the flying restart function is started with the maximum
search speed nsearch,max once the de-excitation time (p0347) has elapsed (see diagram "Flying
restart").
nSearch,max = 1.25 x nmax (p1082)
The flying restart function behaves differently with U/f control and vector control:
• U/f characteristic (p1300 < 20):
The search speed yielded from parameter p1203 reduces the search frequency in
accordance with the motor current. The parameterizable search current (p1202) is
injected here. If the search frequency is similar to the rotor frequency, a current minimum
occurs. Once the frequency has been found, the motor is magnetized. The output voltage
during the magnetization time (p0346) is increased to the voltage value yielded from the
U/f characteristic (see "Flying restart").
• Vector control without encoder:
The motor speed is determined using the speed adaptation control loop for the electric
motor model. To begin with, the search current (p1202) is injected and then the
controller is activated starting from the maximum search frequency. The dynamic
response of the controller can be altered using the search speed factor (p1203). If the
deviation of the speed adaptation controller is not too great, the motor continues to be
magnetized for the duration parameterized in p0346.
Once the excitation build-up time (p0346) has elapsed, the ramp-function generator is set to
the actual speed value and the motor ramped up to the current setpoint frequency.
Figure 9-7 Flying restart

9.2 Drive functions
WARNING
Unexpected movement of the motor when flying restart is activated
When the flying restart (p1200) function is active, the drive may still be accelerated by the
search current despite the fact that it is at standstill and the setpoint is 0!
For this reason, death, serious injury, or considerable material damage can occur if
personnel enter the working area of a motor in this state.
Note
Flying restart without encoder for permanently-excited synchronous motors
Flying restart without encoder for permanent-magnet synchronous motors is only possible
when using a voltage sensing module VSM10 to sense the motor speed.
Flying restart without encoder for long cables

In the case of long motor cables, the procedure described above can lead to problems during
a flying restart. In such cases, the following settings can improve the flying restart function:
• Enter the cable resistance in parameter p0352 before motor data identification.
• Set parameter p1203 to at least 300%.
With this setting, flying restart takes longer than for values below 300%.
Note
Optimize the flying restart function
To optimize the flying restart, a trace recording should be used to check the function. If
necessary, you can improve the result by making settings for parameters p1202 and p1203.

9.2 Drive functions
Fast flying restart (only for induction motors)

The "Fast flying restart" function can be activated during operation without encoder (vector
control, U/f control linear and parabolic). For a fast flying restart, the initial frequency is set to
zero.
In this procedure, the flying restart function is performed successfully within a period of
approximately 200 ms.
Fast flying restart function only works under the following conditions:
• For a current controller cycle time of 250 μs or 400 μs (without motor-side filter and
without long cables)
• Up to 4x rated speed for vector control
• Up to the rated speed for U/f control
Note
The "Fast flying restart" function is only possible with induction motors.
The settings for fast flying restart are configured in the expert list.
1. The "Fast flying restart" procedure is selected by setting p1780.11 = 1.
For operation with encoder, the settings of this bit are ignored, because no fast flying
restart is possible here.
2. Fast flying restart is activated using the p1200 parameter, as with the normal flying restart.
3. For the determination of the line resistance, a motor data identification must be carried out
at standstill (p1900 = 2).
The critical parameters are the motor stator resistance (p0350) and the motor stator
leakage inductance (p0356).
For fast flying restart condition codes are the following:
• For U/f control: r1204.14 (fast flying start activated)
• For vector control: r1205.16 (fast flying restart activated) or r1205.17 (fast flying restart
finished).
Note
Search current must not be too small
If you have any problems with the fast flying restart it can be useful to set the search current
(p1202) to values > 30%. Problems can occur if the drive is operated far into the field
weakening, or if it is operated with motor-side filters or long lines.

9.2 Drive functions
Fast flying restart with voltage acquisition via VSM10

The time for the connection to a rotating induction motor can be shortened when the
terminal voltage of the motor is measured.
Settings for the fast flying restart with voltage acquisition:
1. Select the voltage measurement for the fast flying restart: p0247.5 = 1.
2. Activate the flying restart: p1200 > 0.
The following status bits indicate the characteristic of the flying restart:
1. For U/f control: r1204.15 (flying restart with VSM active)
2. For vector control: r1205.18, r1205.19, r1205.20
Note
Voltage amplitude must not be too small
If the measured voltage amplitude undershoots the 1% limit of the converter rated voltage,
the flying restart with voltage measurement is deactivated and the motor speed sought.
9.2.6.2 Flying restart with encoder
Description
The flying restart function behaves differently with V/f control and vector control:
• U/f characteristic (p1300 < 20):
Flying restart without an encoder (see Chapter "Flying restart without an encoder")
• Vector control with a speed encoder:
Since the speed is known from the start, the motor can be magnetized immediately at the
appropriate frequency. The duration of magnetization is specified in p0346. Once the
excitation build-up time has elapsed, the ramp-function generator is set to the actual
speed value and the motor ramped up to the current setpoint speed.
WARNING
Unexpected movement of the motor when flying restart is activated
When the flying restart (p1200) function is active, the drive may still be accelerated by
the search current despite the fact that it is at standstill and the setpoint is 0!
For this reason, death, serious injury, or considerable material damage can occur if
personnel enter the working area of a motor in this state.

9.2 Drive functions
9.2.6.3 Parameters
• p0247.5 Utilize the voltage measured values for flying restart

• p0352 Cable resistance
• p1200 Flying restart operating mode
• 0: Flying restart inactive
• 1: Flying restart always active (start in setpoint direction)
• 2: Flying restart active after On, error, OFF2 (start in setpoint direction)
• 3: Flying restart active after error, OFF2 (start in setpoint direction)
• 4: Flying restart always active (start only in setpoint direction)
• 5: Flying restart active after On, error, OFF2 (start only in setpoint direction)
• 6: Flying restart active after error, OFF2 (start only in setpoint direction)
• p1202 Flying restart search current
• p1203 Flying restart search speed factor
• r1204 Flying restart, U/f control status
• r1205 Flying restart, vector control status
• p1780.11 Fast flying restart with voltage model for induction motors
• p1900 Motor data identification and rotating measurement
• p1909 Motor data identification control word
Note
Set search direction for the flying restart
For p1200 = 1, 2, 3, the following applies: Search in both directions, start only in the setpoint
direction.
For p1200 = 4, 5, 6, the following applies: Search only in the setpoint direction.

9.2 Drive functions
9.2.7 Checking for a short-circuit/ground fault at a motor

When switching on the power unit, test pulses can be generated that check the connection
between the power unit and motor - or the motor winding itself - for a short-circuit or ground
fault.
Depending on the configuration in p1901, you can define as to whether only the short circuit
test is executed - or additionally, also a ground fault test (with higher current pulses).
• p1901.0 = 1
Checks for a line-line short-circuit once/always when the pulses are enabled.
• p1901.1 = 1
Checks for a a ground fault once/always when the pulses are enabled.
• p1901.2
p1901.2 = 0: The checks selected with bit 00 or bit 01 are performed once when the
pulses are enabled.
p1901.2 = 1: The checks selected with bit 00 or bit 01 are performed each time the pulses
are enabled.
The ground fault test is only possible when the motor is stationary, and is therefore only
realized when flying restart is deactivated (p1200 = 0).
The result of the checks that have been set is displayed in r1902.
The tests slightly delay motor starting, depending on what checks have been selected.
Note
The ground fault and short-circuit test are automatically deactivated as soon as a sine-wave
filter is connected, as the filter could be excited by the test pulse.

9.2 Drive functions
9.2.8 Motor changeover/selection
9.2.8.1 Description
The motor data set changeover is, for example, used for:
• Changing over between different motors
• Changing over different windings in a motor (e.g. star-delta changeover)
• Motor data adaptation
Note
Switch to a rotating motor
To switch to a rotating motor, the "flying restart" function must be activated.
9.2.8.2 Example of changing over between two motors
Preconditions
• The drive has been commissioned for the first time.
• 2 motor data sets (MDS), p0130 = 2
• 2 drive data sets (DDS), p0180 = 2
• 2 digital outputs to control the auxiliary contactors
• 2 digital inputs to monitor the auxiliary contactors
• 1 digital input to select the data set
• 2 auxiliary contactors with auxiliary contacts (1 NO contact)
• 2 motor contactors with positively-driven auxiliary contacts (1 NC contact, 1 NO contact)

9.2 Drive functions
Figure 9-8 Example of motor changeover
Table 9- 3 Settings for the motor changeover example
Parameter Settings Comment

p0130 2 Configure 2 MDS
p0180 2 Configure 2 DDS
p0186[0..1] 0, 1 The MDS are assigned to the DDS.
p0820 Digital input, DDS selection The digital input to change over the motor is selected via the
p0821 to p0824 0 DDS. Binary coding is used (p0820 = bit 0, etc.).
p0826[0..1] 1, 2 Different numbers mean different thermal models.
p0827[0..1] 0, 1 The bits of r0830 are assigned to the MDSs. If p0827[0] = 0, for
example, bit r0830.0 is set via DDS0 when MDS0 is selected.
r0830.0 and r0830.1 Digital outputs, auxiliary contac- The digital outputs for the auxiliary contactors are assigned to
tors the bits.
p0831[0..1] Digital inputs, auxiliary contacts The digital inputs for the feedback signal of the motor contac-
tors are assigned.
p0833.00 and .01 0, 0 The drive controls the contactor circuit and pulse inhibition.
Motor changeover sequence

1. Pulse suppression:
The pulses are suppressed following the selection of a new drive data set using p0820 to
p0824.
2. Open motor contactor:
Motor contactor 1 is opened (r0830 = 0) and the status bit "Motor changeover active"
(r0835.0) is set.
3. Change over drive data set:
The requested data set is activated (r0051 = data set currently effective, r0837 = requested
data set).

9.2 Drive functions
4. Energize motor contactor:

After the feedback signal (motor contactor opened) from motor contactor 1, the appropriate
bit of r0830 is set and motor contactor 2 is energized.
5. Enable pulses:
After the feedback signal (motor contactor closed) from motor contactor 2, the bit "motor
data set changeover active" (r0835.0) is reset and the pulses are enabled. The motor has
now been changed over.
9.2.8.3 Function diagram
FP 8565 Drive Data Set (DDS)

FP 8575 Motor Data Sets (MDS)
9.2.8.4 Parameters
• r0051 Drive data set DDS effective

• p0180 Drive data set (DDS) number
• p0819[0...2] Copy drive data set DDS
• p0826 Motor changeover, motor number
• p0827 Motor changeover status word bit number
• p0828 Motor changeover, feedback signal
• r0830 Motor changeover, status
• p0831 Motor changeover, contactor feedback signal
• p0833 Data set changeover configuration

9.2 Drive functions
9.2.9 Friction characteristic curve
Description
The friction characteristic is used to compensate for the frictional torque of the motor and
driven load. A friction characteristic allows the speed controller to be pre-controlled and
improves the control response..
10 points along the characteristic are used for the friction characteristic. The coordinates of
every interpolation point are defined by a speed parameter (p382x) and a torque parameter
(p383x) (point 1 = p3820 and p3830, point 10 = p3829 and p3839).
Features
• There are 10 points along the characteristic to represent the friction characteristic.
• An automatic function supports the friction characteristic plot.
• A connector output (r3841) can be interconnected as friction torque (p1569).
• The friction characteristic can be activated and deactivated (p3842).
Commissioning
Speeds for making measurements as a function of the maximum speed p1082 are pre-
assigned in p382x when commissioning the drive system for the first time. These can be
appropriately changed corresponding to the actual requirements.
The automatic friction characteristic plot can be activated using p3845. The characteristic is
then plotted the next time that it is enabled.
The following settings are possible:
• p3845 = 0 Friction characteristic plot deactivated

• p3845 = 1 Friction characteristic plot activated, all directions
The friction characteristic is plotted in both directions of rotation. The
result of the positive and negative measurement is averaged and entered
into p383x.
• p3845 = 2 Friction characteristic plot activated, positive direction
• p3845 = 3 Friction characteristic plot activated, negative direction
p3847 (friction characteristic plot warm-up period) can be used to set a time for the drive to
warm up to the specified operating temperature. During this time, the drive is brought up to
and kept at the greatest speed set for plotting the friction characteristic, so that the drive
warms up to the operating temperature. Then measurement is started with the highest
speed.

9.2 Drive functions
WARNING
Unexpected motor movement during the friction characteristic plot
When the friction characteristic is plotted, the drive can cause the motor to move. As a
result, the motor may reach maximum speed.
For this reason, entering the area around the drive when it is in this condition can cause
death, severe injury or material damage.
Function diagram
FP 7010 Friction characteristic curve
Parameter
• p3820 Friction characteristic, value n0

• ...
• p3839 Friction characteristic, value M9
• r3840 Friction characteristic status word
• r3841 Friction characteristic, output
• p3842 Activate friction characteristic
• p3843 Friction characteristic smoothing time friction moment difference
• p3844 Friction characteristic number changeover point at the top
• p3845 Activate friction characteristic plot
• p3846 Friction characteristic plot ramp-up/ramp-down time
• p3847 Friction characteristic plot warm-up period

9.2 Drive functions
9.2.10 Armature short-circuit braking, DC braking
9.2.10.1 General
The "External armature short-circuit" function for permanent-magnet synchronous motors
initiates an external contactor which short-circuits the motor via resistors when the pulses are
canceled. This reduces the kinetic energy of the motor.
The "Internal armature short-circuit braking" function for permanent-magnet synchronous
motors short-circuits a half-bridge in the power unit to control the motor power
consumption, thus braking the motor.
The "DC braking" function for induction motors injects direct current into the motor, thus
braking the motor.
9.2.10.2 External armature short-circuit braking
Description
External armature short-circuit braking is only available for synchronous motors. It is used
preferably when braking in a hazardous situation, if controlled braking via the drive is no
longer possible (for example, in the event of a power failure, an EMERGENCY OFF, etc.) or if
no regenerative infeed is used. In this case, the motor stator windings are short-circuited via
external braking resistors. This means that an additional resistance is inserted in the motor
circuit that supports reducing the kinetic energy of the motor.
The external armature short circuit is activated via p1231 = 1 (with contactor feedback signal)
or p1231 = 2 (without contactor feedback signal). It is initiated when the pulses are canceled.
This function controls an external contactor via output terminals, which then short-circuits
the motor through resistors when the pulses are canceled.
A prerequisite for the use of the external armature short circuit is the use of a permanent-
magnet synchronous motor (p0300 = 2xx).
WARNING
Motor accelerates uncontrollably for pulling loads
For pulling loads, for an armature short circuit, the motor can uncontrollably accelerate if a
mechanical brake is not additionally used. If the motor accelerates uncontrollably this can
result in severe injury or death.
• For pulling loads, only use armature short circuit braking to support a mechanical brake
(a mechanical brake is mandatory).

9.2 Drive functions
NOTICE
Material damage when using motors that are not short-circuit proof
When using motors that are not short-circuit proof, activating the external armature short-
circuit braking can damage these motors.
• Only use motors that are short-circuit proof.
• Use suitable resistors for short-circuiting.
Note
Consequences of incorrect parameterization
In case of incorrect parameterization (e.g., induction motor and external armature short-
circuit selected), fault F07906 "Armature short circuit / internal voltage protection:
Parameterization error" is output.
Function diagram
FP 7014 Technology functions - External armature short circuit
Parameters
• p0300: Mot type selection

• p1230 BI: Armature short-circuit/DC braking activation
• p1231 Armature short-circuit/DC braking configuration
• 1: External armature short-circuit with contactor feedback signal
• 2: External armature short-circuit without contactor feedback signal
• p1235 BI: External armature short-circuit, contactor feedback signal
• p1236 External armature short-circuit, contactor feedback signal monitoring time
• p1237 External armature short-circuit, delay time when opening
• r1238 CO: External armature short-circuit state
• r1239 CO/BO: Armature short-circuit/DC braking status word

9.2 Drive functions
9.2.10.3 Internal armature short-circuit braking
Description
Internal armature short-circuit braking is only available for synchronous motors. It is used
preferably when braking in a hazardous situation, if controlled braking via the drive is no
longer possible (for example, in the event of a power failure, an EMERGENCY OFF, etc.) or if
no regenerative infeed is used. In this case, the motor stator windings are short-circuited via a
half-bridge in the power unit. This means that an additional resistance is inserted in the
motor circuit that supports reducing the kinetic energy of the motor.
The internal armature short circuit is configured via p1231 = 4 and activated via p1230. It is
initiated when the pulses are canceled.
A prerequisite for the use of the internal armature short circuit is the use of a permanent-
magnet synchronous motor (p0300 = 2xx).
DANGER
Electric shock due to armature short-circuit braking
When the armature short-circuit is active, after the pulses have been cancelled all the motor
terminals are at half the DC link potential.
Contact with live parts can result in death or serious injury.
WARNING
For pulling loads, for an armature short circuit, the motor can uncontrollably accelerate if a
mechanical brake is not additionally used. If the motor accelerates uncontrollably this can
result in severe injury or death.
• For pulling loads, only use armature short circuit braking to support a mechanical brake
(a mechanical brake is mandatory).
NOTICE
Material damage by using motors that are not short-circuit proof or an incorrectly
dimensioned Power Module/Motor Module
When using motors that are not short-circuit proof, activating the external armature short-
circuit braking can damage the motors or the Power Module/Motor Module.
• Only use motors that are short-circuit proof.
• Use suitable resistors for short-circuiting.
• Dimension the Power Module/Motor Module for 1.8 times the short circuit current of the
motor.

9.2 Drive functions
Function diagram
FP 7016 Technology functions - Internal armature short circuit
Parameters

• 4: Internal armature short-circuit/DC braking
9.2.10.4 DC braking
Description
DC braking is only available for induction motors. It is used preferably when braking in a
hazardous situation, if controlled braking via the drive is no longer possible (for example, in
the event of a power failure, an EMERGENCY OFF, etc.) or if no regenerative infeed is used.
DC braking is activated via p1231 = 4, 5, 14. It can be initiated via an input signal p1230
(signal = 1) or a fault response.
WARNING
For pulling loads, when DC braking is used, during the demagnetization time, the motor can
accelerate uncontrollably. This can result in severe injury or death. An additional supporting
mechanical brake is only closed after the demagnetization time - when the motor is already
rotating - and therefore does not prevent the motor from accelerating uncontrollably.
• Do not use DC braking for pulling loads.
DC braking via an input signal
p1231 = 4 (internal armature short-circuit/DC braking)

If DC braking is activated by the digital input signal, the first step is that the pulses are
blocked for the duration of the demagnetization time (p0347) of the motor in order to
demagnetize the motor - parameter p1234 (speed at the start of DC braking) is not taken into
consideration.
Then the braking current (p1232) is applied as long as the input is initiated in order to brake
the motor or hold it at standstill.

9.2 Drive functions
Cancellation of the input signal for DC braking

If DC braking is withdrawn (p1230 = 0), then the drive returns to its selected operating mode.
The following is applicable:
• for vector control (control with and without encoder):
– If the "Flying restart" function is activated, then the drive is synchronized with the
motor frequency and then returns to closed-loop controlled operation.
– If the "Flying restart" function is not active, then the drive can only be restarted from
standstill without overcurrent fault.
In this case, when restarting the drive, you must wait until the drive has come to a
standstill.
• For U/f control:
– If the "Flying restart" function is activated, then the converter frequency is
synchronized with the motor frequency and the drive is then switched back to U/f
operation.
– If the "Flying restart" function is not activated, then the drive can only be restarted
from standstill without overcurrent fault.
In this case, when restarting the drive, you must wait until the drive has come to a
standstill.
DC braking as response to a speed threshold
p1231 = 14 (DC braking below the starting speed)
WARNING
Acceleration to the setpoint speed after DC braking
After braking, the drive accelerates to the selected setpoint speed. This can result in death,
severe injury or material damage.
• Ensure that nobody is in the danger zone and that the mechanical parts can move freely.
DC braking is initiated if a 1 signal is active at binector input p1230 during operation and the
actual speed falls below the starting speed (p1234) (the drive must have previously rotated
above p1234 plus hysteresis).
Then, after the preceding demagnetization (see p0347), the braking current (p1232) is
impressed for the time set in p1233. The drive then switches back to normal operation and
accelerates to the selected setpoint speed.
If an encoder is being used, braking will continue until the speed drops below the standstill
threshold (p1226) or the time set in p1233 is exceeded.

9.2 Drive functions
Cancellation of the input signal for DC braking

The DC braking command can be withdrawn again while braking.
• If time (p1233) was exceeded, then DC braking is inhibited and the system returns to
normal operation.
• For OFF1 and OFF3, DC braking is only executed if binector input p1230 has a 1 signal.
DC braking via a fault response still remains possible.
For operation with an encoder, the encoder signal ripple must not exceed 15 rpm in the
range of p1234.
DC braking OFF1/OFF3
Activation via p1231 = 5 (DC braking for OFF1/OFF3)
DC braking is activated if an OFF1 or OFF3 command is active. Binector input p1230 is not
active.
• If the motor speed ≥ p1234, then the motor is braked down to p1234, demagnetized (see
p0347) and switched to DC braking for time (p1233). It is then switched off.
• If the motor speed at OFF1/OFF3 is already < p1234, then the motor is immediately
demagnetized, and DC braking activated.
• If an encoder is being used, braking will continue until the speed drops below the
standstill threshold (p1226) or the time set in p1233 is exceeded.
Prematurely withdrawing the OFF1 command means that the system switches back to
normal operation.
DC braking via a fault response still remains possible.
DC braking as a fault response

Activation via p0491 = 4, p2101 = 6 (armature short-circuit, internal/DC braking)
If DC braking is activated as a fault response, the motor is initially braked in field-oriented
mode along the braking ramp up to the threshold set in p1234 (speed at the start of DC
braking). The slope of the ramp is identical with that of the OFF1 ramp (parameterized using
p1082, p1121). Subsequently, the pulses are disabled for the period in p0347
(demagnetizing time) in order to demagnetize the motor. DC braking will start for the
duration set in p1233 (DC braking duration).
• If an encoder is being used, braking will continue until the speed drops below the
standstill threshold (p1226) or the time set in p1233 is exceeded.
• If no encoder is present, only the period in p1233 is effective.
Function diagram
FP 7017 Technology functions - DC braking

9.2 Drive functions
Parameters

• p0347 Motor de-excitation time
• p0491 Motor encoder fault response: ENCODER
• p1226 Speed threshold for standstill detection
• 4: Internal armature short-circuit/DC braking
• 5: DC braking OFF1/OFF3
• 14: DC braking below starting speed
• p1232 DC braking, braking current
• p1233 DC braking duration
• p1234 Speed at the start of DC braking
• p2100 Changing the fault reaction, fault number
• p2101 Changing the fault reaction, reaction
9.2.11 Increasing the output frequency
In applications that require higher output frequencies, the pulse frequency of the converter
may have to be increased.
It may also be necessary to change the pulse frequency to prevent resonances from
occurring.
Since increasing the pulse frequency also increases the switching losses, a derating factor for
the output current must be taken into account when the drive is configured.
Once the pulse frequency has been increased, the new output currents are automatically
included in the calculation for power unit protection.
Note
Use of a sine-wave filter
Use of a sine-wave filter must be selected using p0230 = 3/4 when carrying out
commissioning. This setting fixes the output frequency to 4 kHz or 2.5 kHz (this cannot be
changed).

9.2 Drive functions
9.2.11.2 Default pulse frequencies

The specified maximum output frequencies can be achieved with the default pulse
frequencies listed below.
Table 9- 4 Maximum output frequency with default pulse frequency
Converter rating Default pulse frequency Maximum output frequency

[kW] [kHz] [Hz]
Line voltage 3 AC 380 ... 480 V
110 ... 250 2 160
315 ... 560 1,25 100
110 ... 560 1,25 100
75 ... 800 1,25 100
The pulse frequencies set in the factory are also the minimum frequencies.
The scanning times for the inputs and outputs of the customer terminal block TM31 are set in
the factory to 4000 µs. This is also the minimum limit.
9.2.11.3 Increasing the pulse frequency
Description
The pulse frequency can be increased in a virtually continuously variable manner to between
the value preassigned in the factory and the maximum pulse frequency which can be set.
Procedure
1. Parameter p0009 on the Control Unit must be set to 3 "Basic drive configuration".
2. Parameter p0112 "Sampling times default setting p0115" of the DO VECTOR must be set to 0
"Expert".
3. Any pulse frequency between 1 kHz and 2 kHz can be entered in p0113. If a higher pulse
frequency is to be set (e.g. 2.2 kHz), this value must be divided by 2 or by 4 to obtain a result
between 1 kHz and 2 kHz (e.g. 2.2 kHz divided by 2 is 1.1 kHz).
4. Not all pulse frequencies are accepted in parameter p0113; in such cases, the alarm
"Impermissible value" is output.
5. If the frequency entered in parameter p0113 is not accepted, parameter r0114[0]
recommends a different frequency that can deviate from the entered pulse frequency by
several Hertz. This frequency should be entered in p0113.

9.2 Drive functions
6. After entering the frequency in p0113, parameter p0009 on the Control Unit must be set to
0 "Ready" again.
7. The Control Unit re-initializes. After booting, the pulse frequencies recommended in
r0114[i] (i = 1, 2, ...) can be entered in parameter p1800 "Pulse frequency" of the DO
VECTOR.
Note
Entering the pulse frequency
The pulse frequency entered in p1800 must correspond precisely to the value given in
r0114[i]; otherwise, the entry will be rejected.
9.2.11.4 Maximum output frequency achieved by increasing the pulse frequency

By multiplying the basis pulse frequency (with integers), the following output frequencies
can be achieved (taking into account the derating factors):
Table 9- 5 Maximum output frequency achieved by increasing the pulse frequency
Pulse frequency Maximum output frequency

[kHz] [Hz]
1.25 100
2 160
2.5 200
≥4 300 1)
1) The maximum output frequency is limited to 300 Hz due to the closed-loop control.
9.2.11.5 Parameters
• p0009 Device commissioning parameter filter

• p0112 Sampling times pre-setting p0115
• p0113 Selects the minimum pulse frequency
• p0115 Sampling times
• p1800 Pulse frequency

9.2 Drive functions
9.2.12 Derating behavior at increased pulse frequency
Description
To reduce motor noise or to increase output frequency, the pulse frequency can be increased
relative to the factory setting.
The increase in the pulse frequency normally results in a reduction of the maximum output
current (see "Technical data/current derating depending on the pulse frequency").
When commissioning the converter, the behavior at overload is adjusted in such a manner
that the pulse frequency is variably reduced so that the required power can be obtained.
Characteristics:
• The reaction to overload depends on the setting of parameter p0290:
– p0290 = 0: Reduce output current or output frequency
– p0290 = 1: No reduction, shutdown when overload threshold is reached
– p0290 = 2, 12: Reduce the output current or output and pulse frequency (not using
I²t).
– p0290 = 3, 13: Reduce the pulse frequency (not using I²t)
• With p0290 = 2, 12 for overload, the pulse frequency (and consequently the output
frequency) is first reduced until it has decreased to the rated pulse frequency; then the
output frequency is reduced if overload continues to persist.
The rated pulse frequency is half the inverse value of the current controller clock cycle: 0.5
x 1/p0115[0].
• The pulse frequency is reduced in whole multiples based on the rated pulse frequency
(5 kHz -> 2.5 kHz -> 1.25 kHz or 4 kHz -> 2 kHz).
• After entering the maximum speed in p1082, the system automatically calculates whether
the pulse frequency is sufficient for the entered maximum speed, if necessary the pulse
frequency is increased automatically to a value that is necessary to achieve this.
For an overload condition, also for p0290 = 2, 12 or 3, 13, this new pulse frequency will
no longer be fallen below, the subsequent response (reduce output voltage or shutdown)
is initiated.
Exceptions:
• With an activated sine-wave filter (p0230 = 3, 4), this behavior is not permitted because
the pulse frequency set in the factory (2.5 kHz or 4 kHz) may not be changed.
Consequently in this case the selection possibility for the parameter p0290 is limited to "0"
and "1".
Activation of the variable pulse frequency

At commissioning the parameter p 0290 is automatically set to the value "2". This activates
pulse frequency reduction at overload.

9.2 Drive functions
Deactivation of the variable pulse frequency

By changing the parameter p0290 to "0" or "1" the variable pulse frequency is deactivated.
Function diagram
FP 8014 Signals and monitoring functions - thermal monitoring power unit
Parameter
• r0036 Power unit overload I2t

• r0037 CO: Power unit temperatures
• p0115 Sampling times for internal control loops
• p0230 Drive filter type, motor side
• p0290 Power unit overload response
• p1082 Maximum speed
• r2135.13 Fault thermal overload power unit
• r2135.15 Alarm, thermal overload power unit
9.2.13 Pulse frequency wobbling
Description
Pulse frequency wobbling is when the pulse frequency is varied slightly according to a
statistical process. The average pulse frequency value is still the value set; the statistical
variation of the instantaneous value results in a modified noise spectrum.
This procedure reduces the subjectively noticeable motor noise, especially for the relatively
low pulse frequencies set in the factory.
Pulse frequency wobbling is activated with p1810.2 = 1. The amplitude of the static
wobbulation signal can be set in the range from 0 % to 20 % using p1811.

9.2 Drive functions
Restrictions
• Pulse frequency wobbling can only be activated under the following conditions
(p1810.2 = 1):
– The drive is pulse suppressed.
– p1800 < 2 x 1000 / p0115[0]
• p1811 (Pulse frequency wobbling amplitude) can only be set under the following
conditions:
– p1802.2 = 1
– p0230 (output filter) < 3 (no sine-wave filter)
• When pulse frequency wobbling is activated and impulses are enabled, the maximum
pulse frequency (p1800) can be set as follows:
– For p1811 = 0: p1800 ≤ 2 x 1000 / p0115[0]
– For p1811 > 0: p1800 ≤ 1000 / p0115[0]
• When pulse frequency wobbling is activated and impulses are enabled, if the maximum
pulse frequency (p1800) is set to be greater than 1000 / p0115[0], then p1811 is set to 0.
• When pulse frequency wobbling is activated and impulses are suppressed, if the maximum
pulse frequency (p1800) is set to be greater than 2 x 1000 / p0115[0], then p1811 and
p1810.2 are set to 0.
Note
Disable pulse frequency wobbling
If pulse frequency wobbling is deactivated (p1810.2 = 0), then all the indices of parameter
p1811 are set to 0.
Parameter
• p1800 Pulse frequency setpoint

• p1810.2 Wobbling activated
• p1811[D] Pulse frequency wobbling amplitude

9.2 Drive functions
9.2.14 Runtime (operating hours counter)
Total system runtime

The total system runtime is indicated in r2114 (Control Unit), and comprises data from
r2114[0] (milliseconds) and from r2114[1] (days).
Index 0 indicates the system runtime in milliseconds; after reaching 86,400,000 ms (24
hours) the value is reset. Index 1 indicates the system runtime in days.
The value is saved when the system is switched off.
Once the drive unit has been switched on, the counter continues to run with the value that
was saved the last time the drive was switched off.
Relative system runtime

The relative system runtime since the last POWER ON is displayed in p0969 (Control Unit).
The value is indicated in milliseconds and the counter overflows after 49 days.
Actual motor operating hours

The motor operating hours counter p0650 (drive) is started when the pulses are enabled.
When the pulse enable is withdrawn, the counter is stopped and the value saved.
The counter is deactivated with p0651 = 0.
If the maintenance interval set in p0651 is reached, alarm A01590 is triggered. Once the
motor has been maintained, the maintenance interval must be reset.
Note
If the motor data set is switched during the star/delta changeover without the motor being
replaced, the two values in p0650 must be added to determine the correct number of motor
operating hours.
Operating hours counter for the fan

The operating hours of the fan in the power unit are displayed in p0251 (drive).
In this parameter, the number of elapsed hours can only be reset to 0 (e.g. after a fan has
been replaced).
The service life of the fan is entered in p0252 (drive).
Alarm A30042 (service life of the fan reached or exceeded) is output when this figure is
reached, and also 500 hours beforehand. Evaluation of the fault value in the alarm provides
details of the cause of the alarm.
Monitoring is deactivated with p0252 = 0.

9.2 Drive functions
Time stamp mode

The mode for the time stamp can be set via parameter p3100.
Setting Explanation
p3100 = 0 Time stamp based on operating hours
p3100 = 1 Time stamp UTC format
p3100 = 2 Time stamp operating hours + 01.01.2000
Additional setting for firmware V4.7 and higher:
With this setting the value in p3102 is used as the time stamp for the error mes-
sages. For firmware versions prior to V4.7 the time basis of p2114 was used with
the setting p3100 = 0.
Note
Time stamp settings depending on the firmware version
If a project is upgraded from firmware V4.6 to V4.7 then the time stamp settings for the old
project are retained. The times displayed for the error messages do not therefore differ from
those in the old firmware version.
If a new project is created in firmware version V4.7 and above, the factory setting for the
p3100 = 2 and therefore a different time basis for error messages. If the response required is
the one for versions older than V4.7 then p3100 = 0 should be set.
9.2.15 Simulation operation
Description
The simulation function is predominantly used to simulate the drive without a motor being
connected and without a DC link voltage. In this case, it should be noted that the simulation
mode can only be activated under an actual DC link voltage of 40 V. If the voltage lies above
this threshold, the simulation mode is reset, and a fault message F07826 is issued.
Communications with a higher-level automation system can be tested using the simulation
mode. If the drive is also to return actual values, note that it must be switched over to
encoderless operation during simulation mode. This means that large parts of the SINAMICS
software (e.g., software channel, sequence control, communications, technology function,
etc.) can be tested in advance without requiring a motor.
Another application is to test the correct functioning of the power unit. Especially for drive
units with higher power ratings 75 kW (690 V) and 110 kW (400 V), after repairs, it is
necessary to test the gating of the power semiconductors. This is done by injecting a low DC
voltage as DC link voltage (e.g., 12 V). The drive unit is then powered-up and the pulses
enabled.

9.2 Drive functions
Note
Deactivated functions in simulation mode
The following functions are deactivated in the simulation mode:
• Motor data identification
• Motor data identification, rotating without encoder
• Pole position identification
No flying restart is carried-out for V/f control and sensorless closed-loop vector control.
Note
Activating binector output r0863.1 in the simulation mode
In the simulation mode, binector output r0863.1 is set = 1. Therefore, before activating the
simulation mode, check as to whether additional devices are switched on using the signal. If
necessary, the corresponding BICO interconnection should be temporarily removed.
Commissioning
Simulation is activated using p1272 = 1; the following pre-requisites must be fulfilled:
• The drive unit must have been commissioned for the first time (default: Standard
induction motors).
• The DC link voltage must lie below 40 V (observe the tolerance of the DC link voltage
sensing).
Alarm A07825 (simulation mode activated) must be output during simulation operation.
Parameter
• p1272 Simulation operation

9.2 Drive functions
9.2.16 Direction reversal
Description
The direction of rotation of the motor can be reversed using direction reversal via p1821
without having to change the motor rotating field by interchanging two phases on the motor
and inverting the encoder signals using p0410.
Reversal via p1821 can be detected from the motor direction of rotation. The speed setpoint
and actual value, torque setpoint and actual value remain unchanged, as does the relative
position change.
A pulse inhibit must be set prior to attempting reversal.
Direction reversal can be set differently for each drive data set.
Note
Drive data set changeover with differently set direction reversal
When changing over the drive data set to differently set reversing and with pulse approval,
fault F7434 is issued.
Reversing can be observed by checking parameters r0069 (phase currents) and r0089 (phase
voltage). The absolute position reference is lost on reversal.
The output direction of rotation of the converter can be additionally reversed using p1820.
This means that the rotating field can be changed without having to interchange the power
connections. If an encoder is being used, the direction of rotation must, when required, be
adapted using p0410.
NOTICE
Unintended acceleration of the drive due to external speed actual value
When using an external speed actual value for the speed controller via p1440, positive
feedback can occur in the speed control loop. As a consequence, the drive accelerates up to
its speed limit and can be damaged.
• When using external speed actual values for the speed controller, additionally change its
polarity when reversing the direction of rotation (p1821 = 1).
WARNING
Excessively high torque due to an inappropriate phase sequence of the motor after
direction reversal
If a drive is synchronized to the line supply, when the direction is reversed, high torques can
be generated when connecting to the line supply if the phase sequence of the line voltage
does not match the phase sequence of the rotating motor. This high torque can destroy the
coupling between the motor and load and therefore result in death or severe injury.
• As a consequence, for this constellation, check the phase sequence of the VSM wiring
and correct if necessary.

9.2 Drive functions
Function diagram
FD 4704, 4715 Encoder evaluation

FD 6730, 6731 Interface to the Motor Module
Parameters
• r0069 Phase currents actual value

• r0089 Phase voltage actual value
• p0410 Encoder inversion actual value
• p1820 Reverse output phase sequence
• p1821 Direction of rotation
9.2.17 Unit changeover
Description
Parameters and process variables for input and output can be switched to a suitable units
system (SI units, US units or referenced variables (%)) with the help of the unit changeover
function.
The following constraints apply to the unit changeover:
• Unit changeover is only possible for the "VECTOR" drive object.
• Parameters of the rating plate of the drive converter or the motor rating plate can be
changed over between SI/US units; however, a per unit representation is not possible.
• Once the changeover parameter has been changed, all parameters that are assigned to a
unit group depending on this parameter are jointly changed over to the new unit.
• A separate parameter is available for selecting technological units (p0595) for the
representation of technological variables in the technology controller.
• If a changeover is made to referenced variables and the reference variable is subsequently
changed, the % value entered in a parameter will not change.
Example:
– A fixed speed of 80% corresponds, for a reference speed of 1500 rpm, to a value of
1200 rpm.
– If the reference speed is changed to 3000 rpm, the value of 80 % is retained and now
means 2400 rpm.

9.2 Drive functions
Restrictions
• When a unit changeover occurs, rounding to the decimal places is carried out. This can
mean that the original value might change by up to one decimal place.
• If a referenced form is selected and the reference parameters (e.g. p2000) are changed
retrospectively, the physical significance of some of the control parameters is also
adjusted, which can affect the control behavior.
• If the reference variables (p2000 to p2007) are changed in the offline mode in STARTER,
there is a risk that the parameter value ranges will be violated. In this case, appropriate
fault messages will be displayed when the parameters are loaded to the drive unit.
Changing over the units

The units can be changed over via the AOP30 and via STARTER.
• Unit changeover via AOP30 is always carried out immediately. Once the corresponding
parameters have been changed, the values affected are displayed in the new selected
unit.
• If STARTER is used, unit changeover can only take place in offline mode in the
configuration screen of the corresponding drive object. The new units are not displayed
until after the download ("Load project to target system") and subsequent upload ("Load
project to PG") have been completed.
Unit groups
Each parameter that can be switched is assigned to a unit group which can be switched
within certain limits depending on the group.
This assignment and the units groups for each parameter appear in the parameter list in the
SINAMICS List Manual.
The unit groups can be individually switched using 4 parameters (p0100, p0349, p0505 and
p0595).
Parameter
• p0010 Commissioning parameter filter

• p0100 IEC/NEMA mot stds
• p0349 Unit system, motor equivalent circuit diagram data
• p0505 Unit system selection
• p0595 Technological unit selection
• p0596 Technological unit reference variable
• p2000 Reference speed reference frequency
• p2001 Reference voltage
• p2002 Reference current
• p2003 Reference torque

9.2 Drive functions
• r2004 Reference power

• p2005 Reference angle
• p2006 Reference temperature
• p2007 Reference acceleration
9.2.18 Simple brake control
Description
The "Simple brake control" is used exclusively for the control of holding brakes. The holding
brake is used to secure drives against unwanted motion when deactivated.
The control command for releasing and applying the holding brake is transmitted directly to
the converter via DRIVE-CLiQ from the Control Unit, which logically combines the signals with
the system-internal processes and monitors these signals.
The drive then performs the action and controls the output for the holding brake
appropriately.
The mode of operation of the holding brake can be configured using p1215.
Figure 9-9 Sequence diagram, simple brake control
The start of the closing time for the brake depends on the expiration of the shorter of the two
times p1227 (standstill detection monitoring time) and p1228 (pulse cancellation delay
time).

9.2 Drive functions
WARNING
Improper use of simple brake control
Accidents causing serious injury or death can occur if the basic brake control is incorrectly
used.
• Do not use the basic brake control as service brake.
• Carefully observe the special technological and machine-specific conditions and
standards for ensuring personnel and machine safety.
• Take into account the risks that can result, e.g. from suspended axes.
Features
• Automatic activation by means of sequence control
• Standstill (zero-speed) monitoring
• Forced brake release (p0855, p1215)
• Application of brake for a 1 signal "Unconditionally close holding brake" (p0858)
• Application of brake after "Enable speed controller" signal has been canceled (p0856)
Signal connections
The holding brake is controlled using free digital outputs on the Control Unit or the TM31. If
necessary, control must be realized by means of a relay to connect a holding brake with
higher voltage or with higher power demand.
For this, parameter p1215 must be set to "3" (motor holding brake the same as sequence
control, connection via BICO) and the appropriate BICO parameters of the selected digital
outputs must be interconnected.
Commissioning
If p1215 is set to "0" (no brake available) during initial commissioning and a connected brake
is recognized, then simple brake control is automatically activated (p1215 = 1). In this case,
fault F07935 "Motor holding brake detected" appears and must be acknowledged.
NOTICE
Material damage due to a destroyed brake for an incorrectly set configuration
If a motor holding brake is being used, the parameter setting p1215 = "0" (no motor holding
brake available) means that the motor holding brake remains closed. The brake will be
destroyed when the motor moves.
• If there is a motor brake, set parameter p1215 to values > 1.

9.2 Drive functions
Notes on setting the release (opening) time (p1216):

• The release time (p1216) should be set longer than the actual release time of the holding
brake. As a result, the drive will not accelerate when the brake is closed.
Notes on setting the closing time (p1217):
• The closing time (p1217) should be set longer than the actual closing time of the holding
brake. As a result, the pulses are suppressed only after the holding brake is closed.
• If the closing time (p1217) is set too low compared to the actual closing time of the
holding brake, the load may drop suddenly.
• If the closing time (p1217) is set too high compared to the actual closing time of the
holding brake, the controller acts against the holding brake and thus reduces its service
life.
Function diagram
FP 2701 Simple brake control (r0108.14 = 0)
Parameter
• r0056.4 Magnetizing completed

• r0060 CO: Speed setpoint before the setpoint filter
• r0063[0...2] CO: Actual speed value
• r0108.14 Extended brake control
• p0855[C] BI: Unconditionally release holding brake
• p0856 BI: Speed controller enabled
• p0858 BI: Unconditionally apply holding brake
• r0899.12 BO: Holding brake open
• r0899.13 BO: Command, close holding brake
• p1215 Motor holding brake configuration
• p1216 Motor holding brake release time
• p1217 Motor holding brake closing time
• p1226 Threshold for standstill detection
• p1227 Standstill detection monitoring time
• p1228 Pulse suppression delay time
• p1278 Brake control diagnostic evaluation

9.2 Drive functions
9.2.19 Synchronization
Description
The "Synchronization" function and an existing VSM10 Voltage Sensing Module (to measure
the line voltage) synchronizes a motor to the line supply. The connection to the line supply or
the required contactor control can be realized using the existing bypass function or a higher-
level control system.
The use of the bypass function permits the temporary (e.g. to perform maintenance work
without system standstill) or permanent operation of the motor on the line supply.
The p3800 parameter activates the synchronization. The voltage is acquired via a VSM10
assigned to the drive (via DRIVE-CLiQ) and measures the line supply voltage.
Features
• Connector inputs for the actual voltage sensing of the motor via VSM10 (p3661, r3662)
• Setting a phase difference (p3809)
• Can be activated by parameter (p3800)
• Enable via parameter (p3802)
Function diagram
FP 7020 Technology functions - Synchronizing
Parameter
• p3800[0...n] Sync network drive activation

• p3801[0...n] Sync-line-drive drive object number
• p3802[0...n] BI: Sync network drive enable
• r3803 CO/BO: Sync network drive control word
• r3804 CO: Sync network drive target frequency
• r3805 CO: Sync network drive frequency difference
• p3806[0...n] Sync network drive frequency difference threshold value
• r3808 CO: Sync network drive phase difference
• p3809[0...n] Sync network drive phase setpoint value
• p3811[0...n] Sync network drive frequency limitation
• r3812 CO: Sync network drive correction frequency
• p3813[0...n] Sync network drive phase synchronism threshold value
• r3814 CO: Sync network drive voltage difference
• p3815[0...n] Sync network drive voltage difference threshold value
• r3819.0...7 CO/BO: Sync network drive status word

9.2 Drive functions
9.2.20 Energy saving indicator for pumps, fans, and compressors
Function of the energy savings indicator

This function determines the amount of energy used by pumps, fans, and compressors and
compares it with the interpolated energy requirement for similar equipment controlled using
conventional throttle controls.
The energy saved is calculated over the last 100 operating hours, and is displayed in kWh. For
an operating time of less than 100 hours, the potential energy-saving is interpolated up to
100 operating hours.
The flow characteristic with conventional throttle control is specified over 5 adjustable
interpolation points.
Background
In a conventionally controlled pump, fan or compressor, the flow rate of the medium is
controlled using valves or throttles. In so doing, the machine runs constantly at the rated
speed. The system efficiency decreases significantly if the flow rate is reduced by means of
valves or throttles. The pressure in the system increases. The motor also consumes energy
when the valves or throttles are completely closed, i.e. with a flow rate of Q = 0. In addition,
undesirable process-related situations can occur; for example, cavitation in the fluid flow
machine or increased temperature rise of the fluid flow machine and the medium.
As a result of variable speed operation, a drive operating under partial load conditions
consumes considerably less energy than with conventional process control using valves or
throttles. This applies in particular for pumps, fans, and compressors with parabolic load
characteristics. With SINAMICS, a closed-loop control of the flow rate or pressure is achieved
by employing closed-loop speed control of the pump, fan or compressor. As a consequence,
the plant or system is controlled close to its maximum efficiency over the complete operating
range.
In comparison to pumps, fans, and compressors, machines with linear or constant load
characteristic (e.g. conveyor drives or positive displacement pumps) have lower potential
savings.
Energy saving by using a variable speed drive

When a variable speed drive is used, the flow rate of the pump, fan, or compressor is
controlled as a function of speed. The flow rate changes proportionally with the speed of the
continuous-flow machine. Any existing valve or throttle remains open. Therefore, the
equipment works close to optimum efficiency and consumes considerably less energy,
particularly in the partial load range, than equipment controlled by means of valves or
throttles.

9.2 Drive functions
Upper characteristic:
H[%] = Head, P[%] = Flow pressure, Q[%] = Flow rate, V[%] = Volumetric flow
Lower characteristic:
P[%] = Power drawn by the conveyor motor, n[%] = Speed of conveyor motor
Interpolation points p3320 to p3329 for system characteristic with n = 100%:
P1...P5 = Power drawn, n1...n5 = Speed in accordance with variable speed motor
Figure 9-10 Energy saving potential

9.2 Drive functions
Adapting the pump, fan, or compressor characteristic

The 5 interpolation points of the pump, fan, or compressor characteristic are entered using
parameters p3320 to p3329. This characteristic can be configured individually for each drive
data set.
Table 9- 6 Interpolation points of the pump, fan, or compressor characteristic
Interpolation point Parameter Factory setting:

P: Power in %
n: Speed in %
1 p3320 P1 = 25.00
p3321 n1 = 0.00
2 p3322 P2 = 50.00
p3323 n2 = 25.00
3 p3324 P3 = 77.00
p3325 n3 = 50.00
4 p3326 P4 = 92.00
p3327 n4 = 75.00
5 p3328 P5 = 100.00
p3329 n5 = 100.00
Note
Consequences of not adjusting the pump, fan, or compressor curve
If the interpolation points of the pump, fan, or compressor curve are not adapted, the factory
setting will be used to calculate the energy saving indicator. The values of the factory setting
could then deviate from the equipment characteristic and cause incorrect calculation of the
actual energy savings.
Energy saving indication

The energy saving is displayed in parameter r0041.
By setting p0040 = 1, the value of parameter r0041 is reset to 0. Parameter p0040 is then
automatically set to 0.

9.2 Drive functions
9.2.21 Write protection
Description
Write protection is used to prevent setting parameters from being accidentally changed. No
password is required for write protection.
Activating write protection

Write protection can be activated as follows:
• With STARTER in the online mode, after selecting the drive unit via Project > Write
protection drive unit > Activate.
• Using the AOP30 operator panel via p7761 = 1.
All setting parameters involved with write protection can no longer be changed.
In STARTER all write-protected setting parameters have a gray background in the expert list
and in the operating screen forms.
If, in AOP30, an attempt is made to change a write-protected setting parameter, then this is
rejected with the corresponding error message.
Write requests from write-protected setting parameters via communication are treated in
different ways:
• Parameter changes involving class 1 controllers (controls, e.g. SIMATIC) are executed.
• Parameter changes of class 2 controllers (engineering or commissioning total, e.g.
STARTER) are not executed.
Deactivating write protection

Write protection can be deactivated as follows:
• With STARTER in the online mode, after selecting the drive unit via Project > Write
protection drive unit > Deactivate.
• Using the AOP30 operator panel via p7761 = 0.
Write protection status

The status of write protection can be displayed using parameter r7760.0:
• r7760.0 = 0: Write protection is not active
• r7760.0 = 1: Write protection is active

9.2 Drive functions
Exceptions when write protection is active

The following functions or adjustable parameters are excluded from the write protection:
• Changing the access level (p0003)
• Commissioning the parameter filter (p0009)
• Module detection via LED (p0124, p0144, p0154)
• Resetting parameters (p0972, p0976)
• Saving parameters (p0977)
• Acknowledge a fault (p2102, p3981)
• RTC time stamp, set time, synchronization (p3100, p3101, p3103)
• Master control mode selection (p3985)
• Trace (p 4700ff.)
• Function generator (p4800ff.)
• Activating/deactivating write protection (p7761)
• Identification and maintenance (p8806ff.)
• Flashing component (p9210, p9211)
Note
List of the exceptions for activated write protection
A list of the adjustable parameters which, in spite of the write protection, can be changed is
provided in the List Manual.
The list has the designation "WRITE_NO_LOCK".
Write protection for multi-master fieldbus systems

For fieldbus systems (e.g. CAN bus), which can be operated as multi-master bus systems,
when write protection is activated, all setting parameters can be accessed.
For these bus systems, parameter p7762 can be used to set the behavior when write
protection is activated:
• p7762 = 0: Write access independent of p7761
• p7762 = 1: Write access dependent on p7761
Parameter
• r7760 Write protection/know-how protection status

• p7761 Write protection
• p7762 Write protection multi-master fieldbus system access behavior

9.2 Drive functions
9.2.22 Know-how protection
The know-how protection is used, for example, so that machine manufacturers can encrypt
their configuration know-how and protect it against changes and copying.
For know-how protection, a password is required; saved data is encrypted.
When know-how protection is activated, most of the setting parameters cannot be changed
and cannot be read out. The display parameters are shown unchanged. The contents of
screen forms in STARTER are not displayed.
Know-how protection can be combined with copy protection.
Characteristics when know-how protection is activated

• Except for a small number of system parameters and the parameters specified in an
exception list, all other parameters are locked.
• The values of these parameters are not visible in the expert list and so cannot be changed.
The text "know-how protected" appears instead of the parameter values.
• Know-how protected parameters can be hidden in the expert list. This requires that the
"not know-how protected" filter is set in the "Online value" column.
• The values of display parameters remain visible.
• The contents of screen forms are not displayed when know-how protection is active.
• Know-how protection can be combined with copy protection.
• The same know-how protection is used for scripts.
• The drive unit as well as the drive objects and DCC charts therein can be displayed as
inconsistent.
Know-how protection with and without copy protection.

To protect the drive unit settings against unauthorized copying, in addition to know-how
protection, you can also activate copy protection.
Know-how protection without copy protection is possible with or without memory card.
Know-how protection with copy protection is only possible with a Siemens memory card.
Know-how protection without copy protection

The drive unit can be operated with or without a memory card. The drive unit settings can be
transferred to other drive units using a memory card, an operator panel or STARTER.
Know-how protection with basic copy protection

The drive unit can only be operated if the associated memory card with the drive unit settings
is inserted into it. After replacing a drive unit, to be able to operate the new one with the
settings of the replaced drive unit without knowing the password, the memory card must be
inserted in the new drive unit.

9.2 Drive functions
Know-how protection with extended copy protection

The drive unit can only be operated if the associated memory card with the drive unit settings
is inserted into it. It is not possible to insert and use the memory card in another drive unit
without knowing the password.
Functions, which can be executed when know-how protection is active

The following functions can be executed although know-how protection is active:
• Restoring factory settings
• Saving parameters
• Acknowledging faults
• Displaying faults and alarms
• Displaying the history of faults and alarms
• Reading out the diagnostic buffer
• Switching over to the control panel (complete control panel functionality: Fetch master
control, all buttons and setting parameters)
• Displaying created acceptance documentation
Note
List of the exceptions when know-how protection is activated
A list of the adjustable parameters which, in spite of activated know-how protection, can be
changed, is provided in the List Manual.
The list has the designation "KHP_WRITE_NO_LOCK".
Functions, which cannot be executed when know-how protection is active

The following functions cannot be executed when know-how protection is active:
• Download the drive device settings
• Auto Servo Tuning
• Stationary or rotating measurement of the motor data identification
• Clear fault and alarm buffer
• Generating acceptance documentation for safety functions

9.2 Drive functions
Functions that can be executed optionally when know-how protection is active

The functions listed below can be executed for activated know-how protection provided
diagnostic functions were permitted when it was activated:
• Trace function
• Function generator
• Measuring functions
Setting parameters, which can only be read when know-how protection is active
The following setting parameters cannot be changed, but can be read, when know-how
protection is activated:
• Motor parameters (p0100, p0300, p0304, p0305, p0349)
• Data sets (p0120, p0130, p0140, p0150, p0170, p0180)
• Encoder type (p0400)
• Units (p0505, p0595)
• Open-loop control parameters (p0806, p0864, p0870)
• Speeds, torques (p1080, p1082, p1520, p1532)
• Reference quantities (p2000, p2001, p2002, p2003, p2005, p2006, p2007)
These parameters are shown in STARTER in the expert list with a gray background.
Note
List of the setting parameters, which can only be read when know-how protection is
active
A list of the setting parameters, which can only be read when know-how protection is
activated, are provided in the List Manual.
The list has the designation "KHP_ACTIVE_READ".
AOP30 with activated know-how protection

When know-how protection is activated, the AOP30 operator panel does not show protected
parameters.
The setting parameters, which can only be read when know-how protection is active, are
displayed. An attempt to change such an adjustable parameter, will be rejected and an error
message displayed.

9.2 Drive functions
9.2.22.2 Activating know-how protection

Know-how protection can be activated via STARTER in the online mode.
Activating know-how protection

Know-how protection is activated via STARTER in the online mode as follows:
• Select the drive unit via Project > Know-how protection drive unit > Activate.
• A dialog appears in which the following settings can be made:
– It can be selected as to whether know-how protection should be realized with or
without copy protection:
- Without copy protection (factory setting)
- With basic copy protection (permanently linked to the memory card)
- With extended copy protection (permanently linked to the memory card and Control
Unit)
Further, you can select whether diagnostic functions are permitted.
– By clicking on Define an additional dialog opens, in which the password can be
entered and acknowledged. The password must comprise at least one character, it may
not exceed a length of 30 characters, all characters are permissible.
Note
Password check for know-how protection and Windows language settings
A change to the Windows language settings after activating know-how protection can
cause errors for a subsequent password verification. As a consequence, only characters
from the ASCII character set should be used for the password.
– If Copy from RAM to ROM is selected, the settings are permanently saved after exiting
the screen form.
If Copy RAM to ROM is not selected, then the settings for know-how protection are
only saved non-retentively and are no longer available after the system has been
switched on the next time.
• After the dialog is closed with OK, know-how protection is activated and the data
(parameters, DCC) are saved as encrypted data on the memory card. If larger data
volumes must be encrypted, then a progress display informs you that the encryption or
the activation of the know-how protection is still running.
In all protected adjustable parameters in the expert list, instead of the parameter value,
the text "know-protected" is shown.
Note
For published DCC parameters, the entry "--" appears in the expert list instead of the text
"Know-how protected".

9.2 Drive functions
Note regarding know-how protection
Note
Safely deleting existing unencrypted data
If unencrypted data have already been saved on the memory card before saving encrypted
data, then this data will not be safely deleted. No special deletion method is applied in order
to completely and finally remove unencrypted data from the memory card.
In this case, users must ensure that the unencrypted data are safely and reliably deleted, for
instance by using special PC-based tools.
9.2.22.3 Deactivating know-how protection

Know-how protection can be deactivated via STARTER in the online mode.
Deactivating know-how protection

Know-how protection is deactivated via STARTER in the online mode as follows:
• Select the drive unit via Project > Know-how protection drive unit > Deactivate.
• A dialog appears in which the know-how protection can be temporarily or permanently
deactivated:
– Temporary deactivation:
Select temporary and enter the password, accept using OK.
– Final deactivation:
Select final and enter the password, select Copy RAM to ROM and accept using OK.
Note when deactivating know-how protection
Note
Permanently or temporarily deactivating know-how protection
Temporary deactivation means that know-how protection is active again after a POWER ON.
Data is still saved on the memory card in an encrypted form. The existing password is used to
reactivate know-how protection.
Final deactivation means that know-how protection is no longer active, even after a POWER
ON. Data is saved on the memory card in an unencrypted form (i.e. data is no longer
encrypted).
Even if know-how protection has been finally deactivated, it can still be reactivated when
required.

9.2 Drive functions
9.2.22.4 Changing the know-how protection password

Changing the password for know-how protection can be realized via STARTER in the online
mode.
Changing the password
The password for know-how protection can be changed as follows via STARTER in the online
mode:
• Select the drive unit via Project > Know-how protection drive unit > Change password.
• A dialog appears in which the following entries can be made:
– Enter the old password
– Enter the new password
The password must comprise at least one character, it may not exceed a length of 30
characters, all characters are permissible.
– Confirm the new password
• If Copy from RAM to ROM is selected, the settings are permanently saved after exiting
the screen form.
If Copy RAM to ROM is not selected, then the settings for know-how protection are only
saved non-retentively and are no longer available after the system has been switched on
the next time.
After closing the dialog with OK, the changed password is activated.
9.2.22.5 OEM exception list

Setting parameters can be excluded from know-how protection using the OEM exception list.
The parameters contained in the exception list can also be read and changed even when
know-how protection is activated.
The exception list can only be generated via the expert list in STARTER in online mode.
Parameter p7763 is used to define the number of parameters that should be contained in the
exception list. In parameter p7764, in each index, the parameter number that should be
included in the exception list is entered. The exception list can be separately generated for
each drive object.
Note
Changing parameter p7763
After parameter p7763 has been changed, a "Load to PG" must be realized so that the index
field of parameter p7764 is adapted.
In the factory setting, the exception list of the Control Unit consists of one parameter
(p7763 = 1). Parameter p7766 (password input) is entered into parameter p7764[0] of the
Control Unit; this means that when know-how protection is activated, the password for
deactivation can be entered.

9.2 Drive functions
Note
Absolute know-how protection
If parameter p7766 is removed from the exception list and know-how protection is activated,
then a password can no longer be entered. This means that know-how protection can no
longer be deactivated!
In this case, the drive can only be accessed by restoring the factory settings.
9.2.22.6 Loading data with know-how protection to the file system

Data with know-how protection can be directly loaded or saved to the file system from the
drive unit. The activated know-how protection ensures that the data cannot be forwarded to
unauthorized third parties.
The following end user applications are conceivable:
• Encrypted SINAMICS data must be adapted.
• The memory card is defective.
• The Control Unit of the drive is defective.
In these cases, the machine builder (OEM) can create a new encrypted subproject (for a drive
object) using STARTER. The serial number of a new memory card or a new Control Unit is
saved in this encrypted data set in advance.
Application example: Control Unit is defective
Scenario:
The Control Unit of the end user is defective.
The machine manufacturer (OEM) has the end user's STARTER project files of the machine.
Sequence:
1. The end user sends the OEM the serial numbers of the new Control Unit (r7758) and the
new memory card (r7843), and specifies the machine in which the Control Unit is installed.
2. The OEM loads the STARTER project data of the end user.
3. The OEM initiates the STARTER function "Load to file system".
– The OEM specifies whether the data is to be stored zipped or unzipped.
– The OEM makes the settings required for know-how protection.
4. The OEM sends the stored data to the end user (e.g. by e-mail).

9.2 Drive functions
5. The end user copies the "User" directory to the new memory card and inserts it into the new
Control Unit.
6. The end user switches on the drive.
When powering up, the Control Unit checks the new serial numbers and deletes the
values p7759 and p7769 if they match.
After it has powered-up without any errors, the Control Unit is ready for operation. The
know-how protection is active.
If the serial numbers do not match, then fault F13100 is output.
If required, the end user must re-enter the changed parameters from the OEM exception
lists.
Calling the "Load to File System" dialog box

1. Select the drive unit in the project navigator of the STARTER project.
2. Call the "Load to file system" function.
The "Load to File System" dialog box opens.
Specifying general memory data

The "General" tab is displayed automatically when the dialog is called.
1. The "Standard storage" is activated as storage option in the factory setting.
If the data is to be saved compressed, then the "Save compressed" (.zip archive) must be
selected.
2. The "Store additional data on the target device" option is deactivated in the factory setting.
This option must be activated, if additional data, for example, program sources, are to be
saved to the target device.
– Optionally, graphic chart data can be saved using the "Including DCC chart data".
3. The target directory to save the data is entered by specifying the path in the appropriate
input field - or by clicking on "Browse" and selecting the directory in the file system.

9.2 Drive functions
Configuring know-how protection

The settings for know-how protection are made under the "Drive unit know-how protection"
tab.
1. Click the "Drive unit know-how protection" tab.
Option "Without know-how protection" is active as default setting. If data is to be saved
without protection (not recommended), then at this point, the dialog can be exited with
"OK" or "Cancel".
2. If data is to be saved with protection, then one of the following options must be activated:
– "Know-how protection without copy protection"
Inputs required: "New password" and "Confirm password"
– "Know-how protection with basic copy protection (permanently linked to the memory
card)"
Inputs required: "New password", "Confirm password" and "Memory card specified
serial number"
– "Know-how protection with extended copy protection (permanently linked to the
memory card and CU)"
Inputs required: "New password", "Confirm password" "Memory card specified serial
number" and "Control Unit specified serial number"
The input fields for the passwords and the serial numbers become active (depending on
the activated know-how protection option).
The active input fields are mandatory inputs.
3. The required password is entered in the "New password" field and reentered in the "Confirm
password" field.
4. If the appropriate input fields are active, enter the serial number:
– The serial number of the new memory card for which the data is intended
– The serial number of the Control Unit
5. If, in spite of active know-how protection, diagnostic functions are also to be permitted,
then option "Allow diagnostic functions (trace and measuring functions)" must be activated.
This allows the trace function, the measuring function and the function generator to be
used despite know-how protection.
6. Click "OK" to confirm the settings you made.
Result
The activation of the know-how protection starts the encryption of the subproject data. If
larger data volumes must be encrypted, then a progress display informs you that the
encryption or the activation of the know-how protection is still running. Using this encrypted
data, an end user can install a new memory card for his drive unit.

9.2 Drive functions
9.2.22.7 Overview of important parameters
• r7758[0...19] KHP Control Unit serial number

• p7759[0...19] KHP Control Unit reference serial number
• r7760 Write protection/know-how protection status
• p7763 KHP OEM exception list number of indices for p7764
• p7764[0...n] KHP OEM exception list
• p7765 KHP memory card copy protection
• p7766[0...29] KHP password input
• p7767[0...29] KHP password new
• p7768[0...29] KHP password confirmation
• p7769}0...20] KHP memory card reference serial number
• r7843[0...20] Memory card serial number
KHP: Know-how protection (know-how protection)
9.2.23 Essential service mode
Description
Essential Service Mode (ESM) enables the the drive to be operated for as long as possible if
needed, even when errors occur.
For instance, this function can be used in applications in which an undesirable standstill can
cause significant subsequent damage.
For example, if a fire breaks out in a large building, a fan should extract smoke and other
gases so that people can be evacuated.
Features
• In essential service mode, the automatic restart function is activated irrespective of the
setting of parameter p1210. The result of this is that the drive is automatically switched
back on if an OFF2 occurs due to an internal fault.
• In essential service mode, converter shutdown due to faults is suppressed. Exceptions to
this rule are faults that would lead to the destruction of the device.
• Essential service mode is triggered by a continuous signal via the digital input, which is set
as a signal source via p3880.

9.2 Drive functions
• If the drive is in bypass mode when essential service mode is activated, the motor will
automatically switch over to converter operation. In this case, there is no back
synchronization to the converter, i.e. the "Flying restart" function must be activated
(p1200 = 1).
• When essential service mode ends, the converter returns to normal operation and
responds according to the currently pending commands and setpoints.
Note
Loss of warranty for a converter operated in the essential service mode
Should essential service mode apply, the customer can no longer lodge any claims for
warranty.
The essential service mode is an exceptional state, and is not suitable for continuous
operation.
The essential service mode can have the following effects:
• Exceptionally high temperatures inside and outside the converter
• Open fire inside and outside the converter
• Emissions of light, noise, particles, gases.
The converter logs the essential service mode, and the faults that occur while in essential
service mode in a password-protected memory. This data is only accessible for the service
and repair organization.
WARNING
Active essential service mode and selection of "Safe Torque Off"
Using the essential service mode and simultaneously using a Safety Integrated function can
lead to the essential service mode being exited, and can therefore result in death or severe
injury, e.g. when a smoke extraction system fails.
The background information is that the motor must continue to run as long as possible
during essential service mode and also must not be shut down by a Safety Integrated
function.
• Do not use a Safety Integrated function simultaneously with the essential service mode.
Activating essential service mode

Essential service mode is activated through a continuous signal to the digital input, which is
set as a signal source via p3880.
Only the digital inputs on the Control Unit are permitted as signal sources:
• r0722.x (high active)
• r0723.x (low active)
x = 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 20, 21

9.2 Drive functions
Note
Special features when the essential service mode is either activated or deactivated
Signal p3880 = 1 activates the essential service mode:
• If the motor was switched off by activating essential service mode, the converter switches
the motor on.
• If the motor was switched on by activating essential service mode, the converter switches
the speed setpoint to "ESM setpoint source".
Signal p3880 = 0 deactivates the essential service mode:
• If one of the OFF1, OFF2 or OFF3 commands is active, the converter switches off the
motor.
• If neither OFF1, OFF2 nor OFF3 is active, the converter switches the speed setpoint from
the "ESM setpoint source" to the normal setpoint source.
Note
Emergency operation is not fully functional until one of the following requirements is met:
• p3880 is wired offline; a POWER ON of the CU must then be performed after the
download to the device.
• p3880 is wired online.
Setpoint source for essential service mode

When essential service mode is activated, the setpoint which is set via p3881 is switched to:
• p3881 = 0: Last known setpoint (r1078 smoothed) - factory setting
• p3881 = 1: Fixed speed setpoint 15 (p1015)
• p3881 = 3: Fieldbus
• p3881 = 5: TB30/TM31 analog input
• p3881 = 6: Enable of response OFF1
• p3881 = 7: Enable of response OFF2
When using the analog setpoint value from TB30/TM31 (p3881 = 5) the setpoint is used that
is set via p3886.
If, when setting p3881 = 3 or 5, the setpoint is lost (e.g. cable break or fieldbus failure), then
the alternative setpoint that is set via p3882 is automatically switched to:
• p3882 = 0: Last known setpoint (r1078 smoothed) - factory setting
• p3882 = 1: Fixed speed setpoint 15 (p1015)
• p3882 = 2: Maximum speed (p1082)

9.2 Drive functions
Direction of rotation in essential service mode

Depending on your system, you may have to invert the setpoint locally for essential service
mode. To do this, parameter p3883 can be linked with a free digital input:
• Signal in p3883 = 0: The direction of rotation of the setpoint parameterized for essential
service mode is maintained
• Signal in p3883 = 1: Reversal of the direction of rotation of the setpoint parameterized for
essential service mode
Automatic restart
In essential service mode, if the automatic restart function is activated and the settings of
parameters p1206, 1210 and p1212 then have no effect. The settings in p1211 (automatic
restart, start attempts) and p1213 (automatic restart monitoring time) are still effective. The
setting of p1213 [0] = p1213 [1] = 0.0 s allows an unlimited number of startup attempts.
Bypass as a fallback strategy

If the converter fails due to an internal, non-acknowledgeable fault, essential service mode is
no longer possible. In this case, the motor can be operated via the controller in bypass mode
in the event of converter failure. For this purpose, bit 7 of the status word for the automatic
restart (r1214.7) must be interconnected with p1266.
The bypass function must also be activated without synchronization (p1260 ≠ 3), and the
changeover source for the bypass must be set to "Bypass via signal (BI: p1266)"
(p1267.0 = 1).
You must ensure that r1214.7 is also set, otherwise there will be no changeover to the line
supply. To end the bypass mode, the essential service mode must be deactivated. There is no
switchover to converter operation (drive coasts down).
Automatic switchover to encoderless operation for encoder faults

By automatically pre-assigning parameter p0491 (motor encoder fault response ENCODER)
with the value "1", then the drive maintains the emergency service mode even when there is
an encoder fault.
In addition, setting values "5" or "6" can be used. These setting values are lost after a power
interruption at the Control Unit - or when the drive restarts. After this, the drive continues to
operate with automatic pre-assignment (p0491 = 1).
WARNING
Pending drive standstill in the essential service mode (ESM)
As a result of the automatic drive switchover to encoderless operation, controlled starting of
the drive after a power interruption can fail, in spite of the fact that the automatic restart
function (AR) is activated. If the drive comes to a standstill, then this can cause severe injury
or death, e.g. for ventilation and smoke extraction systems.
• To avoid the motor coming to a standstill, when the essential service mode (ESM) is
activated, switchover the drive to encoderless operation.

9.2 Drive functions
Display of activations/faults of essential service mode

The number of activations and the errors that occurred during essential service mode are
displayed in parameter r3887:
• r3887[0]: Number of activations of essential service mode
• r3887[1]: Number of faults during essential service mode
The counter statuses in r3887 can be reset with p3888 = 1.
Function diagram
FP 3040 Setpoint channel - Direction limitation and direction reversal

FP 7033 Technology functions - essential service mode (ESM)
Parameters
• p3880 BI: ESM activation signal source

• p3881 ESM setpoint source
• p3882 ESM alternative setpoint source
• p3883 BI: ESM direction of rotation signal source
• p3886 CI: ESM setpoint TB30/TM31 analog input
• r3887[0...1] ESM activations/faults, quantity
• p3888 ESM activations/faults, reset quantity
• r3889.0...10 CO/BO: ESM status word
9.2.24 Web server
General information
The web server is a web-based commissioning tool for SINAMICS converters, and provides
information on a connected SINAMICS converter via its web pages.
You can open the web server via the Internet browser of your commissioning device.
The most important functions of the Web server are described below. However, the "Files"
and "User´s Area" display areas of the Web server are described in detail in a separate
document (see "User-defined Web pages"). For this reason, these display areas are not
described in this description.

9.2 Drive functions
Note
Total memory size of user files
The sum of the data stored via the web server must not exceed the total memory size of
100 MB. The total memory size of the stored data influences the backup times. The larger the
data quantity, the longer the backup takes.
Configuration
The web server is already active in the factory settings.
The web server is either directly configured in the web server or via p8986 (web server
configuration).
Figure 9-11 Web server structure
Communication
The web server supports unencrypted communication via the HTTP protocol as well as
encrypted communication via the HTTPS protocol.
The type of transmission is defined by entering the corresponding address.
For safety reasons, secure transmission can be forced by deactivation of the http port.

9.2 Drive functions
Accessing the web server

The web server is accessed via the following interfaces:
• Service interface X127 of the CU320-2 DP or CU320-2 PN Control Unit
• PROFINET interface X150 of the CU320-2 PN
Access via the service interface X127

The service interface has the following default setting:
• IP address: 169.254.11.22
• Subnet mask: 255.255.0.0
• Access via the service interface is activated by default in the web server.
• Data transfer via HTTP (factory setting) and HTTPS connection possible.
NOTICE
Risk of software manipulation with HTTP connection
The HTTP protocol transfers data without encryption. This facilitates, for example,
password theft and can lead to data manipulation by unauthorized parties and thus to
damage.
• Limit access to HTTPS connections so that all data is transferred in encrypted form.
Interface X127 can also be connected to an external WLAN access point, and from this an IP
address can be sourced via DHCP. This is just a temporary situation, and is only used for
commissioning and/or diagnostics with mobile devices. The subsequently described security
notes must be carefully observed when doing this.
Note
Service interface X127 is intended for commissioning and diagnostics, which means that it
The following restrictions apply in addition:
• Only local access is permissible.
• No networking - or only local networking is permissible in a locked control cabinet.
must be applied so that misuse through sabotage, data manipulation by unqualified persons
and intercepting confidential data is completely ruled out.

9.2 Drive functions
Access via PROFINET interface X150 of the CU320-2 PN

PROFINET interface X150 of the CU320-2 PN is preset as follows:
• Access via the PROFINET interface is deactivated by default in the web server.
• The PROFINET interface can be activated using parameter p8984[1]. Because parameter
p8984[1] is a BICO parameter, the interface can also be activated via a key-operated
switch.
• Data transfer is only possible via an HTTPS connection.
Note
Security measures for communication via PROFINET
In accordance with the Defense in Depth concept, PROFINET must be separated from the
remaining system/plant network. Access to cables and possibly open connections must be
implemented in a protected fashion, such as in a control cabinet.
Note
The IP addresses of the service and PROFINET interfaces must not be in the same subnet.
Access protection and access rights

Access protection in the web server comprises the following protective measures:
• User roles
Access to the converter is possible in the web server via 2 defined user roles
("Administrator" and "SINAMICS") with different access rights.
We recommend that secure passwords are created to access SINAMICS converters.
• Access rights to parameter lists
Access rights to parameter lists in the web server are defined or changed by the
"Administrator" user.
• Administrator
Access The "Administrator" user has full access to the converter data displayed in the web
rights server.
Password To access the converter, an administrator password must be assigned.
• SINAMICS
Access The "SINAMICS" user has restricted access rights in the default settings of the web
rights server.
Password As default, a password is not assigned for "SINAMICS" users.
To avoid access by unauthorized persons, we recommend that a password is as-
signed.

9.2 Drive functions
The access rights for the "Administrator" and "SINAMICS" users are assigned as follows in the
default settings:
Display areas and functions Administra- SINAMICS

tor
W/E R W/E R
Start page Password input x x
Diagnostics Drive objects and components x x
Messages > Search and filter x x
Messages > Acknowledge faults x x
Diagnostics buffer > Search and filter x x
Communication x x
Trace files x x
Parameter Create list x x
List properties > Access rights > Read parameter values x x 1)
List properties > Access rights > Change parameter values ... x x 2)
• ... Add parameters
• ... Delete parameters
• ... Change parameter values
List properties > Access rights > Change list x x 1)
• ... Enter / change list names
• ... Delete list
List properties > Change position of list x x
Backup and restore Back up parameters x 3)
Restore parameters from file x 3)
Restoring the factory setting x 3)
System Settings > User accounts x 3)
Settings > Configure IP connections x 3)
Apply for x x
Firmware update x 3)
Save changes (RAM to ROM) x x
Call Support x x
W/E = Write/Edit, R = Read

1) The parameter lists generated by user "SINAMICS" are automatically assigned access rights "Read parameter values" and
"Change list". The automatically assigned access rights can be extended or restricted by the "Administrator" user. The
"Administrator" user can assign the access right "Change parameter values" to a parameter list created by the "SINAMICS"
user and at the same time deactivate the automatically assigned access right "Change list". As a consequence, a
"SINAMICS" user can change individual values in the corresponding parameter list; however, he cannot add additional pa-
rameters to the list or delete parameters that have already been added.
2) The function and the associated operating options are displayed for both users. However, the access rights for the func-
tion can only be assigned by user "Administrator".
3) The function and the associated operating options are not displayed for the "SINAMICS" user and are solely reserved for
the "Administrator" user.
The settings of the write and know-how protection also apply to the drive parameters and
configuration when accessing the web server.

9.2 Drive functions
Supported browsers
Access to the web server is possible with the following Internet browsers:
Commissioning device Operating system Supported browsers

PG/PC Windows (as of Version 7)1) • Microsoft Internet Explorer (Version 11)
• Microsoft Edge (Version 14)
• Mozilla Firefox (Version 62)
• Google Chrome (Version 69) 2)
Tablet, Apple iOS (from Version 12.0) • Google Chrome (Version 69)
Smartphone
• Safari (Version 12.0)
Android (from Version 4.4.4) • Google Chrome (Version 69)
1) We recommend the use of Windows 10, Version 1803, from April 2018 or later.
2) We recommend the use of Google Chrome in the supported version 69.
Reloading pages
If the web server does not respond, or if buttons are inactive or are not labeled, although the
converter is not fully utilized with internal calculations, load the web server pages again as
follows:
• With the PG/PC via <F5>
• With the smartphone or tablet via
Write and know-how protection

Write or know-how protection that has been set is also active for access via the web server.
The set protective measure cannot be configured or deactivated in the web server.
If know-how protection is set, then no values are displayed in the parameter list of the web
server; instead, a note referring to the fact that know-how protection is activated.

9.2 Drive functions
Dialog screen forms in the web server

You make most of the important converter settings in the dialog screen forms of the web
server.
The web pages are structured as follows:
① Navigation bar
② Status bar
• Top: Device designation, drop-down list for the language selection and to log out, display of
the security level
• Bottom: Name of the converter (if entered), status of the converter, fault and warning mes-
sages
③ Main window (depending on navigation)
Figure 9-12 Example of a dialog screen

9.2 Drive functions
Change parameter values

The parameters displayed in the web server are subdivided into adjustable parameters (p...)
and display parameters (r...). The parameters are shown in the same way in parameter lists
and dialog screen forms.
Adjustable parameters
You change the parameter values for adjustable parameters in the parameter lists and dialog
screen forms by means of input fields ② or drop-down lists ③.
① Parameter (opened)
② "Parameter" column
③ "Value" column (values can be changed via drop-down lists or input fields.)
④ "Unit" column
⑤ Input field (invalid values are displayed with red background)
Figure 9-13 Example: Display of adjustable parameters
Input of invalid values

The web server responds to the input of invalid values in the following ways:
• If the input of an invalid value is confirmed with "Enter", a corresponding message is
shown (e.g. "Value invalid") and the value is automatically set to the previously set value.
The invalid value is not applied.
• If the input of an invalid value is confirmed with "Enter", the value is automatically set to
the default value. If the previously set value differs from the default value, the previously
set value is overwritten.
The invalid value is not applied.
Display parameters
Display parameters are for information purposes only and cannot be changed.
Administrator password
For the first login to the web server, the assignment of an administrator password is
mandatory.
When you have logged on successfully, you will receive advanced access to all web server
functions as "Administrator" user.

9.2 Drive functions
Proceed as follows to assign an administrator password:

1. Switch the converter on.
2. Connect the commissioning device (PG/PC, tablet or smartphone) to service interface X127
on the converter using a LAN cable.
Note
Observe time window
Once you have connected the commissioning device with service interface X127 at the
converter, assign a password within 10 minutes.
If a password is not assigned within this time window, the display automatically switches
to the login screen of the web server. To redisplay dialog "Define administrator", proceed
as follows:
• Switch the converter off and on again.
OR
• Withdraw the LAN cable from service interface X127, and then reinsert it into the
service interface.
3. Open the browser in your commissioning device.

4. Call the web server using the converter IP address (e.g. 169.254.11.22).
If you have not assigned a password, then the following dialog is displayed.

9.2 Drive functions
5. Enter an administrator password in the "Password" field.
Note
Secure passwords
To protect against unauthorized access, by a hacker, for example, select a secure
password that comprises:
• At least 8 characters
• Uppercase and lowercase letters
• Numbers and special characters (e.g.: ?!%+ ...)
It is not permissible that the password is used elsewhere.
Note
Checking passwords
When passwords are entered, the converter only checks the password length. A check is
not made for special characters or uppercase/lowercase letters!
6. Repeat the password in the "Confirm password" field.

If the input is not identical in both fields, the "OK" button is not enabled.
7. Confirm the password that you entered with "OK".
The display changes to the login page of the web server.
8. Log in using the administrator password.
9. Remember the password or store it in a secure place that cannot be accessed by
unauthorized persons.
User-defined Web pages

You can extend the standard Web pages for the Web server using some self-created Web
pages. The SIEMENS Industry Online Support contains detailed information on:
• SINAMICS S120: Creating user-defined web pages
• SINAMICS S120: User-defined sample pages

9.2 Drive functions
9.2.24.2 Starting the web server

In order to be able to work with the web server, you must be logged in as "SINAMICS" or
"Administrator" user.
You must be logged in as "Administrator" to perform commissioning tasks.
Precondition
• The web server is already active in the factory settings.
• A functional commissioned drive project.
• PG/PC is connected to the Control Unit (to the target device).
Starting the web server

1. Enter the IP address of the SINAMICS drive in the address line of the browser (e.g.
http://169.254.11.22).
Confirm with <Return>.
The login page of the web server is displayed in the browser.
2. Enter the name of the user ("Administrator" or "SINAMICS") in the "User name" field.
3. Then enter the user password.
If you have still not assigned a password for user "SINAMICS", you can skip entering the
password.
In the factory setting, only user "SINAMICS" is enabled, and no password has been assigned.
4. Make sure that you have entered the user name and password correctly.
5. Click "Login".
You are logged into the web server.

9.2 Drive functions
Layout of the start page

After you have logged in, the web server will display the following start page:
① Navigation bar
② Status bar
• Top: Device designation, drop-down list for logout and language selection, display of the
security level
• Bottom: Name of the converter (if entered), status of the converter, fault and warning mes-
sages
③ Main window (depending on navigation)
④ Action bar
• Support information
• Save changes retentively (RAM to ROM)
Figure 9-14 Structure of the web server

9.2 Drive functions
Navigation
The web server provides the following options for navigating:
• Multi-level navigation bar:
① Main menu as icon

② Main menu in text format
③ Submenus of the active main menu
• Via drop-down lists:
① Main menu in text format

② Submenu in text format
③ Submenu of the active submenu

9.2 Drive functions
For navigation on mobile devices, the screen forms can also be called in the active view of
the web server via drop-down lists ① / ②.
Call support information

You call the support addresses for the SINAMICS drive via the action bar of the web server.
Click "Support" in the action bar of the web server.
The following information is shown:
Figure 9-15 Support addresses (example)
You can use the links to open or copy the required support addresses.
Click "OK" to close the dialog.
Saving settings retentively

Changed settings are saved in the volatile memory of the converter, and retained when the
web server is closed.
The settings are lost when the drive is switched off. Therefore, save the changes retentively
on a regular basis (also known as "RAM to ROM"). You can save the changed settings and
optimization results both for each individual commissioning step and after commissioning is
complete.
Proceed as follows to save changed settings retentively:
1. Click "Save changes" in the footer of the web server .
A save dialog box is displayed.
2. Click "Save". The settings are saved retentively.

9.2 Drive functions
User logout
Proceed as follows to log out of the web server:
1. Click the user symbol in the status bar of the web server.
2. Click on "Log out".
If you have changed the settings, a save prompt appears.
3. If you wish to retentively save the settings, click on "Save settings".
The settings are saved retentively and you are logged out of the web server.
OR
4. If you want to discard the settings, click "Log out without saving". The settings are discarded
and you are logged out of the web server.
Automatic logout
If you do not perform any actions in the web server, you are automatically logged out after
10 minutes.
Settings made are not lost as a result of automatic logout. You must log in again to be able to
access the web server.
Proceed as follows to save settings made retentively after automatic logout:
1. Log in to the web server.
2. Click on "Save changes" .
An appropriate dialog is displayed.
3. Click "Save". The settings are saved retentively.
9.2.24.3 Web server configuration
Setting or changing user accounts

The "SINAMICS" and "Administrator" user roles have been predefined and cannot be changed.
Settings
The following settings are available for the user roles:
User role Setting Note

Administrator Change password The user cannot be disabled in the web server.
SINAMICS Enable/lock user The user is enabled by default.
Assign password The user must be enabled.
Change/delete password –

9.2 Drive functions
Requirements for secure passwords

To protect against unauthorized access, by an attacker, for example, generate a secure
password that consists of:
• At least 8 characters
• Uppercase and lowercase letters
• Numbers and special characters (e. g. ?!%+ etc.)
• Different passwords for different user roles
Checking the password

The length of the password is checked by the converter. There is no check for special
characters or upper and lower case letters.
Remember the passwords or store the passwords in a safe place that cannot be accessed by
unauthorized persons.
Assigning the password for the "SINAMICS" user

Before you assign the password for the "SINAMICS" user, the user must be enabled.
Procedure
To assign the password for the "SINAMICS" user, proceed as follows:
1. Select "System > Settings" in the navigation.
2. Select the "User Accounts" tab.
3. For the "SINAMICS" user, click on "Assign password...".
A corresponding dialog opens.
4. Enter the password as requested in the dialog.
5. Click "Assign" to complete the operation.
If the entered parameters match, the dialog is closed.
6. To save the settings retentively, click .
Changing the password for the "SINAMICS" user

To change the password for the "SINAMICS" user, proceed as follows:
3. Click "Change password..." for the "SINAMICS" user.
4. Enter the passwords as requested in the dialog.
5. Click "Change" to complete the operation.
If the entered parameters match, the dialog is closed.

9.2 Drive functions
Deleting the password for the "SINAMICS" user

Proceed as follows to delete the "SINAMICS" user:
3. Click "Delete password..." for the "SINAMICS" user.
4. Enter the current password as requested in the dialog.
5. Click "Delete" to complete the operation.
If the password was entered correctly, the dialog is closed.
9.2.24.4 More information

A detailed description of the complete principle of operation and handling the web server is
included in the "Function Manual SINAMICS S120 Drive Functions". This manual is available as
additional documentation on the customer DVD supplied with the device.

9.3 Extended functions
9.3.1 Technology controller
Description
The "technology controller" function module allows simple control functions to be
implemented, e.g.:
• Level control
• Temperature control
• Dancer roll position control
• Pressure control
• Flow control
• Simple control without higher-level control
• Tension control
The technology controller features:
• Two scalable setpoints
• Scalable output signal
• Separate fixed values
• Integrated motorized potentiometer
• The output limits can be activated and deactivated via the ramp-function generator.
• The D component can be switched to the system deviation or actual value channel.
• The motorized potentiometer of the technology controller is only active when the drive
pulses are enabled.
The technology controller is designed as a PID controller, whereby the differentiator can be
switched to the control deviation channel or the actual value channel (factory setting). The P,
I, and D components can be set separately.
A value of 0 deactivates the corresponding component. Setpoints can be specified via two
connector inputs. The setpoints can be scaled via parameters p2255 and p2256.
A ramp-function generator in the setpoint channel can be used to set the setpoint ramp-
up/ramp-down time via parameters p2257 and p2258. The setpoint and actual value channel
each have a smoothing element. The smoothing time can be set via parameters p2261 and
p2265.
The setpoints can be specified via separate fixed setpoints (p2201 to p2215), the motorized
potentiometer, or via the fieldbus (e.g. PROFIBUS, PROFINET).
Pre-control can be integrated via a connector input.

The output can be scaled via parameter p2295 and the control direction reversed. It can be
limited via parameters p2291 and p2292 and interconnected as required via a connector
output (r2294).
The actual value can be integrated, for example, via an analog input on the TM31.
If a PID controller has to be used for control reasons, the D component is switched to the
setpoint/actual value difference (p2263 = 1) unlike in the factory setting. This is always
necessary when the D component is to be effective, even if the reference variable changes.
The D component is only activated if p2274 > 0.
Note
Ramp-up/down time freeze
With the entry "0" sec. as power up time or ramp-down time for the ramp function generator
of the technology controller, the current values of the respective ramp function generator
will be frozen.
Commissioning
The "technology controller" function module can be activated by running the commissioning
wizard. Parameter r0108.16 indicates whether the function module has been activated.
Example: liquid level control

The objective here is to maintain a constant level in the container.
This is carried out by means of a variable-speed pump in conjunction with a sensor for
measuring the level.
The level is determined via an analog input (e.g. AI0 TM31) and sent to the technology
controller. The level setpoint is defined in a fixed setpoint. The resulting controlled variable is
used as the setpoint for the speed controller.
In this example, a Terminal Module (TM31) is used.
Figure 9-16 Level control: Application

Figure 9-17 Level control: Controller structure
Function diagram
FD 7950 Technology controller – fixed values, binary selection

FP 7951 Technology controller – fixed values, direct selection
FD 7954 Technology controller – motorized potentiometer
FD 7958 Technology controller – closed-loop controller
Key control parameters
• p1155 = r2294 CI: Speed controller speed setpoint 1 [FP 3080]

• p2253 = r2224 Technology controller setpoint effective via fixed setpoint [FD 7950]
• p2263 = 1 D component in fault signal [FD 7958]
• p2264 = r4055 Actual value signal Xactual via AI0 of TM31 [FP 9566]
• p2280 = Kp Calculate P gain by means of optimization
• p2285 = Tn Calculate integral time by means of optimization
• p2200 = 1 Technology controller enabled
9.3.2 Bypass function

The bypass function uses digital drive outputs to activate two contactors and uses digital
inputs to evaluate the contactor’s feedback (e.g., via TM31). This circuit allows the motor to
be operated using the converter or directly on the supply line. The contactors are activated by
the converter. The feedback signals for the contactor positions have to be returned to the
converter.
The bypass circuit can be implemented in two ways:
• without synchronizing the motor to the line supply
• with synchronizing the motor to the supply.

The following applies to all bypass versions:

• The bypass switch is also always shut down if one of the "OFF2" or "OFF3" control word
signals is canceled (motor coasts down). When "OFF1" is withdrawn, the motor remains
connected to the line supply.
• Exception:
If necessary, the bypass switch can be interlocked by a higher-level controller such that
the drive can be shut down completely (i.e. including the controller electronics) while the
motor is operated on the supply.
The protective interlocking must be implemented on the system side.
• When the drive is started up again after POWER ON, the status of the bypass contactors is
evaluated. After powering up, the converter can thereby change straight into "Ready to
start and bypass" status. This is only possible if the bypass is activated via a control signal,
the control signal (p1266) is still present once the system has been ramped up, and the
"automatic restart" function is active (p1210 = 4).
The bypass function is automatically restarted by the restart process. To accelerate the
motor to the setpoint speed or to synchronize it to the network, the pulse enable may
takes place with the motor rotating. In this case, it is recommended that you activate the
"Flying restart" function (p1200 = 1) to prevent high current peaks.
• Changing the converter into "Ready to start and bypass" status after powering up, is of a
higher priority than switching back on automatically.
• Monitoring of the motor temperatures using temperature sensors is active while the
converter is in one of two statuses "Ready to start and bypass" or "Ready for operation and
bypass".
• The two motor contactors must be designed for switching under load.
Note
Information on the examples
The examples contained in the following descriptions are only basic circuits designed to
explain the basic function. The dimensions of specific circuit configurations (contactors,
protective equipment) must be calculated for specific systems.
NOTICE
Device damage as a result of incorrect phase sequence
The target frequency r3804 is specified as an absolute value. It does not contain information
about the direction of the rotating field (phase sequence)!
If the phase sequence of the line voltage, which the system must synchronize with, does not
match the motor voltage phase sequence then this results in incorrect synchronization. In
the worst-case scenario, this can mechanically damage the plant or system.
• Ensure that the line voltage phase sequence matches that of the motor voltage. You can
correct the phase sequence as follows:
– Interchange the two feeder cables at the converter output or at the line contactor.
– Correct the phase sequence of the motor or converter output voltage using p1820 or
p1821.

Precondition
The bypass function is only possible for encoderless closed-loop speed control (p1300 = 20)
or V/f control (p1300 = 0...19) and when an induction motor is used.
Establishing the bypass function

The bypass function is part of the "technology controller" function module that can be
activated by running the commissioning Wizard. Parameter r0108.16 indicates whether the
function module has been activated.
9.3.2.1 Bypass with synchronizer with degree of overlapping (p1260 = 1)
Description
The "Bypass with synchronization with degree of overlapping" is used for drives with a low
moment of inertia. These are drives for which their speed would sink very fast when the K1
contactor opens.
When "bypass with synchronization with overlap (p1260 = 1)" is activated, the motor is
transferred, synchronized to the line supply and is also retrieved again. During the
changeover, both contactors K1 and K2 are closed at the same time for a period (phase lock
synchronization).
This bypass type requires a VSM10 Voltage Sensing Module that measures the line voltage for
the drive to be synchronized.
A reactor is used to decouple the converter from the line supply; the uk value for the reactor
is 10 % (±2).
Figure 9-18 Typical circuit diagram for bypass with synchronizer with degree of overlapping

Note
As a result of the overlap, when synchronizing back to the converter, the DC link voltage can
increase; in the worst case scenario this can result in a fault trip. It is possible to activate an
overvoltage protection function, which, when a Vdc max threshold (r1242) is reached, the
pulses are inhibited; as a consequence, the DC link voltage stops increasing. When the pulses
are inhibited, the motor coasts down, which is why it must be restarted on the fly. As a
consequence, overvoltage protection is only active if the "Flying restart" function was
activated (p1200 = 1).
Activation
The synchronized bypass with overlap (p1260 = 1) function can only be activated using a
control signal. It cannot be activated using a speed threshold.
Parameterization
Once the bypass with synchronizer with degree of overlapping (p1260 = 1) function has been
activated, the following parameters must be set:
Table 9- 7 Parameter settings for bypass function with synchronizer with degree of overlapping
Parameters Description
r1261.0 Signal "Command switch motor - power unit" (contactor K1)
r1261.1 Signal "Command switch motor - line" (contactor K2)
p1266 = Control signal setting
p1269[0] = Signal source for contactor K1 feedback
p3800 = 1 Synchronization is activated
p3802 = r1261.2 Synchronizer activation is triggered by the bypass function.

Transfer process
Figure 9-19 Signal diagram, bypass with synchronization with overlap
Transfer of motor to the line supply

(contactors K1 and K2 are controlled by the converter):
• The initial state is as follows: Contactor K1 is closed, contactor K2 is open and the motor is
fed from the converter.
• The control bit "bypass command" (p1266) is set (e.g. by the higher-level automation).
• The bypass function sets the control word bit "synchronizing" (r1261.2).
• Since the bit is set while the converter is running, the "Transfer motor to line supply"
synchronization process is started.
• The synchronizing algorithm signals once the motor has been synchronized to the line
frequency, line voltage and phase position (r3819.2).
• The bypass mechanism evaluates this signal and closes contactor K2 (r1261.1 = 1). The
signal is evaluated internally - BICO wiring is not required.
• After contactor K2 has signaled back the "closed" state (r1269[1] = 1), contactor K1 is
opened and the drive inhibits the pulses. The converter is in "Ready for operation and
bypass" state.
• If the On command is cancelled in this phase, the converter will change to "Ready to start
and bypass" state. If the appropriate contactors are being used, the converter will be
isolated from the line supply and the DC link discharged.

To transfer the motor back from the line supply, the sequence is simply reversed: At the start
of the process, contactor K2 is closed and contactor K1 is open.
• The "Bypass command" control bit is canceled (e.g. by the higher-level automation).
• The bypass function sets the control word bit "synchronizing".
• The pulses are enabled. Since "synchronizing" is set before "pulse enable", the converter
interprets this as a command to retrieve the motor from the line supply.
• The synchronizing algorithm signals once the converter has been synchronized to the line
frequency, line voltage and line phase.
• The bypass mechanism evaluates this signal and closes contactor K1. The signal is
evaluated internally - BICO wiring is not required.
• Once contactor K1 has reported "closed" state, contactor K2 is opened and the motor
returns to operation on the converter.
9.3.2.2 Bypass with synchronizer without degree of overlapping (p1260 = 2)
Description
When "bypass with synchronization without overlap (p1260 = 2)" is activated, contactor K2 is
only closed when contactor K1 has opened (anticipatory type synchronization). During this
time, the motor is not connected to a line supply so that its speed is determined by the load
and the friction. Consequently, this bypass type is suitable for drives with large moment of
inertia (see following note).
Synchronization setpoint p3809 is used to correct a phase rotation in the signal sensing of
the voltage actual values (p3809 = -180 ° … 179.90 °). Furthermore, using this parameter,
the setpoint angle of the motor voltage can be set (in a range up to a maximum of 20 °el, see
p3813) to compensate for friction or load-dependent speed decrease during the bypass
switchover.
The phase position of the motor voltage before synchronization can be set using p3809 to
enable an "advance start" before the line supply to which synchronization should be
performed. As a result of the motor braking in the short time in which both contactors are
open, when closing contactor K2, a phase and frequency difference of approximately zero
must now be obtained.
If the angular difference is > 20 °el during switchover, the current surges that cannot be
regarded as negligible would have to be expected. For this reason, synchronism is only
reached if the angular difference is ≤ p3813 (maximum of 20 °el). Compensating a speed
decrease using p3809 is only practical if the motor is evenly loaded during the switchover
period.
For instance, for conveyor belts, the load can also change during the bypass sequence,
depending on the process environment. If, during the switchover process, the angular
difference is more than 20 °el or if the load for each bypass operation differs, then the
"Bypass with synchronization with overlap (p1260 = 1)" mode must be used.
This bypass type requires a VSM10 Voltage Sensing Module that measures the line voltage for
the drive to be synchronized.
For the function to run correctly, the moment of inertia of the drive and the load must be
sufficiently high.

Note
Sufficiently high moment of inertia
A sufficiently high moment of inertia is characterized by a change in the motor speed when
contactors K1 and K2 are opened, which is approximately equal to the rated slip. Further, it
must be ensured that at the switchover instant, the motor is not significantly braked as a
result of external effects (e.g. friction).
It is no longer necessary to use the de-coupling reactor after having determined the
synchronizing setpoint (p3809) in the manner described above.
Figure 9-20 Example circuit for bypass with synchronizer without degree of overlapping
Activation
The synchronized bypass without overlap (p1260 = 2) function can only be activated using a
control signal. It cannot be activated using a speed threshold.

Parameterization
Once the synchronized bypass without overlap (p1260 = 2) function has been activated, the
following parameters must be set.
Table 9- 8 Parameter settings for bypass function with synchronizer without degree of overlapping
p1266 = Control signal setting
p3800 = 1 Synchronization is activated
p3802 = r1261.2 Synchronization activation is triggered by the bypass function
p3809 = Setting the phase setpoint for synchronizing the drive to the line supply

9.3.2.3 Bypass without synchronizer (p1260 = 3)
Description
When the motor is transferred to the line supply, contactor K1 is opened (after the drive
converter pulses have been inhibited); the system then waits for the motor de-excitation time
and then contactor K2 is closed so that the motor is directly connected to the line supply.
If the motor is connected to the supply in a non-synchronized manner, an equalizing current
flows when the motor is switched in, and this must be taken into account when designing
the protective equipment (see diagram "Circuit example for bypass without
synchronization"). Consequently, this bypass type is suitable only for low power drives.
When the motor is being transferred from the supply by the converter, initially contactor K2 is
opened and after the excitation time, contactor K1 is closed. The converter then captures the
rotating motor and the motor is operated on the converter.
This bypass type does not require a VSM10 Voltage Sensing Module.
Contactor K2 must be designed for switching under load.
Contactors K1 and K2 must be interlocked against closing at the same time.
The "flying restart" function must be activated (p1200 = 1).
Figure 9-21 Example circuit for bypass without synchronization

Activation
The bypass without synchronization (p1260 = 3) can be triggered using the following signals
(p1267):
• Bypass using control signal (p1267.0 = 1):
The bypass is triggered using a digital signal (p1266) (e.g., from a higher-level automation
system). If the digital signal is canceled, a swichover to converter operations is triggered
once the debypass delay time (p1263) has expired.
• Bypass at a specific speed threshold (p1267.1 = 1):
Once a certain speed is reached, the system switches to bypass (i.e., the drive is used as a
starting drive). The bypass cannot be connected until the speed setpoint is greater than
the bypass speed threshold (p1265).
The system reverts to converter mode when the setpoint (at the input of the ramp-
function generator, r1119) falls below the bypass speed threshold (p1265). The setpoint >
comparison value condition prevents the bypass from being reactivated straight away if
the actual speed is still above the bypass speed threshold (p1265) after switching back to
converter operations.
The bypass time, debypass time, bypass speed variables and the command source for
switching over are set using parameters.
Parameterization
Once the bypass without synchronization (p1260 = 3) function has been activated, the
following parameters must be set.
Table 9- 9 Parameter settings for bypass function with synchronizer without degree of overlapping
p1262 = Bypass dead time setting
The total time for switching to line operation or switching back to converter operation
is obtained from the sum of p1262 and the monitoring time of the switch being used
(p1274[x]).
p1263 = Setting the debypass delay time
The delay time corresponds to the time between the reset of the bypass command
and the status change from 1 to 0 in p1261.1 (command, switch motor - line supply).
p1264 = Setting the bypass delay time
The delay time corresponds to the time between setting the bypass command and
the status change from 1 to 0 in p1261.0 (command, switch motor - power unit).
p1265 = Speed threshold setting when p1267.1 = 1
p1266 = Control signal setting when p1267.0 = 1
p1267.0 = Trigger signal setting for bypass function
p1267.1 =
p1274[x] Setting the monitoring time for the bypass switch, motor/drive and motor/line supply.
p3800 = 0 Synchronization is deactivated.
P1200 = 1 The "flying restart" function is always active.

FP 7020 Synchronization
9.3.2.5 Parameters
Bypass function
• p1200 Flying restart operating mode
• p1260 Bypass configuration
• r1261 CO/BO: Bypass control/status word
• p1262 Bypass dead time
• p1263 Debypass delay time
• p1264 Bypass delay time
• p1265 Bypass speed threshold
• p1266 BI: Bypass control command
• p1267 Bypass changeover source configuration
• p1268 BI: Bypass feedback signal synchronization completed
• p1269 BI: Bypass switch feedback signal
• p1274 BI: Bypass switch monitoring time
Synchronization
• p3800 Sync–supply–drive activation
• p3801 Sync–supply–drive drive object number
• p3802 BI: Sync–supply–drive enable
• r3803 CO/BO: Sync–supply–drive control word
• r3804 CO: Sync–supply–drive target frequency
• r3805 CO: Sync–supply–drive frequency difference
• p3806 Sync–supply–drive frequency difference threshold
• r3808 CO: Sync–supply–drive phase difference
• p3809 Sync–supply–drive phase setpoint
• p3811 Sync–supply–drive frequency limitation
• r3812 CO: Sync–supply–drive correction frequency
• p3813 Sync–supply–drive phase synchronism threshold
• r3814 CO: Sync–supply–drive voltage difference
• p3815 Sync–supply–drive voltage difference threshold
• r3819 CO/BO: Sync–supply–drive status word

9.3.3 Extended brake control
Description
The "Extended brake control" function module allows complex braking control for motor
holding brakes and holding brakes for example.
The brake is controlled as follows (the sequence reflects the priority):
• Via parameter p1215
• Via binector parameters p1219[0...3] and p0855
• Via zero speed detection
• Via a connector interconnection threshold value
Commissioning
The "Extended brake control" function module can be activated by running the
commissioning wizard. Parameter r0108.14 indicates whether the function module has been
activated.
Parameter p1215 must be set to "3" and the brake controlled via a digital output (for example
at the customer terminal block TM31).
Extended brake control when braking with feedback

When braking with a feedback signal (p1275.5 = 1), the brake control reacts to the feedback
signal contacts of the brake. If the timer p1216 is greater than the time to the feedback
signal, then the approach is delayed by the corresponding time difference.
In order to be able to approach with as little delay as possible, the opening time set in p1216
must be shorter than the time to the feedback signal. However, if the timer in p1216 is set
shorter, then alarm A07931 "Brake does not open" appears.
Remedy:
1. Activate the "Release with feedback signal" (p1275.6 = 1).
The pulse enable (BO: r1229.3) and setpoint enable (BO: r0899.15) are now independent
of the set timer (p1217, p1216). The associated enable is determined only by the
feedback signal (BI: p1222, BI: p1223). The timers (p1216, p1217) only affect the
warnings A07931 "Brake does not open" and A07932 "Brake does not close".
2. Optional: To make the two warnings stop appearing, set both timers (p1217, p1216) to
0 ms.
Result: The monitoring of the brake and the display of the alarms are switched off.

Example 1: Starting against a closed brake

When the device is switched on, the setpoint is enabled immediately (if other enable signals
are issued), even if the brake has not yet been released (p1152 = 1). The factory setting
p1152 = r0899.15 must be separated here. The drive first establishes a torque against the
applied brake. The brake is not released until the motor torque or current (p1220) has
exceeded braking threshold 1 (p1221).
Depending on the type and design of the brake, the time required to completely release the
brake differs. It must be taken into consideration that, once the braking threshold torque has
been exceeded, the operation enable signal (p0899.2) is interrupted for the time interval that
the brake is being released (p1216) to ensure that the motor current does not exceed the
permissible limit values during this period and the motor torque generated does not damage
the brake. Time interval p1216 must be set depending on the time the brake actually requires
to release.
This configuration is used, for example, when the drive is connected to a belt that is under
tension (loop accumulator in the steel industry).
Example 2: Emergency brake

In the case of emergency braking, electrical and mechanical braking should be realized at
precisely the same time. This can be achieved if OFF3 is used as a tripping signal for
emergency braking:
p1219[0] = r0898.2 and p1275.00 = 1 (OFF3 to "apply brake immediately" and invert signal).
To prevent the converter working in opposition to the brake, the OFF3 ramp (p1135) should
be set to 0 seconds. Any prevailing regenerative energy must be converted into heat via a
braking resistor.
Typical applications include calenders, cutting tools, travel units and presses, for example.
Example 3: Service brake on crane drives

For cranes with manual control, it is important that the drive responds immediately when the
control lever is moved (master switch). To this end, the drive is powered up using the on
command (p0840) (the pulses are enabled). Speed setpoint (p1142) and speed controller
(p0856) are inhibited. The motor is magnetized. As a consequence, the magnetization time
generally applicable for three-phase motors (1 - 2s) is eliminated.
Now, only the brake opening time will delay the motor starting to rotate following activation
of the master switch. Movement of the master switch generates a "setpoint enable from the
control" (bit interconnected with p1142, p1229.2, p1224.0). The speed controller is enabled
immediately and the speed setpoint is enabled once the brake opening time (p1216) has
elapsed. When the master switch is in the zero position, the speed setpoint is inhibited and
the drive ramps down along the ramp-function generator's ramp-down ramp. The brake
closes once the standstill limit (p1226) is undershot. Once the brake closing time (p1217) has
elapsed, the speed controller is inhibited (the motor is no longer generating any force).
Extended braking control is used with the modifications described below.

Figure 9-22 Example: Service brake on a crane drive
Control and status messages for extended brake control
Table 9- 10 Control of extended brake control
Signal name Binector input Control word sequence con-

trol/interconnection parameters
Enable speed setpoint p1142 BI: Enable speed setpoint STWA.6
Enable setpoint 2 p1152 BI: Setpoint 2 enable p1152 = r0899.15
Unconditionally release holding brake p0855 BI: Unconditionally release hold- STWA.7
ing brake
Enable speed controller p0856 BI: Enable speed controller STWA.12
Unconditionally apply holding brake p0858 BI: Unconditionally apply holding STWA.14
brake

Table 9- 11 Status message of extended brake control
Signal name Parameter Brake status word

Command, release brake (continuous r1229.1 B_STW.1
signal)
Pulse enable, extended brake control r1229.3 B_STW.3
Brake does not release r1229.4 B_STW.4
Brake does not close r1229.5 B_STW.5
Brake threshold exceeded r1229.6 B_STW.6
Brake threshold fallen below r1229.7 B_STW.7
Brake monitoring time expired r1229.8 B_STW.8
Request, pulse enable missing/n_ctrl r1229.9 B_STW.9
inhibited
Brake OR logic operation result r1229.10 B_STW.10
Brake AND logic operation result r1229.11 B_STW.11
Function diagram
FP 2704 Extended brake control – standstill detection (r0108.14 = 1)

FP 2707 Extended brake control – release/close brake (r0108.14 = 1)
FP 2711 Extended brake control – signal outputs (r0108.14 = 1)
Parameter
• r0108.14 Extended brake control

• r0899 CO/BO: Status word sequence control
Standstill (zero-speed) monitoring
• r0060 CO: Speed setpoint before the setpoint filter
• r0063[0...2] CO: Speed actual value
• p1224[0...3] BI: Apply motor holding brake at standstill
• p1225 CI: Standstill detection threshold value
• p1226 Standstill monitoring speed threshold
• p1227 Standstill detection monitoring time
• p1228 Pulse suppression delay time
• p1276 Motor holding brake standstill detection bypass

Release/apply brake
• p0855 BI: Unconditionally release holding brake
• p0858 BI: Unconditionally apply holding brake
• p1216 Motor holding brake release time
• p1217 Motor holding brake closing time
• p1218[0...1] BI: Release motor holding brake
• p1219[0...3] BI: Immediately apply motor holding brake
• p1220 CI: Release motor holding brake, signal source, threshold
• p1221 Release motor holding brake, threshold
• p1277 Motor holding brake, delay, braking threshold exceeded
• p1279 BI: Motor holding brake OR/AND logic operation
Brake monitoring functions
• p1222 BI: Motor holding brake, feedback signal, brake closed
• p1223 BI: Motor holding brake, feedback signal, brake released
Configuration, control/status words
• p1215 Motor holding brake configuration
• r1229 CO/BO: Motor holding brake status word
• p1275 Motor holding brake control word
• p1278 Motor holding brake type

9.3.4 Extended monitoring functions
Description
The "extended monitoring functions" function module enables additional monitoring
functions:
• Speed setpoint monitoring: |n_set| ≤ p2161
• Speed setpoint monitoring: n_set > 0
• Load monitoring
Description of load monitoring

This function monitors power transmission between the motor and the working machine.
Typical applications include V-belts, flat belts, or chains that loop around the belt pulleys or
cog wheels of drive and outgoing shafts and transfer the peripheral speeds and forces. Load
monitoring can be used here to identify blockages in the working machine and interruptions
to the power transmission.
For load monitoring, the current speed/torque curve is compared with the programmed
speed/torque curve (p2182 to p2190). If the current value is outside the programmed
tolerance bandwidth, a fault or alarm is triggered depending on parameter p2181. The fault
or alarm message can be delayed by means of parameter p2192 to prevent false alarms
caused by brief transitional states.
Figure 9-23 Load monitoring (p2181 =1)

Commissioning
The "extended monitoring functions" function module can be activated by running the
commissioning wizard. Parameter r0108.17 indicates whether it has been activated.
Function diagram
FD 8010 Speed messages 1

FP 8011 Speed messages 2
FD 8013 Load monitoring
Parameters
• p2150 Hysteresis speed 3

• p2151 CI: Speed setpoint for messages
• p2161 Speed threshold 3
• p2181 Load monitoring, response
• p2182 Load monitoring, speed threshold 1
• p2185 Load monitoring, speed threshold 1 upper
• ...
• p2190 Load monitoring, speed threshold 3 lower
• p2192 Load monitoring, delay time
• r2198.4 |n_set| ≤ p2161
• r2198.5 n_set > 0
• r2198.11 Load monitoring displays alarm
• r2198.12 Load monitoring displays fault

9.3.5 Moment of inertia estimator
Background
From the load moment of inertia and the speed setpoint change, the converter calculates the
accelerating torque required for the motor. Via the speed controller precontrol, the
accelerating torque specifies the main percentage of the torque setpoint. The speed
controller corrects inaccuracies in the precontrol (feed-forward control).
Figure 9-24 Influence of the moment of inertia estimator on the speed control
The more precise the value of the moment of inertia in the converter, the lower the
overshoot after speed changes.
Figure 9-25 Influence of the moment of inertia estimator on the speed
Function
From the actual speed, the actual motor torque and the frictional torque of the load, the
converter calculates the total moment of inertia of the load and motor.
Figure 9-26 Overview of the function of the moment of inertia estimator

Calculating the load torque

The load torque must first be determined to determine the moment of inertia.
Figure 9-27 Calculating the load torque
Phases with constant speed not equal to zero are required to determine the load torque (e.g.
friction force).
For small speed changes, the converter calculates the load torque ML from the actual motor
torque.
The following conditions must be satisfied to do this:
• Speed ≥ p1226
• Acceleration setpoint < 8 1/s2
• Acceleration x moment of inertia (r1493) < 0.9 × p1560
Once the load torque is specified, the moment of inertia in the acceleration or deceleration
phase can be determined. If the source of p1502 has a 1 signal, the moment of inertia is not
estimated.
The accuracy of the moment of inertia estimation increases as the acceleration rate increases.
The start value of the moment of inertia estimator is the parameterized moment of inertia
(J = p0341 x p0342 + p1498).
Calculating the moment of inertia

For larger changes, the converter initially calculates the accelerating torque MB as difference
between the motor torque MM, load torque ML and frictional torque MR:
MB = MM - ML - MR

Figure 9-28 Calculating the moment of inertia
The moment of inertia J of the motor and load is then obtained from the accelerating torque
MB and the angular acceleration α
J = MB / α
The following conditions must be fulfilled for this calculation:
① The rated acceleration torque MB must satisfy the following two conditions:
• MB must be greater than p1560 x r0333 (rated motor torque).
• MB must be greater than 80% of the friction torque (0.4 x (p1563 - p1564)).
② For operation without encoder, the speed must be > p1755 (in closed-loop controlled
operation).
③ The converter calculates the load torque again after acceleration.
If the load estimation has taken place and the moment of inertia does not settle (stabilize)
(r1407.24/26 = 0), then increasing the acceleration (p2572/p2573) is recommended.
If the load moment of inertia is significantly greater than the motor moment of inertia, then
the transient event can also be improved via parameterization of the load moment of inertia
(p1498).
Moment of inertia precontrol

In applications where the motor predominantly operates with a constant speed, the converter
can only infrequently calculate the moment of inertia using the function described above.
Moment of inertia precontrol is available for situations such as these. The moment of inertia
precontrol assumes that there is an approximately linear relationship between the moment of
inertia and the load torque.
You can configure the moment of inertia precontrol via p5310.
• Using bit 0, you can activate the calculation of the characteristic (p5312 … p5315).
• Using bit 1, you can activate the moment of inertia precontrol.

The following bit combinations are possible:
p5310.0 = 0, Moment of inertia precontrol not active

p5310.1 = 0
p5310.0 = 0, Cyclic calculation of the coefficients without moment of inertia pre-
p5310.1 = 1 control (commissioning)
p5310.0 = 1, Moment of inertia precontrol activated (without cyclic calculation of
p5310.1 = 0 the coefficients)
p5310.0 = 1, Moment of inertia precontrol activated (with cyclic calculation of the
p5310.1 = 1 coefficients)
The status word of the moment of inertia precontrol is indicated in r5311.
Example
For a horizontal conveyor, in a first approximation, the moment of inertia depends on the
load.
Figure 9-29 Relationship between moment of inertia J and load torque ML
The relationship between load torque and torque is saved in the converter as linear
characteristic.
• In positive direction of rotation:
Moment of inertia J = p5312 x load torque ML + p5313
• In negative direction of rotation:
Moment of inertia J = p5314 x load torque ML + p5315
You have the following options to determine the characteristic:
• You already know the characteristic from other measurements. In this case, you must set
the parameters to known values when commissioning the system.
• The converter iteratively determines the characteristic by performing measurements while
the motor is operational.
Additional supplementary functions

• Accelerated moment of inertia estimation (p1400.24 = 1)
Using this setting, when the drive accelerates steadily, the moment of inertia can be more
quickly estimated.
• Speed controller adaptation (p5271.2 = 1)
The estimated load moment of inertia is taken into account for the speed controller gain.

Commissioning
The "inertia estimator" function module can be activated by running the commissioning
wizard. Parameter r0108.10 indicates whether the function module has been activated.
Activating the moment of inertia estimator

The moment of inertia estimator is deactivated in the factory setting. p1400.18 = 0,
p1400.20 = 0, p1400.22 = 0.
If you performed the rotating measurement for the motor identification during
commissioning, we recommend leaving the moment of inertia estimator deactivated.
Preconditions
• You have selected sensorless vector control.
• The load torque must be constant whilst the motor accelerates or brakes.
Typical of a constant load torque are conveyor applications and centrifuges, for example.
Fan applications, for example, are not permitted.
• The speed setpoint is free from superimposed unwanted signals.
• The motor and load are connected to each other with an interference fit.
Drives with slip between the motor shaft and load are not permitted, e.g. as a result of
loose or worn drive belts.
If the conditions are not met, you must not activate the moment of inertia estimator.
Procedure
To activate the moment of inertia estimator, proceed as follows:
1. Set p1400.18 = 1
2. Check: p1496 ≠ 0
3. Activate the acceleration model of the speed controller pre-control: p1400.20 = 1.
With p1400.22 = 1, the valued determined by the moment of inertia estimator is retained at a
pulse inhibit.
With p1400.24 = 1, the moment of inertia can be determined in an accelerated manner for
steady acceleration processes.

Function diagram
FP 6035 Moment of inertia estimator (r0108.10 = 1)
Parameters
• r0108 Drive objects function module

• r0333 Rated motor torque
• p0341 motor moment of inertia
• p1226 Speed threshold for standstill detection
• p1400 Speed control configuration
• p1402 Current control and motor model configuration
• r1407 CO/BO: Status word, speed controller
• r1493 CO: Moment of inertia total
• p1496 Acceleration precontrol scaling
• p1497 CI: Moment of inertia scaling
• p1498 Load moment of inertia
• p1502 BI: Freezing the moment of inertia estimator
• r1518 CO: Acceleration torque
• r1538 CO: Upper effective torque limit
• r1539 CO: Lower effective torque limit
• p1560 Moment of inertia estimator acceleration threshold value
• p1561 Moment of inertia estimator change time moment of inertia
• p1562 Moment of inertia estimator change time load
• p1563 CO: Moment of inertia estimator load torque positive direction of rotation
• p1564 CO: Moment of inertia estimator load torque negative direction of rotation
• p5310 Moment of inertia precontrol configuration
• r5311 Moment of inertia precontrol status word
• p5312 Moment of inertia precontrol linear positive
• p5313 Moment of inertia precontrol constant positive
• p5314 Moment of inertia precontrol linear negative
• p5315 Moment of inertia precontrol constant negative
• p5316 Moment of inertia precontrol change time moment of inertia

9.4 Monitoring and protective functions
9.4.1 Protecting power components
Description
SINAMICS power modules offer comprehensive protection of power components.
Table 9- 12 General protection for power units
Protection against: Protective measure Response

Overcurrent1) Monitoring with two thresholds:
• First threshold exceeded A30031, A30032, A30033
Current limiting in phase U has responded.
Pulsing in this phase is inhibited for one pulse period.
F30017 -> OFF2 is triggered if the threshold is ex-
ceeded too often.
• Second threshold exceeded F30001 "Overcurrent" -> OFF2
DC link overvoltage 1) Comparison of DC link voltage with F30002 "Overvoltage" -> OFF2
hardware shutdown threshold
DC link undervoltage 1) Comparison of DC link voltage with F30003 "Undervoltage" -> OFF2
hardware shutdown threshold
Short-circuit1) Second monitoring threshold checked F30001 "Overcurrent" -> OFF2
for overcurrent
Uce monitoring for IGBT module F30022 "Monitoring Uce" -> OFF2
Ground fault Monitoring the sum of all phase cur- After threshold in p0287 is exceeded:
rents F30021 "power unit: Ground fault" -> OFF2
Note:
The sum of all phase currents is displayed in r0069[6].
For operation, the value in p0287[1] must be greater
than the sum of the phase currents when the insula-
tion is intact.
Line phase-failure detec- F30011 "Line phase-failure in main circuit" -> OFF2
tion 1)
1) The monitoring thresholds are permanently set in the converter and cannot be changed by the user.

9.4.2 Thermal monitoring and overload responses
Description
The thermal power unit monitor is responsible for identifying critical situations. Possible
reactions can be assigned and used when alarm thresholds are exceeded to enable continued
operation (e.g., with reduced power) and prevent immediate shutdown. The
parameterization options, however, only enable intervention below the shutdown
thresholds, which cannot be changed by the user.
The following thermal monitoring options are available:
• I²t monitoring – A07805 – F30005
i²t monitoring is used to protect components that have a high thermal time constant
compared with semiconductors. Overload with regard to i²t is present when the converter
load (r0036) is greater than 100 % (load as a % of rated operation).
• Heat sink temperature - A05000 - F30004
Used to monitor the temperature r0037[0] of the heat sinks on the power semiconductors
(IGBT).
• Chip temperature - A05001 - F30025
Significant temperature differences can occur between the barrier layer of the IGBT and
the heat sink. The calculated barrier junction temperature is displayed in r0037[13...18];
the monitoring ensures that the specified maximum barrier junction temperature is not
exceeded.
If an overload occurs with respect to any of these three monitoring functions, an alarm is first
output. The alarm threshold p0294 (i²t monitoring) can be parameterized relative to the
shutdown (trip) values.
Overload responses
To reduce thermal stress and thus losses in the power unit, the following methods and
overload responses are available.
• Reducing the pulse frequency
Reducing the pulse frequency is an effective procedure for reducing losses in the power
unit. This is due to the fact that the switching losses make up a very large portion of the
total losses. In many applications, a temporary reduction in pulse frequency is tolerable.
Disadvantage:
Reducing the pulse frequency increases the current ripple. At a small moment of inertia,
this may cause an increase in the torque ripple on the motor shaft and a noise level
increase. We recommend using the overload response with pulse frequency reduction for
applications that are not critical from a control-related perspective (e.g. for pump and fan
drives).

Note
This procedure can be used only if the power unit is clocked with a pulse frequency
greater than the minimum pulse frequency and a reduction of the pulse frequency is
permissible.
• Reducing the output current

We recommend this procedure if a pulse frequency reduction is not desired or permissible
(e.g. if the pulse frequency has already been set to the lowest level).
Disadvantage:
This procedure makes sense exclusively for drives that must tolerate a rotational speed
deviation and must not be operated at a constant torque.
Responses
The Control Unit sets the desired responses using p0290. Using this parameter, the described
procedures can be used in various combinations in order to reduce the thermal stress.
The following responses are possible depending on the selected procedure:
• No reduction (p0290 = 1)
Select this option if neither reducing the pulse frequency or reducing the output current
(= output frequency) can be considered suitable procedures. In this case, the converter
does not change its operating point once an alarm threshold has been overshot, which
means that the drive can be operated until it reaches its shutdown values.
When the trip threshold is reached, the converter switches off and outputs one of the
following faults.
– F30004 (power unit: temperature rise for inverter heat sink)
– F30005 (power unit: overload I2t) check, was skipped
– F30025 (power unit: chip temperature rise)
The time until shutdown is not defined and depends on the degree of overload. We
recommend the set value p0290 = 1 for applications that, based on the process, do not
allow set value deviations for individual drives in the group or for which the pulse
frequency must absolutely be adhered to.
• Reducing the output current (p0290 = 0)
For the set value "0" the following applies:
When a temperature alarm threshold or I2t alarm threshold is exceeded, the output
frequency (= output frequency) is reduced. If the reduction of the output current is not
sufficient for eliminating the thermal stress on the power unit, the drive switches off
when the corresponding fault threshold is reached.
Note
This setting is not suitable for drives requiring a constant torque.

• Reducing the pulse frequency (p0290 = 3, 13)

This procedure is suitable for the following applications:
– The drive is frequently started and accelerated.
– The drive has a heavily fluctuating torque profile. Reducing the output current is not
desired.
– The drive is operated at a low dynamic response and occasional overload. A rotational
speed deviation is not allowed.
When a temperature alarm threshold is exceeded, the pulse frequency is reduced to a
permissible minimum.
In this case, the chip temperature is evaluated based on the load at the current time. If
this temperature exceeds the alarm threshold, the pulse frequency is reduced to a
permissible minimum. Unlike the set value "3", the pulse frequency is reduced based on
the chip temperature evaluation before the temperature alarm threshold has even been
reached.
• Reducing the pulse frequency and the output current (p0290 = 2, 12)
This procedure is suitable for the following applications:
– The drive is frequently started and accelerated.
– The drive has a heavily fluctuating torque profile.
When a temperature alarm threshold is exceeded, the pulse frequency is reduced to a
permissible minimum. If the pulse frequency reduction is not sufficient for eliminating the
thermal stress on the power unit, then the output current is also reduced. When the I²t
alarm threshold is reached, only the output current is reduced while the pulse frequency
remains at the set value.
In this case, the chip temperature is evaluated based on the load at the current time. If
this temperature exceeds the alarm threshold, the pulse frequency is reduced to a
permissible minimum. Unlike the set value "2", the pulse frequency is reduced based on
the chip temperature evaluation before the temperature alarm threshold has even been
reached. The output current is reduced if, in addition to the chip temperature, also the
alarm thresholds of the heat sink temperature and the I2t monitoring are exceeded.
Function diagram
FP 8021 Thermal monitoring, power unit

Parameter
• r0036 CO: Power unit overload I2t

• r0037 CO: Power unit temperatures
• p0290 Power unit overload response
• r0293 CO: Power unit alarm threshold model temperature
• p0294 Power unit alarm I2t overload
• r2135.13 Fault thermal overload power unit
• r2135.15 Alarm, thermal overload power unit
9.4.3 Block protection
Description
The "Motor blocked" fault is only triggered when the speed of the drive is below the
adjustable speed threshold in p2175.
• For vector control, then the speed controller must also be at its limit.
• For U/f control, then the current limit must also be reached.
Once the on delay (p2177) has elapsed, the message "Motor blocked" and fault F07900 are
generated.
The blocking monitoring enable can be deactivated via p2144.
Figure 9-30 Blocking protection

Function diagram
FP 8012 Signals and monitoring functions - torque messages, motor locked/stalled
Parameter
• p2144 BI: Motor stall monitoring enable (negated)

• p2175 Motor locked speed threshold
• p2177 Motor locked delay time
9.4.4 Stall protection (only for vector control)
Description
If, for closed-loop speed control with encoder, the speed threshold set in p1744 for stall
detection is exceeded, then r1408.11 (speed adaptation, speed deviation) is set.
If the fault threshold value set in p1745 is exceeded when in the low speed range (less than
p1755 x (100% - p1756)), r1408.12 (motor stalled) is set.
If one of these two signals is set, then after the delay time in p2178, fault F07902 (motor
stalled) is returned.
Figure 9-31 Stall protection
Function diagram
FP 6730 Vector control - Interface to Motor Module (ASM, p0300 = 1)

FP 8012 Messages and monitoring - Torque messages, motor blocked/stalled

Parameter
• r1408 CO/BO: Control status word, current controller

• p1744 Motor model speed threshold stall detection
• p1745 Motor model error threshold stall detection
• p1756 Motor model changeover speed hysteresis encoderless operation
• p2178 Motor stalled delay time
9.4.5 Thermal motor protection
9.4.5.1 Description
Description
The priority of thermal motor protection is to identify critical situations. Possible reactions can
be assigned (p0610) and used when alarm thresholds are exceeded to enable continued
operation (e.g., with reduced power) and prevent immediate shutdown.
• Effective protection is also possible without a temperature sensor (p0600 = 0 or
p4100 = 0). The temperatures of different motor components (stators, core, rotors) can
be determined indirectly using a temperature model.
• Connecting temperature sensors allows the motor temperature to be determined directly.
In this way, accurate start temperatures are available immediately when the motor is
switched on again or after a power failure.
9.4.5.2 Temperature sensor connection at the customer terminal block TM31
Temperature measurement via KTY

The device is connected to terminals X522:7 (Temp+) and X522:8 (Temp-) on the customer
terminal block (TM31) in the forward direction of the diode. The measured temperature is
limited to between –140 °C up to +188.6 °C and is available for further evaluation.
• Activating the motor temperature measurement via the external sensor: p0600 = 10
If the customer terminal block TM31 is present and on completion of commissioning, the
source for the external sensor is set to the customer terminal block (p0603 = {TM31}
r4105).
• Set the KTY temperature sensor type: p4100 = 2.

Temperature measurement via PTC

The connection is made to user terminal block (TM31) at terminal X522:7/8. The threshold
for changing over to an alarm or fault is 1650 Ω. If the threshold is exceeded, the system
switches internally from an artificially-generated temperature value of -50° C to +250° C and
makes it available for further evaluation:
r4105).
• Set the PTC temperature sensor type: p4100 = 1.
Temperature measurement via PT1000

The connection is made to user terminal block (TM31) at terminal X522:7/8. The measured
temperature is limited to between –99 °C up to +188.6 °C and is available for further
evaluation.
r4105).
• Set the PT1000 temperature sensor type: p4100 = 6.
9.4.5.3 Temperature sensor connection at a Sensor Module

The device is connected to the appropriate terminals Temp- and Temp+ on the Sensor
Module in the forward direction of the diode (see corresponding section in chapter "Electrical
installation").
• Activate motor temperature measurement via encoder 1: p0600 = 1.

Module (see corresponding section in chapter "Electrical installation"). The threshold for
changing over to an alarm or fault is 1650 Ω.


Module (see corresponding section in chapter "Electrical installation").
9.4.5.4 Temperature sensor connection directly at the Control Interface Module

The device is connected to terminals X41:3 (Temp-) and X41:4 (Temp+) on the Control
Interface Module in the forward direction of the diode.
• Activate motor temperature measurement via Motor Module: p0600 = 11.

The connection is made at the terminals X41:3 (Temp-) and X41:4 (Temp+) at the Control
Interface Module. The threshold for changing over to an alarm or fault is 1650 Ω.
Temperature measurement using the bimetal normally closed contact

Interface Module. The threshold for changing over to an alarm or fault is 100 Ω.
• Set the temperature sensor type bimetal normally closed contact: p0601 = 4.

Interface Module. p0624 can be used to set the temperature offset for the PT100 measured
value.


Interface Module.
• Activate motor temperature measurement via Motor Module: p0600 = 11:
9.4.5.5 Temperature sensor evaluation
Temperature measurement via KTY, PT100 or PT1000

• When the alarm threshold is reached (set via p0604; delivery state after commissioning
120 °C), alarm A07910 is triggered.
Parameter p0610 can be used to set how the drive responds to the alarm triggered:
– 0: No response, only alarm, no reduction of I_max
– 1: Alarm and reduction of I_max and fault (F07011)
– 2: Alarm and fault (F07011), no reduction of I_max
– 12: Alarm and fault (F07011), no reduction of I_max, temperature saved
• When the fault threshold is reached (set via p0605, delivery state after commissioning
155 °C), fault F07011 is triggered in conjunction with the setting in p0610.
Temperature measurement via PTC or bimetallic normally closed contact

• Once the PTC or the bimetallic normally closed contact responds, alarm A07910 is
initiated.
• Fault F07011 is triggered once the waiting time defined in p0606 has elapsed.

Sensor monitoring for wire breakage/short-circuit

• A sensor monitoring function for a short-circuit in the sensor cable is possible for a PTC
and a PT1000 or KTY84 sensor. For a PT1000 or KTY84 sensor, it is possible to monitor for
wire breakage:
If the temperature of the motor temperature monitor is outside the range -140 to
+250 °C, then the sensor cable is broken or has a short-circuit – and Alarm A07015 "Motor
temperature sensor alarm" is triggered. Fault F07016 (“Drive: Motor temperature sensor
fault”) is triggered once the waiting time defined in p0607 has elapsed.
• Fault F07016 can be suppressed using p0607 = 0. If an induction motor is connected, the
drive continues operating with the data calculated in the thermal motor model.
• If the system detects that the motor temperature sensor set in p0600 is not connected,
alarm A07820 "Temperature sensor not connected" is triggered.
9.4.5.6 Thermal motor models

Thermal motor models are used so that thermal motor protection is guaranteed even without
a temperature sensor or with a deactivated temperature sensor (p0600 = 0).
The simultaneous use of temperature sensors and a thermal motor model also makes sense.
For example, a very fast temperature increase that is not detected by the sensors in sufficient
time can potentially damage a motor. This situation can occur for motors with a low thermal
capacity.
Depending on the particular model, the temperature rise is either assigned different motor
parts (stator, rotor), or is calculated from the motor current and the thermal time constant. A
combination of motor temperature model with additional temperature sensors can also be
deployed.
NOTICE
Material damage caused by overheating for motor operation without sensor
A thermal motor model cannot fully replace a sensor. The thermal model cannot protect the
motor if incorrectly installed, for increased ambient temperatures or if errors were made in
the parameter settings. Without temperature sensors, thermal motor models are not in a
position to identify or take into account the ambient temperatures or the initial motor
temperature. This can cause motor overheating and so material damage.
• Do not deploy thermal motor models when a higher environment temperature or a
higher initial temperature of the motor can occur.

Thermal motor model 1 (for permanent-magnet synchronous machines)

By deploying the thermal I2t motor model, the temperature rise of the motor windings as a
result of dynamic motor loads is also determined in addition to data acquired using a
temperature sensor.
The model motor temperature is indicated in r0632. It is calculated from the following values:
• Absolute value of the actual current, unsmoothed (r0068[0])
• Motor stall current (p0318)
• I2t motor model thermal time constant (p0611)
• Measured motor temperature (r0035) or motor ambient temperature (p0613, p0625) for
operation without temperature sensor
• Motor temperature at rated load (p0605, for expansion p0627)
Commissioning the motor model

The thermal I2t motor model is activated via p0612.0 = 1, the expansions of the motor model
can additionally be activated via p0612.8 = 1.
Note
When commissioning the motor, thermal motor model 1 (p0612.0 = 1) including expansion
(p0612.8 = 1) is automatically activated.
Preconditions for automatic activation:
• Use of a permanent magnet synchronous motor
• There is no motor sensor
• No (other) thermal motor model is activated

Important settings
The most important parameters for thermal motor model 1 and/or for the expansion of this
model are subsequently explained.
When the expansion is subsequently activated, the corresponding parameters of the
expansion are preassigned with the parameter values before activating the expansion.
Parameters for the following Explanation

settings
p0612.8 = 0 p0612.8 = 1
p0605 p5390 Alarm threshold
If the model motor temperature (r0632) exceeds the alarm threshold, alarm A07012
"Drive: Motor temperature model 1/3 overtemperature" is output.
p0615 p5391 Fault threshold
If the model motor temperature (r0632) exceeds the fault threshold, fault F07011
"Drive: Motor overtemperature" is output.
p0605 p0627 + 40 °C Rated temperature (winding)
Defines the rated overtemperature of the stator winding referred to the ambient tem-
perature.
1.333 (fixed p5350 Boost factor
value) Defines the boost factor for the copper losses at standstill.
p0612 = 0x1 p0612 = 0x101 Activation
Activates the motor module and/or additionally the expansion.
r0632 r0632 Actual temperature
Indicates the stator winding temperature of the motor temperature model.
r0034 r0034 Motor utilization
Indicates the actual motor utilization level.
Taking into account the ambient temperature

If, for thermal motor model 1, a temperature sensor has not been the parameterized, then
motor module 1 automatically uses an ambient temperature of 20 °C for the calculation. You
can enter one of these ambient temperatures deviating from the standard temperature as
follows:
1. Activate the setting p0612.12 = 1.
This enables parameter p0613. The factory setting is 20 °C.
2. If you wish to take into account an ambient temperature, which deviates from the factory
setting, in the motor model, then enter the expected ambient temperature in p0613.
Note
When commissioning the motor, the setting p0612.12 = 1 is automatically activated. When
required, the value in p0613 can be changed.

Thermal motor model 2 (for induction motors)

Thermal motor model 2 is used for induction motors. It is a thermal 3-mass model.
This makes thermal motor protection possible even for operation without temperature sensor
or with the temperature sensor deactivated (p0600 = 0).
Commissioning the motor model

The thermal 3-mass model is activated with p0612.1 = 1. An expansion makes the motor
model more precise; this can be additionally activated using p0612.9 = 1.
Note
When commissioning the motor, the expansion of thermal motor model (p0612.9 = 1) is
automatically activated.
Motor model settings

The total motor mass is entered in p0344.
The 3-mass model splits up the total motor mass as follows:
• p0617 = thermally active iron mass (stator): laminated cores and frame as a percentage of
p0344
• p0618 = thermally active copper mass (stator: windings) as a percentage of p0344
• p0619 = thermally active rotor mass (rotor) as a percentage of p0344
Entering the temperatures:
• p0625 = ambient temperature
• p0626 = overtemperature, stator iron
• p0627 = overtemperature, stator winding
• p0628 = rotor winding temperature rise
The motor temperatures are calculated on the basis of motor measured values. The
calculated temperatures are indicated in the following parameters:
• r0630 Motor temperature model ambient temperature
• r0631 Motor temperature model stator iron temperature
• r0632 Motor temperature model stator winding temperature
• r0633 Motor temperature model rotor temperature
In operation with a KTY or PT1000 sensor, the calculated temperature value of the 3-mass
model is continuously corrected to track the measured temperature value. After the
temperature sensor is switched off (p0600 = 0 or p0601 = 0), the last temperature value
continues to be used as basis for the calculation.

FP 8016 Thermal motor monitoring, mot_temp ZSW F/A

FP 8017 Motor temperature model 1 (I2t)
FP 8018 Motor temperature model 2
FP 9576 TM31 - temperature evaluation (KTY/PTC)
9.4.5.8 Parameters
Temperature sensor evaluation

• r0035 CO: Motor temperature
• p0600 Motor temperature sensor for monitoring
• p0601 Motor temperature sensor type
• p0603 Motor temperature signal source
• p0604 Motor overtemperature fault threshold
• p0606 Motor overtemperature timer
• p0607 Temperature sensor fault timer
• p0610 Motor overtemperature response
• p0614 Thermal resistance adaptation reduction factor
• p0624 Motor temperature offset PT100
• p4100 TM31 temperature evaluation sensor type
• r4105 CO: TM31 temperature evaluation actual value
Thermal motor model 1 (for permanent-magnet synchronous machines)
• r0034 CO: Motor utilization
• r0068[0] CO: Absolute value of actual current, unsmoothed
• p0318 Motor stall current
• p0610 Motor overtemperature response
• p0611 I2t motor model thermal time constant
• p0612 Thermal motor model configuration
• p0613 Mot_temp_mod 1/3 ambient temperature
• p0615 I2t motor model fault threshold
• p0625 Motor ambient temperature
• p0627 Motor overtemperature, stator winding
• p0632 Mot_temp_mod stator winding temperature

• p5350 Mot_temp_mod 1/3 zero speed boost factor

• p5390 Mot_temp_mod 1/3 alarm threshold
• p5391 Mot_temp_mod 1/3 fault threshold
Thermal motor model 2 (for induction motors)
• p0344 Motor weight
• p0612 Thermal motor model configuration
• p0617 Stator thermally relevant iron component
• p0618 Stator thermally relevant copper component
• p0619 Rotor thermally relevant mass
• p0625 Motor ambient temperature
• p0626 Motor overtemperature, stator iron
• p0627 Motor overtemperature, stator winding
• p0628 Motor overtemperature, rotor winding
• r0630 Mot_temp_mod ambient temperature
• r0631 Mot_temp_mod stator iron temperature
• r0632 Mot_temp_mod stator winding temperature
• r0633 Mot_temp_mod rotor temperature
9.4.6 Temperature sensing via TM150
9.4.6.1 Description
Terminal Module 150 (TM150) has 6x 4-pole terminals for temperature sensors. Temperature
sensors can be connected in a 1x2, 1x3 or 1x4-wire system. In a 2x2-wire system, up to
12 input channels can be evaluated. 12 input channels can be evaluated in the factory
setting. The temperature channels can be combined into three groups and evaluated
together.
PTC, KTY84, bimetallic NC contact, PT100 and PT1000 temperature sensors can be connected
and evaluated. The fault and/or alarm thresholds of the temperature values can be set from -
99° C up to 251° C.
The temperature sensors are connected at terminal blocks X531 to X536 according to the
following table.
The TM150 temperature inputs are not electrically isolated.

Selecting the sensor types

• p4100[0...11] sets the sensor type for the respective temperature channel.
• r4105[0...11] indicates the actual value of the temperature channel.
For switching temperature sensors, such as e.g. PTC and bimetallic NC contact,
symbolically two limit values are displayed:
– r4105[0...11] = -50 °C: The actual temperature value is below the rated response
temperature.
– r4105[0...11] = +250 °C: The actual temperature value is above the rated response
temperature.
Note
PTC and bimetallic NC contact
What is shown in r4105[0...11] does not correspond to the actual temperature value.
Table 9- 13 Selecting the sensor types
Value of p4100[0...11] Temperature sensor Temperature display range r4105[0...11]

0 Evaluation disabled -
1 PTC thermistor -50° C or +250° C
2 KTY84 -99° C to +250° C
4 Bimetallic NC contact -50° C or +250° C
5 PT100 -99° C to +250° C
6 PT1000 -99° C to +250° C
Measuring the cable resistances

When using 2-wire sensors (1x2, 2x2 wire systems), to increase the measuring accuracy, the
cable resistance can be measured and saved.
Procedure for determining the cable resistance:
1. Select the measuring method (1x2/2x2) for the corresponding terminal block (p4108[0...5]
= 0, 1).
2. Set the required sensor type for the relevant channel (p4100[x] = 1 ... 6, x = 0...5 or 0...11).
3. Bypass/jumper the sensor to be connected (short-circuit the sensor cable close to the
sensor).
4. Connect the sensor cables to the relevant terminals 1(+), 2(-) or 3(+), 4(-).
5. For the corresponding channel, start measurement of the cable resistance (p4109[x] = 1).
6. After p4109[x] = 0, check the measured resistance value in p4110[x].
7. Remove the jumper across the temperature sensor.

The measured cable resistance is then taken into account when evaluating the temperature.
The cable resistance value is saved in p4110[0...11].
Note
Cable resistance
The value for the cable resistance can also be directly entered into p4110[0...11].
Line filter
A line filter is available to suppress radiated noise. Using p4121, the filter can be set to a 50
Hz or 60 Hz rated line frequency.
9.4.6.2 Measurement with up to 6 channels
Temperature measurement with a sensor in 2-wire technology

With p4108[0...5] = 0, you evaluate a sensor in a 2-wire system at a 4-wire connection at
terminals 1(+) and 2(-).
Terminals 3 and 4 remain open.

With p4108[0...5] = 2, you sense the signals from a sensor in 3-wire system at a 4-wire
connection at terminals 3(+) and 4(-).
The measuring wire is connected at terminal 1(+).
You must short-circuit terminals 2(-) and 4(-).

With p4108[0...5] = 3, you sense the signals from a sensor in a 4-wire system at a 4-wire
connection at terminals 3(+) and 4(-).
The measuring wire is connected at terminals 1(+) and 2(-).
9.4.6.3 Measurement with up to 12 channels
Temperature measurement with two sensors in 2-wire technology

With p4108[0...5] = 1, you sense two sensors in a 2-wire system.
The first sensor is connected at terminals 1(+) and 2(-).
The second sensor (number = first sensor + 6) is connected at terminals 3(+) and 4(-).
When connecting two sensors in a 2-wire system to terminal X531, the first sensor is
assigned to temperature channel 1 and the second sensor is assigned to channel 7 (1+6).

Note
Connection diagram for 12 temperature channels
The temperature sensors connected to a TM150 are not numbered consecutively. The first 6
temperature channels retain their numbering of 0 to 5. The other 6 temperature channels are
consecutively numbered from 6 to 11, starting at terminal X531.
Example of 8 temperature channels:

• 2x2 conductors at terminal X531: p4108[0] = 1 ≙ sensor 1 is at channel 0 and sensor 2 is
at channel 6
• 2x2 wire at terminal X532: p4108[1] = 1 ≙ sensor 1 is at channel 1 and sensor 2 is at
channel 7
• 1x3 wire at terminal X533: p4108[2] = 2 ≙ sensor 1 is at channel 2
• 1x2 conductor at terminal X536: p4108[5] = 0 ≙ sensor 1 is at channel 5
9.4.6.4 Forming groups of temperature sensors

Using p4111[0...2], temperature channels can be combined to form groups. For each group,
the following calculated values are provided from the temperature actual values
(r4105[0...11]):
• Maximum: r4112[0...2], (index 0,1,2 = group 0,1,2)
• Minimum: r4113[0...2]
• Average value: r4114[0...2]
Example:
The temperature actual value from channels 0, 3, 7, and 9 should be combined in group 1:
• p4111[1].0 = 1
• p4111[1].3 = 1
• p4111[1].7 = 1
• p4111[1].9 = 1
The calculated values from group 1 are available in the following parameters for
interconnection:
• r4112[1] = maximum
• r4113[1] = minimum
• r4114[1] = average value

Note
Forming groups of temperature channels
Only form groups of continuously measuring temperature sensors. Depending on the status,
the switching temperature sensors PTC and bimetal NC contacts are only assigned two
temperatures - 50 °C and +250 °C.
Within a group with continuously measuring temperature sensors, the calculation of the
maximum/minimum/average values, is significantly falsified when taking into account
switching temperature sensors.
9.4.6.5 Evaluating temperature channels

For each of the individual 12 temperature channels, using p4102[0...23] an alarm threshold
and a fault threshold can be set (straight parameter indices: Alarm thresholds, odd parameter
indices: Fault thresholds). The temperature thresholds can be set for each channel from
-99 °C to +251 °C. For p4102[0...23] = 251, the evaluation of the corresponding threshold is
deactivated.
Using p4118[0...11], for each channel a hysteresis for the fault/alarm thresholds can be set in
p4102[0...23].
The following applies for the alarm thresholds:
• If the temperature actual value associated with a channel exceeds the set alarm threshold
(r4105[x] > p4102[2x]), the corresponding alarm is output. Timer p4103[0...11] is started
at the same time.
• The alarm remains until the temperature actual value (r4105[x]) has reached or fallen
below the alarm threshold (p4102 [2x]) - hysteresis (p4118 [x]).
• If, after the timer has expired, the temperature actual value is still above the alarm
threshold, then the appropriate fault is output.
The following applies for the fault thresholds:
• If the temperature actual value associated with a channel exceeds the set fault threshold
(r4105[x] > p4102[2x+1]), the corresponding fault is output.
• The fault remains until the temperature actual value (r4105[x]) has reached or fallen
below the fault threshold (p4102 [2x+1]) - hysteresis (p4118 [x]) and the fault has been
acknowledged.
Using p4119[0...11], for each channel, a filter can be activated to smooth the temperature
signal.
The time constant of the filter depends on the number of active temperature channels and
can be read in r4120.

Failure of a sensor within a group

Using parameter p4117[0...2], the response to the failure of a temperature sensor can be set
within a group:
• p4117[x] = 0: The failed sensor is not taken into account in the group.
• p4117[x] = 1: When a sensor fails, for the maximum value, minimum value and the
average value of the group, a value of 300 °C is output.
Smoothing time for temperature channels

For long or unshielded temperature cables, interference can occur and incorrectly shut down
the drive (nuisance trip). To avoid this, a smoothing time can be configured for every
temperature channel in TM150 for the respective temperature signal.
The smoothing is realized using a 1st order lowpass filter. The effective smoothing time
constant depends on the number of simultaneously active temperature channels, and is
indicated in parameter r4120 [0...11].
The smoothing time constant to be set is calculated using the following formula:
Smoothing time constant (p4122) ≥ 2 x active number of channels x 50 ms
Setting the smoothing time (using sensor 5 as an example)

• Activate the smoothing time: p4119[5] = 1.
• Enter the smoothing time constant: p4122[5] = 1.
The smoothing time constants can be calculated using the formula shown above. To do
this, you have to know for how many temperature channels you wish to configure a
smoothing time. The implemented smoothing time is displayed after the entry in p4122
for the selected temperature channel (r4120[0...11]).
FP 9625 TM150 - temperature evaluation structure (channel 0 ... 11)

FP 9626 TM150 - temperature evaluation 1x2, 3, 4-wire (channel 0 ... 5)
FP 9627 TM150 - temperature evaluation 2x2-wire (channel 0 ... 11)

9.4.6.7 Parameter
• p4100[0...11] TM150 sensor type

• r4101[0...11] TM150 sensor resistance
• p4102[0...23] TM150 fault threshold/alarm threshold
• p4103[0...11] TM150 delay time
• r4104.0...23 BO: TM150 temperature evaluation status
• r4105[0...11] CO: TM150 temperature actual value
• p4108[0...5] TM150 terminal block measurement method
• p4109[0...11] TM150 cable resistance measurement
• p4110[0...11] TM150 cable resistance value
• p4111[0...2] TM150 group channel assignment
• r4112[0...2] CO: TM150 group, temperature actual value maximum value
• r4113[0...2] CO: TM150 group, temperature actual value minimum value
• r4114[0...2] CO: TM150 group temperature actual value, average
• p4117[0...2] TM150 group, sensor fault effect
• p4118[0...11] TM150 fault threshold/alarm threshold hysteresis
• p4119[0...11] TM150 activate/deactivate smoothing
• r4120[0...11] TM150 actual value smoothing time in ms
• p4121 TM150 filter, rated line frequency
• p4122[0...11] TM150 smoothing time constant


Diagnosis / faults and alarms 10
10.1 Chapter content
• Notes regarding diagnostic functions that are available and troubleshooting in the case of
a fault

Diagnosis / faults and alarms
10.2 Diagnosis
10.2 Diagnosis
Description
This section describes procedures for identifying the causes of problems and the measures
you need to take to rectify them.
Note
Errors or malfunctions
If errors or malfunctions occur in the device, you must carefully check the possible causes and
take the necessary steps to rectify them. If you cannot identify the cause of the problem or
you discover that components are defective, your regional office or sales office should
contact Siemens Service and describe the problem in more detail. Addresses of contact
persons are listed in the preface.
10.2.1 Diagnostics via LEDs
Control Unit
Table 10- 1 Description of the LEDs on the CU320-2 DP Control Unit

RDY (READY) --- OFF The electronic power supply is missing or lies outside the permissi-
ble tolerance range.
Green Continuous light The component is ready for operation and cyclic DRIVE-CLiQ com-
munication is taking place.
0.5 Hz flashing Commissioning/reset
light
2 Hz flashing light Writing to the memory card.
Flashing light - PROFIenergy energy saving mode is active (in conjunction with
0.5 s on 3 s off CBE20)
Red 2 Hz flashing light General fault
Red/green 0.5 Hz flashing Control Unit is ready for operation.
light However, there are no software licenses.
Orange 0.5 Hz flashing Firmware update in progress for the connected DRIVE-CLiQ com-
light ponents.
2 Hz flashing light Firmware update of components has been completed. Wait for
POWER ON of the respective component.
Green/oran 2 Hz flashing light Component detection via LED is activated (p0124[0]).
ge or Note:
red/orange Both options depend on the LED status when component recogni-
tion is activated using p0124[0] = 1.

10.2 Diagnosis

COM --- OFF Cyclic communication is not (yet) running.
PROFIdrive cyclic Note:
operation The PROFIdrive is ready for communication when the Control Unit
is ready for operation (see LED RDY).
0.5 Hz flashing Cyclic communication has still not been fully established.
light Possible causes:
- The controller is not transmitting any setpoints.
- In isochronous mode, the controller did not send a Global Control
or it sent a defective Global Control (GC).
Red 0.5 Hz flashing PROFIBUS master is sending incorrect parameter assign-
light ment/configuration
2 Hz flashing light Cyclic bus communication has been interrupted or could not be
established.
OPT --- OFF Electronic power supply missing or outside permissible tolerance
(OPTION) range.
The component is not ready for operation.
The Option Board is missing or an associated drive object has not
been created.
Green Continuous light Option board is ready.
0.5 Hz flashing Depends on the option board used 1).
light
Red Continuous light Depends on the option board used 1).
0.5 Hz flashing Depends on the option board used 1).
light
2 Hz flashing light This component has at least one fault.
The option board is not ready (e.g., after switching on).
RDY and COM Red 2 Hz flashing light Bus error - communication has been interrupted.
RDY and OPT Orange 0.5 Hz flashing The firmware of the connected option board is being updated.
light
1) Any individual behaviors of the LED OPT are described at the respective Option Board.

10.2 Diagnosis
Table 10- 2 Description of the LEDs on the CU320-2 PN Control Unit

RDY (READY) --- OFF The electronic power supply is missing or lies outside the permis-
sible tolerance range.
Green Continuous light The component is ready for operation and cyclic DRIVE-CLiQ
communication is taking place.
0.5 Hz flashing light Commissioning/reset
2 Hz flashing light Writing to the memory card.
Flashing light - 0.5 s PROFIenergy energy saving mode is active
on 3 s off
Red 2 Hz flashing light General fault
Red/green 0.5 Hz flashing light Control Unit is ready for operation.
However, there are no software licenses.
Orange 0.5 Hz flashing light Firmware update in progress for the connected DRIVE-CLiQ com-
ponents.
2 Hz flashing light Firmware update of components has been completed. Wait for
POWER ON of the respective component.
Green/oran 2 Hz flashing light Component detection via LED is activated (p0124[0]).
ge or Note:
red/orange Both options depend on the LED status when component recogni-
tion is activated using p0124[0] = 1.
COM --- OFF Cyclic communication is not (yet) running.
PROFIdrive cyclic Note:
operation The PROFIdrive is ready for communication when the Control Unit
is ready for operation (see LED RDY).
0.5 Hz flashing light Cyclic communication is still not completely running.
Possible causes:
- The controller is not transferring any setpoints.
- For isochronous operation, either none or a faulty Global Control
(GC) has been transferred from the controller.
- "Shared Device" has been selected and only one controller con-
nected.
Red 0.5 Hz flashing light Bus error, incorrect parameter assignment/configuration
2 Hz flashing light Cyclic bus communication has been interrupted or could not be
established.
OPT --- OFF Electronic power supply missing or outside permissible tolerance
(OPTION) range.
The component is not ready for operation.
The Option Board is missing or an associated drive object has not
been created.
Green Continuous light Option board is ready.
0.5 Hz flashing light Depends on the option board used 1).
Red Continuous light Depends on the option board used 1).
0.5 Hz flashing light Depends on the option board used 1).
2 Hz flashing light This component has at least one fault.
The option board is not ready (e.g., after switching on).
RDY and COM Red 2 Hz flashing light Bus error - communication has been interrupted.
RDY and OPT Orange 0.5 Hz flashing light The firmware of the connected option board is being updated.
1) Any individual behaviors of the LED OPT are described at the respective Option Board.

10.2 Diagnosis
TM31 customer terminal block
Table 10- 3 Description of the LEDs on the TM31

READY --- OFF The electronic power supply is missing or lies outside the permissible
tolerance range.
Green Continuous The component is ready for operation and cyclic DRIVE-CLiQ communica-
light tion is taking place.
Orange Continuous DRIVE-CLiQ communication is being established.
light
Red Continuous This component has at least one fault.
light Remark:
The LED is activated irrespective of whether the corresponding messages
have been reconfigured.
Green/red 0.5 Hz flashing Firmware is being downloaded.
light
2 Hz flashing Firmware download is complete. Waiting for POWER ON.
light
Green / orange Flashing light Detection of the components via LED is activated (p0154).
or Remark:
red / orange Both options depend on the LED status when module recognition is acti-
vated via p0154 = 1.

10.2 Diagnosis
Control Interface Module – Interface module in the Power Module
Table 10- 4 Description of the LEDs "READY" and "DC LINK" on the Control Interface Module
LED state Description

READY DC LINK
Off Off The electronic power supply is missing or lies outside the permissible tolerance range.
Green --- 1) The component is ready for operation and cyclic DRIVE-CLiQ communication is taking
place.
Orange The component is ready for operation and cyclic DRIVE-CLiQ communication is taking
place.
The DC link voltage is present.
Red The component is ready for operation and cyclic DRIVE-CLiQ communication is taking
place.
The DC-link voltage lies outside the permitted tolerance range.
Orange Orange DRIVE-CLiQ communication is being established.
Red --- 1) This component has at least one fault.
Remark:
The LED is activated irrespective of whether the corresponding messages have been
reconfigured.
Flashing light --- 1) Firmware is being downloaded.
0.5 Hz:
green/red
Flashing light 2 --- 1) Firmware download is complete. Waiting for POWER ON.
Hz:
green/red
Flashing light 2 --- 1) Detection of the components via LED is activated (p0124).
Hz: Note:
green/orange Both options depend on the LED status when module recognition is activated via
or p0124 = 1.
red/orange
1) Irrespective of the status of the LED "DC LINK"
Table 10- 5 Meaning of the LED "POWER OK" on the Control Interface Module

POWER OK Green Off DC link voltage < 100 V and voltage at -X9:1/2 less than 12 V.
ON The component is ready for operation.
Flashing There is a fault. If the LED continues to flash after you have performed
light a POWER ON, please contact your Siemens service center.
WARNING
Touching live parts of the DC link
Irrespective of the state of the LED "DC LINK", hazardous DC link voltages can always be
present. This means that if live parts are touched, this can result in death or serious injury.
• Observe the warning information on the component.

10.2 Diagnosis
SMC30 – encoder evaluation
Table 10- 6 Description of the LEDs on the SMC30

READY --- OFF The electronic power supply is missing or lies outside the permissible
tolerance range.
Green Continuous light The component is ready for operation and cyclic DRIVE-CLiQ communi-
cation is taking place.
Orange Continuous light DRIVE-CLiQ communication is being established.
Red Continuous light This component has at least one fault.
Remark:
The LED is activated irrespective of whether the corresponding messag-
es have been reconfigured.
Green/red 0.5 Hz flashing Firmware is being downloaded.
light
2 Hz flashing light Firmware download is complete. Waiting for POWER ON.
Green / orange 2 Hz flashing light Detection of the components via LED is activated (p0144).
or Remark:
red / orange Both options depend on the LED status when module recognition is
activated via p0144 = 1.
OUT>5 V --- OFF The electronic power supply is missing or lies outside the permissible
tolerance range.
Power supply ≤ 5 V.
Orange Continuous light Electronic power supply for measuring system present.
Supply voltage > 5 V.
Notice:
You must ensure that the connected encoder can be operated with a
24 V supply.
Operating an encoder designed for a 5 V supply with a 24 V supply can
damage the encoder electronics beyond repair.
TM150 - Terminal Module
Table 10- 7 Description of the LEDs on the TM150

READY - OFF The electronic power supply is missing or lies outside the permissible
tolerance range.
Green Continuous light The component is ready for operation and cyclic DRIVE-CLiQ communi-
cation is taking place.
Orange Continuous light DRIVE-CLiQ communication is being established.
Red Continuous light This component has at least one fault.
Remark:
The LED is activated irrespective of whether the corresponding messag-
es have been reconfigured.
Green/red Flashing light 0.5 Firmware is being downloaded.
Hz
Flashing light 2 Hz Firmware download is complete. Waiting for POWER ON.
Green / orange Flashing light 2 Hz Detection of the components via LED is activated (p0154).
or Remark:
red / orange Both options depend on the LED status when module recognition is
activated via p0154 = 1.

10.2 Diagnosis
10.2.2 Diagnostics via parameters
All Objects: key diagnostic parameters (details in List Manual)
Parameter Name
Description
r0945 Fault code
Displays the fault number. Index 0 is the most recent fault (last fault to have occurred).
r0948 Fault time received in milliseconds
Displays the system runtime in ms at which the fault occurred.
r0949 Fault value
Displays additional information about the fault. This information is required for detailed fault diagnosis.
r2109 Fault time removed in milliseconds
Displays the system runtime in ms at which the fault was rectified.
r2122 Alarm code
Displays the numbers of alarms that have occurred
r2123 Alarm time received in milliseconds
Displays the system runtime in ms at which the alarm occurred.
r2124 Alarm value
Displays additional information about the alarm. This information is required for detailed alarm diagnosis.
r2125 Alarm time removed in milliseconds
Displays the system runtime in ms at which the alarm was rectified.
Control Unit: key diagnostic parameters (details in List Manual)
Parameter Name
Description
r0002 Control Unit status display
Status display for the Control Unit
r0018 Control Unit firmware version
Displays the firmware version of the Control Unit. For the display parameters for the firmware version of the
other connected components, see the parameter description in the List Manual.
r0037 Control Unit temperature
Displays the measured temperature on the Control Unit.
r0721 CU digital inputs, terminal actual value
Displays the actual value at the digital input terminals on the CU. This parameter shows the actual value,
uninfluenced by simulation mode of the digital inputs.
r0722 CO/BO: CU digital inputs, status
Displays the status of the digital inputs on the CU. This parameter shows the status of the digital inputs under
the influence of simulation mode of the digital inputs.
r0747 CU, digital outputs status
Display of the CU digital output status. This parameter shows the status of the digital inputs under the influ-
ence of simulation mode of the digital inputs.
r2054 PROFIBUS status
Displays the status of the Profibus interface.

10.2 Diagnosis
Parameter Name
Description
r8937 PN diagnostics
Display to diagnose the cyclic PROFINET connections.
r9976[0..7] System utilization
Displays the system load.
The individual values (computation load and cyclic load) are measured over short time slices; from these
values, the maximum, the minimum and the average value are generated and displayed in the appropriate
indices. Further, the degree of memory utilization of the data and program memory is displayed.
VECTOR: key diagnostic parameters (details in List Manual)
Parameter Name
Description
r0002 Drive operating display
The value provides information about the current operating status and the conditions necessary to reach the
next status.
r0020 Speed setpoint smoothed
Displays the actual smoothed speed/velocity setpoint at the input of the speed/velocity controller or U/f char-
acteristic (after the interpolator).
r0021 CO: Actual speed value smoothed
Displays the smoothed actual value of the motor speed/velocity.
r0024 CO: Output frequency, smoothed
Displays the smoothed converter frequency.
r0026 CO: DC link voltage smoothed
Displays the smoothed actual value of the DC link.
r0027 CO: Absolute actual current, smoothed
Displays the smoothed actual value of the current.
r0031 Actual torque smoothed
Displays the smoothed actual torque.
r0034 CO: Motor utilization
Displays the motor utilization from the thermal I2t motor model.
r0035 CO: Motor temperature
If r0035 does not equal -200.0 °C, the following applies:
• This temperature indicator is valid.
• An KTY sensor is connected.
• If using an asynchronous motor, the thermal motor model is activated (p0600 = 0 or p0601 = 0).
If r0035 equals -200.0 °C, the following applies:
• This temperature indicator is invalid (temperature sensor fault).
• An PTC sensor is connected.
If using a synchronous motor, the thermal motor model is activated (p0600 = 0 or p0601 = 0).
r0037 CO: Power unit temperatures
Displays the measured temperatures in the power unit.
r0046 CO/BO: Missing enable signals
Displays missing enable signals that are preventing the closed-loop drive control from being commissioned.

10.2 Diagnosis
Parameter Name
Description
r0049 Motor data set/encoder data set active (MDS, EDS)
Displays the effective motor data set (MDS) and the effective encoder data sets (EDS).
r0050 CO/BO: Command Data Set CDS effective
Displays the effective command data set (CDS)
r0051 CO/BO: Drive Data Set DDS effective
Effective drive data set (DDS) display.
r0056 CO/BO: Status word, closed-loop control
Displays the status word of the closed-loop control.
r0063 CO: Speed actual value
Displays the actual speed for speed control and U/f control.
r0066 CO: Output frequency
Displays the output frequency of the Motor Module.
r0070 CO: Actual DC link voltage
Displays the measured actual value of the DC link voltage.
r0072 CO: Output voltage
Displays the actual output voltage of the power unit (Motor Module).
r0082 CO: Active power actual value
Displays the instantaneous active power.
r0206 Rated power unit power
Displays the rated power unit power for various load duty cycles.
r0207 Rated power unit current
Displays the rated power unit power for various load duty cycles.
r0208 Rated power unit line supply voltage
Displays the rated line supply voltage of the power unit.
r0209 Power unit, maximum current
Displays the maximum output current of the power unit.
TM31: key diagnostic parameters (details in List Manual)
Parameter Name
Description
r0002 TM31 operating display
Operating display for Terminal Board 31 (TB31).
r4021 TM31 digital inputs, terminal actual value
Displays the actual value at the digital input terminals on the TM31. This parameter shows the actual value,
uninfluenced by simulation mode of the digital inputs.
r4022 CO/BO: TM31 digital inputs, status
Displays the status of the digital inputs on the TM31. This parameter shows the status of the digital inputs
under the influence of simulation mode of the digital inputs.
r4047 TM31 digital outputs, status
Displays the status of the TM31 digital outputs. Inversion via p4048 is taken into account.

10.2 Diagnosis
10.2.3 Indicating and rectifying faults

The device features a wide range of functions that protect the drive against damage if a fault
occurs (faults and alarms).
Indicating faults and alarms

If a fault occurs, the drive displays the fault and/or alarm on the AOP30 operator panel. Faults
are indicated by the red "FAULT" LED and a fault screen is automatically displayed. You can
use the F1 Help function to call up information about the cause of the fault and how to
remedy it. You can use F5 Ack. to acknowledge a stored fault.
Any alarms are displayed by the yellow flashing "ALARM" LED. The system also displays a note
in the status bar providing information on the cause.
Every fault and alarm is entered in the fault/alarm buffer along with time the error occurred.
The time stamp refers to the relative system time in milliseconds (r0969).
Activate the "Set date/time - AOP synchronization -> Drive" setting to date- and time-stamp
errors on the AOP30.
What is a fault?
A fault is a message from the drive indicating an error or other exceptional (unwanted)
status. This could be caused by a fault within the converter or an external fault triggered, for
example, from the winding temperature monitor for the induction motor. The faults are
displayed and can be reported to a higher-level control system via PROFIdrive. In the delivery
condition, the message "Drive fault" is also sent to a relay output. Once you have rectified the
cause of the fault, you have to acknowledge the fault message.
What is an alarm?
An alarm is the response to a fault condition identified by the drive. It does not result in the
drive being switched off and does not have to be acknowledged. Alarms are "self
acknowledging", that is, they are reset automatically when the cause of the alarm has been
eliminated.

10.3 Overview of warnings and faults
10.3 Overview of warnings and faults

If a fault occurs, the drive indicates the fault and/or alarm. Faults and alarms are listed in a
fault/alarm list, together with the following information:
• Fault/alarm number
• Standard drive response
• Description of the possible cause of the fault/alarm
• Description of the procedure for rectifying the problem
• Standard fault acknowledgement after it has been rectified
Note
List of faults and alarms
The list of faults and alarms is included on the List Manual!
It also contains descriptions of the responses (OFF1, OFF2, etc.).

Maintenance and servicing 11
• Maintenance and servicing procedures that have to be carried out on a regular basis to
ensure the availability of the devices.
• Exchanging device components when the unit is serviced
• Forming the DC link capacitors
• Upgrading the device firmware
WARNING
Not observing fundamental safety instructions and residual risks
The non-observance of the fundamental safety instructions and residual risks stated in
Chapter 1 can result in accidents with severe injuries or death.
• Adhere to the fundamental safety instructions.
DANGER
Electric shock due to the residual charge of the DC link capacitors
Because of the DC link capacitors, a hazardous voltage is present for up to five minutes after
the power supply has been switched off.
Contact with live parts can result in death or serious injury.
• Only open the device after five minutes have elapsed.
• Measure the voltage before starting work on the DCP and DCN DC link terminals.

Maintenance and servicing
11.2 Maintenance
11.2 Maintenance
The chassis unit comprises mostly electronic components. Apart from the fan(s), the unit,
therefore, contains hardly any components that are subject to wear or that require
maintenance or servicing. The purpose of maintenance is to preserve the specified condition
of the chassis unit. Dirt and contamination must be removed regularly and parts subject to
wear replaced.
The following points must generally be observed.
11.2.1 Cleaning
Dust deposits
Dust deposits inside the chassis unit must be removed at regular intervals (or at least once a
year) by qualified personnel in line with the relevant safety regulations. The unit must be
cleaned using a brush and vacuum cleaner, and dry compressed air (max. 1 bar) for areas
that cannot be easily reached.
Ventilation
When installing the devices in a cabinet, make sure that the cabinet ventilation slots are not
obstructed. The fan must be checked to make sure that it is functioning correctly.
11.3 Maintenance
11.3.1 Maintenance
Servicing involves activities and procedures for maintaining and restoring the specified
condition of the device.
Required tools
The following tools are required for replacing components:
• Torque wrenches 1.5 Nm up to 100 Nm

11.3 Maintenance
Cable and screw terminals

Cable and screw terminals must be checked regularly to ensure that they are secure in
position, and if necessary, retightened. Cabling must be checked for defects. Defective parts
must be replaced immediately.
Note
Maintenance intervals
The actual intervals at which maintenance procedures are to be performed depend on the
installation conditions (cabinet environment) and the operating conditions.
Siemens offers its customers support in the form of a service contract. For further details,
contact your regional office or sales office.
Tightening torques for screw connections

The following tightening torques apply when tightening current-conducting connections (DC
link connections, motor connections, busbars, lugs) and other connections (ground
connections, protective conductor connections, steel threaded connections).
Table 11- 1 Tightening torques for screw connections
Thread Ground connections, protective Aluminum threaded connections,

conductor connections, steel plastic, busbars, lugs
threaded connections
M3 1.3 Nm 0.8 Nm
M4 3 Nm 1.8 Nm
M5 6 Nm 3 Nm
M6 10 Nm 6 Nm
M8 25 Nm 13 Nm
M10 50 Nm 25 Nm
M12 88 Nm 50 Nm
M16 215 Nm 115 Nm
Note
Screw connections for protective covers
The threaded connections for the protective covers made of Makrolon may only tightened
with 2.5 Nm.
Maintenance work at the main switch or circuit breaker

For an optionally installed main switch or circuit breaker, the inspection must be carried out
at the intervals specified in the attached description.

11.3 Maintenance
11.3.2 Installation device
Description
The installation device is used for installing and removing the power blocks.
It is used as an installation aid, which is placed in front of and secured to the module. The
telescopic guide support allows the withdrawable device to be adjusted according to the
height at which the power blocks are installed. Once the mechanical and electrical
connections have been removed, the power block can be removed from the module,
whereby the power block is guided and supported by the guide rails on the withdrawable
devices.
Figure 11-1 Installation device
Article number
The article number for the installation device is 6SL3766-1FA00-0AA0.

11.3 Maintenance
11.3.3 Using crane lifting lugs to transport power blocks
Crane lifting lugs

The power blocks are fitted with crane lifting lugs for transportation on a lifting harness in
the context of replacement.
The positions of the crane lifting lugs are illustrated by arrows in the figures below.
NOTICE
Damage to the device due to improper transport
Improper transport can subject the power block housing or the busbars to mechanical loads,
which damage the device.
• When transporting the power blocks, use a lifting harness with vertical ropes or chains.
• Do not use the power block busbars to support or secure lifting harnesses.
Figure 11-2 Crane lifting lugs on FX, GX power block

11.3 Maintenance
Figure 11-3 Crane lifting lugs on HX, JX power block
Note
Crane lifting lugs on power blocks HX, JX
On HX and JX power blocks, the front crane lifting lug is located behind the busbar.

11.4 Replacing components
WARNING
Improper transport and installation of devices and components
Serious injury or even death and substantial material damage can occur if the devices are
not transported or installed properly.
• Transport, mount, and remove the devices and components only if you are qualified to
do so.
• Take into account that the devices and components are in some cases heavy and top-
heavy; take the necessary precautionary measures.
The weights of the individual power blocks are listed in the corresponding section.

11.4.1 Replacing the Control Interface Module, frame size FX
Replacing the Control Interface Module
Figure 11-4 Replacing the Control Interface Module, frame size FX

Preparatory steps
• Disconnect the built-in unit from the power supply.
• Allow unimpeded access.
• Remove the protective cover.
Removal steps
The removal steps are numbered in accordance with the numbers in the diagram.
1. Disconnect the plug-in connections for the fiber-optic cables and signal cables (5 plugs).
2. Remove DRIVE-CLiQ cables and connections at - X41, -X42, -X46 (6 connectors).
The DRIVE-CLiQ cables should be marked to ensure that they are subsequently correctly
inserted.
3. Take out the retaining screws for the IPD card (2 screws) and remove the IPD card from plug
-X45 on the Control Interface Module.
4. Remove the retaining screws for the Control Interface Module (2 screws).
When removing the Control Interface Module, you have to disconnect 5 additional plugs one
after the other (2 at the top, 3 below).
NOTICE
Damage to the device if signal cables are damaged when removing
Signal cables can be damaged when the Control Interface Module is removed. This can
cause the device to fail.
• When removing the Control Interface Module, ensure that you do not damage any signal
cables.
Installation steps
To reinstall, perform the above steps in the reverse order.
Tightening torque for the fixing screws of the Control Interface Module (M6 x 16, item ④): 6
Nm.
Note
Specifications for the installation
The tightening torques specified in the table "Tightening torques for screw connections" must
be observed.
Carefully insert the plug-in connections and ensure that they are secure.
The fiber-optic cable plugs must be remounted at their original slot. Fiber-optic cables and
sockets are labeled to ensure that they are assigned correctly (U11, U21, U31).

11.4.2 Replacing the Control Interface Module, frame size GX
Figure 11-5 Replacing the Control Interface Module, frame size GX

Preparatory steps
Removal steps
inserted.
NOTICE
cables.
Installation steps
Nm.
Note
be observed.

11.4.3 Replacing the Control Interface Module, frame size HX
Figure 11-6 Replacing the Control Interface Module, frame size HX

Preparatory steps
Removal steps
inserted.
NOTICE
cables.
Installation steps
Nm.
Note
be observed.

11.4.4 Replacing the Control Interface Module, frame size JX
Figure 11-7 Replacing the Control Interface Module, frame size JX

Preparatory steps
Removal steps
inserted.
NOTICE
cables.
Installation steps
Nm.
Note
be observed.

11.4.5 Replacing the power block, frame size FX
Replacing the power block
Figure 11-8 Replacing the power block, frame size FX

Preparatory steps
• Allow unimpeded access to the power block.
• Removing the Control Interface Module (see corresponding section)
Removal steps
1. Unscrew the connection to the outgoing motor section (3 screws).
2. Unscrew the connection to the line supply (3 screws).
3. Remove the retaining screws at the top (2 screws).
4. Remove the retaining screws at the bottom (2 screws).
5. Disconnect the plug for the thermocouple.
6. Unscrew the two retaining screws for the fan and attach the equipment for assembling the
power block at this position.
You can now remove the power block.
Note
The power block weighs approx. 70 kg!
NOTICE
Signal cables can be damaged when the power block is removed. This can cause the device
to fail.
• When removing the power block, ensure that you do not damage any signal cables.
Installation steps
Note
be observed.

Note
Connecting clip for the basic interference suppression module
The connection clip for the basic interference suppression module is mounted on the spare
power block together with a yellow warning label.
Please note the information in Chapter "Removing the connection clip to the basic
interference suppression module for operation on an ungrounded line supply (IT system)".

11.4.6 Replacing the power block (frame size GX)
Replacing the power block
Figure 11-9 Replacing the power block, frame size GX

Preparatory steps
• Removing the Control Interface Module (see corresponding section)
Removal steps
1. Unscrew the connection to the outgoing motor section (3 screws).
2. Unscrew the connection to the line supply (3 screws).
3. Remove the retaining screws at the top (2 screws).
5. Disconnect the plug for the thermocouple.
6. Unscrew the two retaining screws for the fan and attach the equipment for assembling the
power block at this position.
Note
NOTICE
to fail.
Installation steps
Note
be observed.

Note

11.4.7 Replacing the power block (frame size HX)
Replacing the left power block
Figure 11-10 Replacing the power block, frame size HX, left power block

Preparatory steps
Removal steps
1. Remove the busbar (6 screws).
2. Unscrew the connection to the DC link (8 nuts).
3. Remove the retaining screw at the top (1 screw).
6. Remove the connection for the current transformer and associated PE connection (1 plug).
7. Remove the connection for the DC link sensor (1 nut).
8. Remove the power connections (6 screws).
9. Unscrew the two retaining screws for the fan and attach the tool for de-installing the power
block at this position.
Note
NOTICE
to fail.

Installation steps
Note
be observed.
Note

Replacing the right power block
Figure 11-11 Replacing the power block, frame size HX, right power block

Preparatory steps
Removal steps
1. Remove the busbars (12 screws).
6. Remove the connection for the current transformer and associated PE connection (2 plugs).
Note
NOTICE
to fail.
Installation steps
Note
be observed.

11.4.8 Replacing the power block (frame size JX)
Replacing the left power block
Figure 11-12 Replacing the power block, frame size JX, left power block

Preparatory steps
Removal steps
5. Remove the connections to the mains supply (6 screws).
Note
NOTICE
to fail.
Installation steps
Note
be observed.

Note

Replacing the right power block
Figure 11-13 Replacing the power block, frame size JX, right power block

Preparatory steps
Removal steps
1. Remove the busbar (8 screws)
6. Remove the connection for the current transformer and associated PE connection (1 plug).
Note
NOTICE
to fail.
Installation steps
Note
be observed.

11.4.9 Replacing the fan, frame size FX
Replacing the fan
Figure 11-14 Replacing the fan, frame size FX (left: devices from 85 A ... 210 A, right: device with
260 A)

Description
The average service life of the device fans is 50,000 hours. In practice, however, the service
life depends on other variables (e.g. ambient temperature, degree of cabinet protection, etc.)
and, therefore, may deviate from this value.
The fans must be replaced in good time to maintain the availability of the cabinet unit.
Preparatory steps
Removal steps
1. Remove the retaining screws for the fan (2 screws)
2. Disconnect the supply cables (1 x "L", 1 x "N")
You can now carefully remove the fan.
NOTICE
Signal cables can be damaged when the fan is removed. This can cause the device to fail.
• When removing the fan, ensure that you do not damage any signal cables.
Installation steps
Note
Pay attention to the tightening torques
be observed.
Note
Reset the operating hours counter
Following fan replacement, the operating hours counter of the fan should be reset using
p0251 = 0.

11.4.10 Replacing the fan (frame size GX)
Replacing the fan
Figure 11-15 Replacing the fan, frame size GX

Description
The fans must be replaced in good time to ensure that the built-in unit is available.
Preparatory steps
Removal steps
NOTICE
Installation steps
Note
be observed.
Note
p0251 = 0.

11.4.11 Replacing the fan (frame size HX)
Replacing the fan, left power block
Figure 11-16 Replacing the fan, frame size HX, left power block

Description
Preparatory steps
Removal steps
1. Remove the copper bar (6 screws).
NOTICE
Installation steps
Note
be observed.
Note
p0251 = 0.

Replacing the fan, right power block
Figure 11-17 Replacing the fan, frame size HX, right power block

Description
Preparatory steps
Removal steps
1. Remove the copper bar (12 screws).
NOTICE
Installation steps
Note
be observed.
Note
p0251 = 0.

11.4.12 Replacing the fan (frame size JX)
Replacing the fan, left power block
Figure 11-18 Replacing the fan, frame size JX, left power block

Description
Preparatory steps
Removal steps
NOTICE
Installation steps
Note
be observed.
Note
p0251 = 0.

Replacing the fan, right power block
Figure 11-19 Replacing the fan, frame size JX, right power block

Description
Preparatory steps
Removal steps
1. Remove the busbar (8 screws)
NOTICE
Installation steps
Note
be observed.
Note
p0251 = 0.

11.5 Forming the DC link capacitors
11.5 Forming the DC link capacitors
Description
If the device is kept in storage for more than two years, the DC-link capacitors have to be re-
formed.
If the cabinet is commissioned within two years of its date of manufacture, the DC-link
capacitors do not need to be re-formed. The date of manufacture is indicated in the serial
number on the type plate (see "Device Overview").
NOTICE
Material damage caused by omitted forming
If no forming is performed on a device after that has been stored for more than two years,
operation with load can cause material damage on the device.
• Form a device that has been in storage for more than two years.
Note
Storage period
It is important that the storage period is calculated from the date of manufacture and not
from the date that the equipment was shipped.
Procedure
The DC-link capacitors are re-formed by applying the rated voltage without load for at least
30 minutes at room temperature.
• Operation via PROFIBUS:
– Set bit 3 of control word 1 (operation enable) permanently to "0".
– Switch on the converter by means of an ON signal (bit 0 of the control word); all the
other bits must be set in such a way that the converter can be operated.
– Once the delay time has elapsed, switch off the converter and restore the original
PROFIBUS setting.
• Operation via terminal block:
– Set p0852 to "0" (factory setting is "1").
– Switch on the converter (via digital input 0 on the customer terminal block).
– Once the delay time has elapsed, switch off the converter and restore the original
setting for p0852.
Note
Forming via AOP30
Reforming cannot be carried out in LOCAL mode via the AOP30.

11.6 Messages after replacing DRIVE-CLiQ components
11.6 Messages after replacing DRIVE-CLiQ components

After DRIVE-CLiQ components are replaced (Control Interface Module, TM31, SMCxx) when
service is required, generally no message is output after power-up, since an identical
component is identified and accepted as component when the system boots.
The reason for this is that an identical component is detected and accepted as spare part
when running-up. If, unexpectedly, a fault message of the "topology fault" category is
displayed, then when replacing a component, one of the following faults/errors should have
occurred:
• A Control Interface Module with different firmware data was installed.
• When connecting-up DRIVE-CLiQ cables, connections were interchanged.
Automatic firmware update

A firmware update for the replaced DRIVE-CLiQ component may run automatically after
switching on the electronics.
• The following LEDs will flash slowly to indicate that an automatic firmware update is in
progress: the "RDY" LED on the Control Unit (orange, 0.5 Hz) and an LED on the relevant
DRIVE-CLiQ component (green/red, 0.5 Hz).
Note
Do not shut down the converter
Do not shut down the converter during this process as the firmware update will otherwise
have to be started again.
• Once the automatic firmware update is complete, the "RDY" LED on the Control Unit will
flash quickly (orange, 2 Hz) along with an LED on the relevant DRIVE-CLiQ component
(green/red, 2 Hz).
• To complete the automatic firmware update process, a POWER ON is required (switch the
device off and back on again).

11.7 Upgrading the chassis unit firmware
11.7 Upgrading the chassis unit firmware

Updating the device firmware (by installing a new memory card with a new firmware version,
for example), may also make it necessary to update the firmware of the DRIVE-CLiQ
components in the built-in unit.
If the system detects that the firmware in the DRIVE-CLiQ components needs to be upgraded,
it will do this independently as part of the automatic firmware update.
Automatic firmware update sequence

1. During an automatic firmware update, the "RDY" LED on the Control Unit flashes slowly
(orange, 0.5 Hz).
2. The firmware update is performed on each DRIVE-CLiQ component as needed; during the
update process, an LED for the respective component flashes slowly (green/red, 0.5 Hz).
3. Once the firmware update for a specific DRIVE-CLiQ component is complete, the LED for that
component will flash quickly (green/red, 2 Hz).
4. Once the firmware update for all components is complete, the LED for the Control Unit will
flash quickly (orange, 2 Hz).
5. To complete the automatic firmware update process, a POWER ON is required (switch the
device off and back on again).
Note
The power supply to the components should not be interrupted during the update, because
otherwise the firmware update must be restarted.

Technical specifications 12
• General and specific technical specifications for the devices.
• Information on restrictions that apply when the devices are used in unfavorable ambient
conditions (derating)

Technical specifications
12.2 General specifications
Table 12- 1 General technical data
Electrical data
Line system configurations Grounded TN/TT systems or ungrounded IT systems (a grounded phase conductor is not
permissible in 690 V line supplies)
Line frequency 47 … 63 Hz
Output frequency 0 ... 300 Hz
Line power factor
total fundamental ≥ 0.96
factor 0.75 ... 0.93
Converter efficiency > 98%
Maximum short-circuit current • 1.1 ... 447 kW: 65 kA
ICC according to IEC, in con-
junction with the specified • 448 ... 671 kW: 84 kA
fuses • 672 ... 1193 kW: 170 kA
• >1194 kW: 200 kA
Short-circuit current rating per • 1.1 ... 447 kW: 65 kA
UL508C (up to 600 V), in con-
junction with the specified • 448 ... 671 kW: 84 kA
fuses • 672 ... 1193 kW: 170 kA
• >1194 kW: 200 kA
Switching at input 1x every 3 minutes
Overvoltage category III per EN 61800-5-1
Electromagnetic compatibility (EMC)
Emitted interference
• Standard • Category C3 (second environment) according to EN 61800-3
• with line filter • Category C2 (first *) and second environments) according to EN 61800-3 1)
*)When used in the first environment, an appropriately trained and authorized technical
person must set up the drive and commission it.
NOTE: An appropriately trained and authorized technician is person or organization with
the required experience for setting up and/or for commissioning the drive systems, includ-
ing the associated EMC aspects.
Immunity Use in the first and second environment according to EN 61800-3
Mechanical data
Degree of protection IP20 (frame sizes FX and GX)
IP00 (frame sizes HX and JX)
Class of protection I per EN 61800-5-1
Cooling method Forced air cooling AF according to EN 60146
Sound pressure level LpA (1 m) ≤ 73 dB(A) at 50 Hz line frequency
≤ 75 dB(A) at 60 Hz line frequency
Touch protection EN 50274 and DGUV regulation 3 when used for the intended purpose
Compliance with standards
Standards EN 60146-1, EN 61800-2, EN 61800-3, EN 61800-5-1, EN 60204-1, EN 60529 2)
CE mark In accordance with EMC Directive No. 2014/30/EU and Low-Voltage Directive
No. 2014/35/EU and Machinery Directive No. 2006/42/EC
Approval cULus (File No.: E192450) (only up to 600 V 3 AC)

Ambient conditions Storage Transport Operation

Ambient temperature -25 ... +55 °C -25 ... +70 °C 0 ... +40 °C
from –40 °C for 24 hours up to 55 °C with derating
Humidity range 2) 5 ... 95 % 5 ... 95% at 40 °C 5 ... 95%
(non-condensing)
corresponds to class 1K4 acc. to 2K3 acc. to 3K3 acc. to
EN 60721-3-1:1997 EN 60721-3-2:1997 EN 60721-3-3:2002
Environmental class/harmful 1C2 acc. to 2C2 acc. to 3C2 acc. to
chemical substances 2) EN 60721-3-1:1997 EN 60721-3-2:1997 EN 60721-3-3:2002
Organic/biological influences 2) 1B1 acc. to 2B1 acc. to 3B1 acc. to
EN 60721-3-1:1997 EN 60721-3-2:1997 EN 60721-3-3:2002
Mechanically active 1S1 acc. to 2S1 acc. to 3S1 acc. to
substances 2) EN 60721-3-1:1997 EN 60721-3-2:1997 EN 60721-3-3:2002
Degree of pollution 2 according to EN 61800-5-1
Installation altitude Up to 2000 m above sea level without derating,
> 2000 m above sea level with derating (see "Derating data")
Mechanical strength Storage Transport Operation
Vibrational load 2)
- Displacement 1.5 mm at 5 ... 9 Hz 3.1 mm at 5 ... 9 Hz 0.075 mm at 10 ... 58 Hz
- Acceleration 5 m/s² at > 9 ... 200 Hz 10 m/s² at > 9 ... 200 Hz 10 m/s² at >58 ... 200 Hz
corresponds to class 1M2 acc. to 2M2 acc. to -
EN 60721-3-1:1997 EN 60721-3-2:1997
Shock load 2)
- Acceleration 40 m/s² at 22 ms 100 m/s² at 11 ms 100 m/s² at 11 ms
corresponds to class 1M2 acc. to 2M2 acc. to 3M4 acc. to
EN 60721-3-1:1997 EN 60721-3-2:1997 EN 60721-3-3:2002
Functional safety
Safety Integrity Level (SIL) SIL 2 according to IEC 61508 and IEC 61800-5-2
Performance level and Catego- PL d and Category 3 according to EN ISO 13849-1
ry
Deviations from the defined classes are shown in italics.

1) Applies to cable lengths of up to 100 m.
2) TheEN standards specified are the European editions of the international IEC standards
with the same designations.

12.2.1 Derating data
12.2.1.1 Current derating as a function of the ambient temperature
Permissible output current as a function of the ambient temperature

The devices and the associated system components are rated for an ambient temperature of
40° C and installation altitudes up to 2000 m above sea level. The output current must be
reduced if the devices are operated at ambient temperatures above 40° C. Ambient
temperatures above 55 °C are not permissible. The following table specifies the permissible
output current as a function of the ambient temperature.
Table 12- 2 Current derating as a function of the ambient temperature (air inlet temperature)
Installation altitude Current derating factor (in % of rated current)

above sea level in m at an ambient temperature (air inlet temperature) of
20° C 25° C 30° C 35° C 40° C 45° C 50° C 55° C
0 ... 2000 100% 100% 100% 100% 100% 93.3% 86.7% 80.0%
12.2.1.2 Installation altitudes between 2000 m and 5000 m above sea level
If the SINAMICS G130 converter units are operated at an installation altitude >2000 m above
sea level, it must be taken into account that the air pressure and, consequently, the air
density decreases. The lower air density also reduces the cooling efficiency and the insulation
capacity of the air.
Installation altitudes between 2000 m and 5000 m can be achieved by applying the following
measures.

Reduce the ambient temperature and the output current

Due to the reduced cooling efficiency, it is necessary, on the one hand, to reduce the ambient
temperature and, on the other, to lower heat loss in the converter unit by reducing the
output current, whereby ambient temperatures lower than 40° C may be offset to
compensate, and are taken into account in the tables. The following table specifies the
permissible output currents as a function of the installation altitude and ambient
temperature. The specified values already include a permitted correction in respect of
installation altitude and ambient temperatures less than 40° C (incoming air temperature at
the inlet to the converter unit). The values apply under the precondition that the cabinet
layout ensures a cooling air flow though the units as stated in the technical data.
Table 12- 3 Current derating as a function of ambient temperature and installation altitude
Installation altitude Current derating factor (in % of rated current)

above sea level in m at an ambient temperature (air inlet temperature) of
20° C 25° C 30° C 35° C 40° C 45° C 50° C 55° C
0 ... 2000 100 % 100 % 100 % 100 % 100 % 93,3 % 86,7 % 80,0 %
... 2500 100 % 100 % 100 % 100 % 96,3 %
... 3000 100 % 100 % 100 % 98,7 %
... 3500 100 % 100 % 100 %
... 4000 100 % 100 % 96,3 %
... 4500 100 % 97,5 %
... 5000 98,2 %
Using an isolating transformer to reduce transient overvoltages according to IEC 61800-5-1

This drops overvoltage category III to overvoltage category II, thereby reducing the
requirements for insulation capacity of the air. Additional voltage derating (reduction of the
input voltage) is not required if the following framework conditions are observed:
• The isolating transformer must be fed from a low-voltage or medium-voltage network and
must not be power directly from a high-voltage supply system.
• The isolating transformer may be connected to one or more converter units.
• The cables between the isolating transformer and the converter unit(s) must be routed in
such a manner as to rule out direct lightening strike, i.e. overland lines must not be used.
• The following types of system are permissible:
– TN systems with grounded star point (no grounded outer conductor).
– IT systems (operation with a ground fault must be restricted to the shorted possible
time).

12.2.1.3 Current derating as a function of the pulse frequency

When the pulse frequency is increased, the derating factor of the output current must be
taken into account. This derating factor must be applied to the currents specified in the
technical data.
Table 12- 4 Derating factor of the output current as a function of the pulse frequency for devices with a rated pulse fre-
quency of 2 kHz
Article no. Type rating Output current Derating factor at the pulse frequency
at 2 kHz
6SL3310-... [kW] [A] 2.5 kHz 4 kHz 5 kHz 7.5 kHz 8 kHz
Supply voltage 3-phase 380 VAC ... 480 VAC
1GE32-1AA3 110 210 95% 82% 74% 54% 50%
1GE32-6AA3 132 260 95% 83% 74% 54% 50%
1GE33-1AA3 160 310 97% 88% 78% 54% 50%
1GE33-8AA3 200 380 96% 87% 77% 54% 50%
1GE35-0AA3 250 490 94% 78% 71% 53% 50%
Table 12- 5 Derating factor of the output current as a function of the pulse frequency for devices with a rated pulse fre-
quency of 1.25 kHz
at 1.25 kHz
6SL3310-... [kW] [A] 2 kHz 2.5 kHz 4 kHz 5 kHz 7.5 kHz
1GE36-1AA3 315 605 83% 72% 64% 60% 40%
1GE37-5AA3 400 745 83% 72% 64% 60% 40%
1GE38-4AA3 450 840 87% 79% 64% 55% 40%
1GE41-0AA3 560 985 92% 87% 70% 60% 50%
1GF31-8AA3 110 175 92% 87% 70% 60% 40%
1GF32-2AA3 132 215 92% 87% 70% 60% 40%
1GF32-6AA3 160 260 92% 88% 71% 60% 40%
1GF33-3AA3 200 330 89% 82% 65% 55% 40%
1GF34-1AA3 250 410 89% 82% 65% 55% 35%
1GF34-7AA3 315 465 92% 87% 67% 55% 35%
1GF35-8AA3 400 575 91% 85% 64% 50% 35%
1GF37-4AA3 500 735 87% 79% 64% 55% 35%
1GF38-1AA3 560 810 83% 72% 61% 55% 35%

at 1.25 kHz
6SL3310-... [kW] [A] 2 kHz 2.5 kHz 4 kHz 5 kHz 7.5 kHz
Supply voltage 3 AC 660 ... 690 V
1GH28-5AA3 75 85 93% 89% 71% 60% 40%
1GH31-0AA3 90 100 92% 88% 71% 60% 40%
1GH31-2AA3 110 120 92% 88% 71% 60% 40%
1GH31-5AA3 132 150 90% 84% 66% 55% 35%
1GH31-8AA3 160 175 92% 87% 70% 60% 40%
1GH32-2AA3 200 215 92% 87% 70% 60% 40%
1GH32-6AA3 250 260 92% 88% 71% 60% 40%
1GH33-3AA3 315 330 89% 82% 65% 55% 40%
1GH34-1AA3 400 410 89% 82% 65% 55% 35%
1GH34-7AA3 450 465 92% 87% 67% 55% 35%
1GH35-8AA3 560 575 91% 85% 64% 50% 35%
1GH37-4AA3 710 735 87% 79% 64% 55% 35%
1GH38-1AA3 800 810 83% 72% 61% 55% 35%
Note
Derating factors for pulse frequencies in the range between two fixed values
For pulse frequencies in the range between the specified fixed values, the relevant derating
factors can be determined by linear interpolation.
12.2.2 Overload capability

The converter has an overload reserve (e.g. to handle breakaway torques).
In drives with overload requirements, the appropriate base load current must, therefore, be
used as a basis for the required load.
The overloads apply under the precondition that the converter is operated as a maximum at
its base-load current before and after the overload (a duty cycle duration of 300 s is used as a
basis here).
Another precondition is that the frequency converter is operated at its factory-set pulse
frequency at output frequencies >10 Hz.
For additional information on overload capability, see the Low Voltage configuration manual.

Low overload
The base-load current for low overload (IL) is based on a load duty cycle of 110% for 60 s or
150% for 10 s.
Figure 12-1 Low overload
High overload
The base-load current for a high overload IH is based on a duty cycle of 150% for 60 s or 160%
for 10 s.
Figure 12-2 High overload
12.2.3 Data regarding the power loss in partial load operation

Power loss data for partial load operation is available in the Internet: Partial load operation
(https://support.industry.siemens.com/cs/ww/en/view/94059311).

12.3 Technical specifications
Note
Notes on the technical data
Current, voltage and power figures in these tables are rated values.
The cables to the device are protected by fuses of operating class gG.
The cable cross-sections have been determined for three-core copper cables routed
horizontally in air at 40° C ambient temperature (according to DIN VDE 0276-1000 and IEC
60364-5-52) with a permissible operating temperature of 70° C (e.g. Protodur NYY or
NYCWY) and the recommended conductor protection according to DIN VDE 0100 section 430
and IEC 60364-4-43.
NOTICE
Material damage caused by impermissible cable temperatures
The improper laying of cables can produce short-circuits caused by damage of the insulation
that result from excessive temperatures.
When the conditions differ from the above stated (cable routing, cable grouping, ambient
temperature), the following instructions for routing the cables must be taken into account:
• The required cable cross-section depends on the amperage which flows through the
cable.
• The permissible current loading of cables is defined, for example, in DIN VDE 0276-1000
and IEC 60364-5-52. It depends partly on ambient conditions such as temperature and
partly on the type of routing. If the cables are routed individually, they will be cooled
relatively well. If several cables are routed together, they may heat each other up. Please
note the corresponding derating factors for these supplementary conditions in DIN VDE
0276-1000 and IEC 60364-5-52.

12.3.1 Power Module
Power Module, 380 ... 480 V 3 AC
Table 12- 6 Power Module, 380 ... 480 V 3 AC, Part 1
Article number 6SL3310- 1GE32-1AA3 1GE32-6AA3 1GE33-1AA3

Unit rating
- for IL at 50 Hz and 400 V 1) kW 110 132 160
- for IH at 50 Hz and 400 V 1) kW 90 110 132
- for IL at 60 Hz and 460 V 2) hp 150 200 250
- for IH at 60 Hz and 460 V 2) hp 150 200 200
Output current
- Rated current IN A 210 260 310
- Base load current IL 3) A 205 250 302
- Base load current IH 4) A 178 233 277
Input current
- Rated input current A 229 284 338
- Input current, max. A 335 410 495
- Current for 24 V DC auxiliary supply 5) A 0.8 0.8 0.9
Supply voltages
- Line voltage VACrms 380 to 480 V 3 AC ±10 % (-15 % < 1 min)
- Electronic power supply VDC 24 (20.4 to 28.8)
- Output voltage VACrms 0 V 3 AC to line voltage
Power loss kW 2.46 3.27 4
Cooling air requirement m³/s 0.17 0.23 0.36
Max. cable length
between Power Module and motor
- shielded m 300 300 300
- unshielded m 450 450 450
Sound pressure level
LpA (1 m) at 50/60 Hz dB(A) 64/67 71/71 69/73
Line connection (U1, V1, W1) Screw M10 Screw M10 Screw M10
Connection cross-section, max. (IEC) mm2 2 x 185 2 x 185 2 x 240
Motor connection Screw M10 Screw M10 Screw M10
(U2/T1, V2/T2, W2/T3)
PE1 / GND connection Screw M10 Screw M10 Screw M10
Connection cross section, max. (IEC) mm2 2 x 185 2 x 185 2 x 240
Degree of protection IP20 IP20 IP20
Dimensions
- Width mm 326 326 326
- Height mm 1400 1400 1533
- Depth mm 356 356 545
Frame size FX FX GX
Weight, approx. kg 104 104 176


Recommended fuses
- Line protection
without semiconductor protection 3NA3144 3NA3250 3NA3254
Rated current A 250 300 355
frame size to IEC 60269 2 3 3
- Line and semiconductor protection 6) 3NE1230-2 3NE1331-2 3NE1334-2
Frame size to IEC 60269 1 2 2
Minimum short-circuit current 7) kA 3 3.6 4.4
1) Rated output of a typ. 6-pole standard induction motor based on IL or IH at 400 V 3 AC 50 Hz.
3) The base-load current IL is based on a duty cycle of 110% for 60 s or 150% for 10 s with a duty cycle duration of 300 s
(see "Overload capability").
4) The base-load current IH is based on a duty cycle of 150% for 60 s or 160% for 10 s with a duty cycle duration of 300 s
5) If the auxiliary supply is to be fed in separately from the load supply, e.g., if the control should be able to continue com-
munication if the line voltage fails.
6) It is mandatory that the specified fuses are used to achieve a UL-approved system.
7) The minimum current required to reliably trigger 3NE1 protective devices.


Unit rating
Output current
Input current
Supply voltages
Power loss kW 4.54 5.78 7.8
Max. cable length
- shielded m 300 300 300
LpA (1 m) at 50/60 Hz dB(A) 69/73 69/73 70/73
Line connection (U1, V1, W1) Screw M10 Screw M10 2 x screws M12
Motor connection Screw M10 Screw M10 2 x screws M12
(U2/T1, V2/T2, W2/T3)
PE2 / GND connection Screw M10 Screw M10 2 x screws M12
Dimensions
- Width mm 326 326 503
- Height mm 1533 1533 1506
- Depth mm 545 545 540
Frame size GX GX HX


Recommended fuses
- Line protection
Minimum short-circuit current 7) kA 4.4 8 10


Unit rating
Output current
Input current
Supply voltages
Max. cable length
- shielded m 300 300 300
LpA (1 m) at 50/60 Hz dB(A) 70/73 70/73 72/75
Line connection (U1, V1, W1) 2 x screws M12 2 x screws M12 3 x screws M12
Motor connection 2 x screws M12 2 x screws M12 3 x screws M12
(U2/T1, V2/T2, W2/T3)
PE2 / GND connection 2 x screws M12 2 x screws M12 3 x screws M12
Dimensions
- Width mm 503 503 909
- Height mm 1506 1506 1510
- Depth mm 540 540 540
Frame size HX HX JX


Recommended fuses
- Line protection
Rated current A 800 2 x 500 2 x 630
Rated current A 850 2 x 630 2 x 710
Minimum short-circuit current 7) kA 10.5 16 18.4

Power Module, 500 ... 600 V 3 AC
Article number 6SL3310- 1GF31-8AA3 1GF32-2AA3 1GF32-6AA3

Unit rating
Output current
Input current
Supply voltages
Max. cable length
- shielded m 300 300 300
LpA (1 m) at 50/60 Hz dB(A) 69/73 69/73 69/73
(U2/T1, V2/T2, W2/T3)
Dimensions
- Width mm 326 326 326
- Height mm 1533 1533 1533
- Depth mm 545 545 545
Frame size GX GX GX


Recommended fuses
- Line protection
without semiconductor protection 3NA3244-6 3NA3252-6 3NA3354-6
Minimum short-circuit current 7) kA 2.4 3 3.6


Unit rating
Output current
Input current
Supply voltages
Max. cable length
- shielded m 300 300 300
LpA (1 m) at 50/60 Hz dB(A) 69/73 70/73 70/73
Line connection (U1, V1, W1) Screw M10 2 x screws M12 2 x screws M12
Motor connection Screw M10 2 x screws M12 2 x screws M12
(U2/T1, V2/T2, W2/T3)
PE2 / GND connection Screw M10 2 x screws M12 2 x screws M12
Dimensions
- Width mm 326 503 503
- Height mm 1533 1506 1506
- Depth mm 545 540 540
Frame size GX HX HX


Recommended fuses
- Line protection
Rated current A 500 500 2 x 315
Minimum short-circuit current 7) kA 5.2 5.2 6.2


Unit rating
Output current
Input current
Supply voltages
Max. cable length
- shielded m 300 300 300
LpA (1 m) at 50/60 Hz dB(A) 70/73 73/75 73/75
(U2/T1, V2/T2, W2/T3)
PE1 / GND connection Screw M12 2 x screws M12 2 x screws M12
Dimensions
- Width mm 503 909 909
- Height mm 1506 1510 1510
- Depth mm 540 540 540
Frame size HX JX JX


Recommended fuses
- Line protection
Rated current A 2 x 355 2 x 500 2 x 500
Rated current A 670 850 2 x 500

Power Module, 3 AC 660 ... 690 V
Table 12- 12 Power Module, 3 AC 660 ... 690 V, Part 1
Article number 6SL3310- 1GH28-5AA3 1GH31-0AA3 1GH31-2AA3

Unit rating
Output current
Input current
Supply voltages
Max. cable length
- shielded m 300 300 300
LpA (1 m) at 50/60 Hz dB(A) 64/67 64/67 64/67
(U2/T1, V2/T2, W2/T3)
Dimensions
- Width mm 326 326 326
- Height mm 1400 1400 1400
- Depth mm 356 356 356
Frame size FX FX FX


Recommended fuses
- Line protection
- Line and semiconductor protection 3NE1022-2 3NE1022-2 3NE1224-2


Unit rating
Output current
Input current
Supply voltages
Max. cable length
- shielded m 300 300 300
LpA (1 m) at 50/60 Hz dB(A) 64/67 69/73 69/73
(U2/T1, V2/T2, W2/T3)
Dimensions
- Width mm 326 326 326
- Height mm 1400 1533 1533
- Depth mm 356 545 545
Frame size FX GX GX


Recommended fuses
- Line protection
Minimum short-circuit current 5) kA 1.6 2.4 3


Unit rating
Output current
Input current
Supply voltages
Max. cable length
- shielded m 300 300 300
LpA (1 m) at 50/60 Hz dB(A) 69/73 69/73 70/73
Line connection (U1, V1, W1) Screw M10 Screw M10 2 x screws M12
Motor connection Screw M10 Screw M10 2 x screws M12
(U2/T1, V2/T2, W2/T3)
Dimensions
- Width mm 326 326 503
- Height mm 1533 1533 1506
- Depth mm 545 545 540
Frame size GX GX HX


Recommended fuses
- Line protection

Table 12- 15 Power Module, 3 AC 660 ... 690 V, Part 4

Unit rating
Output current
Input current
Supply voltages
Max. cable length
- shielded m 300 300 300
LpA (1 m) at 50/60 Hz dB(A) 70/73 70/73 73/75
(U2/T1, V2/T2, W2/T3)
Dimensions
- Width mm 503 503 909
- Height mm 1506 1506 1510
- Depth mm 540 540 540
Frame size HX HX JX


Recommended fuses
- Line protection
Rated current A 2 x 315 2 x 355 2 x 500

Article number 6SL3310- 1GH38-1AA3

Unit rating
- for IL at 50 Hz and 690 V 1) kW 800
- for IH at 50 Hz and 690 V 1) kW 710
Output current
- Rated current IN A 810
- Base load current IL 2) A 790
- Base load current IH 3) A 724
Input current
- Rated input current A 842
- Input current, max. A 1295
- Current for 24 V DC auxiliary supply 4) A 1.25
Supply voltages
Power loss kW 13.9
Cooling air requirement m³/s 1.48
Max. cable length
- shielded m 300
- unshielded m 450
LpA (1 m) at 50/60 Hz dB(A) 73/75
Line connection (U1, V1, W1) 3 x screws M12
Connection cross-section, max. (IEC) mm2 6 x 240
Motor connection 3 x screws M12
(U2/T1, V2/T2, W2/T3)
Connection cross-section, max. (IEC) mm2 6 x 240
PE1 / GND connection 2 x screws M12
Connection cross section, max. (IEC) mm2 4 x 240
PE2 / GND connection 3 x screws M12
Connection cross section, max. (IEC) mm2 6 x 240
Degree of protection IP00
Dimensions
- Width mm 909
- Height mm 1510
- Depth mm 540
Frame size JX
Weight, approx. kg 530

Article number 6SL3310- 1GH38-1AA3

Recommended fuses
- Line protection
without semiconductor protection 3NA3365-6
Rated current A 2 x 500
frame size to IEC 60269 3
- Line and semiconductor protection 3NE1334-2
Rated current A 2 x 500
Frame size to IEC 60269 2
Minimum short-circuit current 5) kA 10.4

12.3.2 CU320-2 DP and CU320-2 PN Control Units
Table 12- 17 CU320-2 DP, CU320-2 PN
Max. current requirements (at 24 V DC) 1.0 A

(not taking into account digital outputs, option slot exten-
sion)
Max. connectable cross section 2.5 mm2
digital inputs 12 isolated digital inputs
8 bidirectional non-isolated digital inputs/digital outputs
Voltage -3 ... +30 V
Low level -3 ... +5 V
(an open digital input is interpreted as "low")
High level 15 ... 30 V
Typical current consumption (at 24 V DC) 9 mA
Digital outputs (continuous short-circuit proof) 8 bidirectional non-floating digital outputs/digital inputs
Voltage 24 V DC
Max. load current per digital output 500 mA
Power loss 24 W
PE connection On housing with M5 screw
Ground connection On housing with M5 screw
Width 50 mm
Height 300 mm
Depth 226 mm
Weight, approx. 2.3 kg

12.3.3 TM31 Terminal Module
Table 12- 18 Technical specifications TM31
Max. current requirement (at 24 V DC), not taking into ac- 0.5 A
count digital outputs
digital inputs
Voltage -3 ... 30 V
Low level -3 ... 5 V
(an open digital input is interpreted as "low")
High level 15 ... 30 V
Current consumption (at 24 V DC) 10 mA
Signal propagation times of the digital inputs L -> H: 50 µs
H->L: 100 µs
Digital outputs (continuous short-circuit proof)
Voltage 24 V DC
Max. load current per digital output External/internal 24 V supply
100 mA / 20 mA
Analog inputs (switching between the voltage and current input via the switch)
As voltage input
- Voltage range -10 ... 10 V
- Internal resistance Ri 70 kΩ
As current input
- Current range 4 ... 20 mA, -20 ... 20 mA, 0 ... 20 mA
- Internal resistance Ri 250 Ω
- Resolution 12 bit
Analog outputs (continuously short-circuit-proof)
Voltage range -10 ... 10 V
Max. load current -3 ... 3 mA
Current range 4 ... 20 mA, -20 ... 20 mA, 0 ... 20 mA
Max. load resistance 500 Ω for outputs in the range -20 ... 20 mA
Resolution 12 bit
Relay outputs (two-way contacts)
Max. load current 8A
Max. switching voltage 250 V AC, 30 V DC
Max. switching power 2000 VA
(at 250 V AC)
Max. switching power 240 W (resistive load)
(at 30 V DC)
Required minimum current 100 mA
Power loss < 10 W
PE connection At the housing with M4 screw
Width 50 mm
Height 150 mm
Depth 119 mm
Weight, approx. 0.87 kg

12.3.4 SMC30 Sensor Module
Table 12- 19 Technical specifications SMC30
Electronic power supply

Voltage 24 V DC (20.4 ... 28.8)
Current max. 0.6 A
Max. ambient temperature up to an altitude of 2000 m 55 °C
Note: As of an altitude of 2000 m, the max. ambient temperature decreases by 7°C every 1000 m.
PE/ground connection On housing with M4/1.8 Nm screw
Weight 0.45 kg

Appendix A
A.1 Environmental compatibility
For environmentally friendly recycling and disposal of your old device, please contact a
company certified for the disposal of old electrical and electronic devices and dispose of the
device in accordance with the regulations in your country.
A.2 List of abbreviations
Note
The following list of abbreviations includes all abbreviations and their meanings used in the
entire SINAMICS family of drives.
Abbreviation Derivation of abbreviation Meaning

A
A… Alarm Warning
AC Alternating Current Alternating current
ADC Analog Digital Converter Analog digital converter
AI Analog Input Analog input
AIM Active Interface Module Active Interface Module
ALM Active Line Module Active Line Module
AO Analog Output Analog output
AOP Advanced Operator Panel Advanced Operator Panel
APC Advanced Positioning Control Advanced Positioning Control
AR Automatic Restart Automatic restart
ASC Armature Short-Circuit Armature short-circuit
ASCII American Standard Code for Information American coding standard for the exchange of
Interchange information
AS-i AS-Interface (Actuator Sensor Interface) AS-Interface (open bus system in automation tech-
nology)
ASM Asynchronmotor Induction motor
AVS Active Vibration Suppression Active load vibration damping
B
BB Betriebsbedingung Operation condition
BERO - Contactless proximity switch
BI Binector Input Binector input
BIA Berufsgenossenschaftliches Institut für BG Institute for Occupational Safety and Health
Arbeitssicherheit
BICO Binector Connector Technology Binector connector technology
BLM Basic Line Module Basic Line Module

Appendix

BO Binector Output Binector output
BOP Basic Operator Panel Basic operator panel
C
C Capacitance Capacitance
C… - Safety message
CAN Controller Area Network Serial bus system
CBC Communication Board CAN Communication Board CAN
CBE Communication Board Ethernet PROFINET communication module (Ethernet)
CD Compact Disc Compact disc
CDS Command Data Set Command data set
CF Card CompactFlash Card CompactFlash card
CI Connector Input Connector input
CLC Clearance Control Clearance control
CNC Computerized Numerical Control Computer-supported numerical control
CO Connector Output Connector output
CO/BO Connector Output/Binector Output Connector/binector output
COB-ID CAN Object-Identification CAN Object Identification
CoL Certificate of License Certificate of License
COM Common contact of a change-over relay Center contact of a change-over contact
COMM Commissioning Commissioning
CP Communication Processor Communications processor
CPU Central Processing Unit Central processing unit
CRC Cyclic Redundancy Check Cyclic redundancy check
CSM Control Supply Module Control Supply Module
CU Control Unit Control Unit
CUA Control Unit Adapter Control Unit Adapter
CUD Control Unit DC Control Unit DC
D
DAC Digital Analog Converter Digital analog converter
DC Direct Current Direct current
DCB Drive Control Block Drive Control Block
DCBRK DC Brake DC braking
DCC Drive Control Chart Drive Control Chart
DCN Direct Current Negative Direct current negative
DCP Direct Current Positive Direct current positive
DDC Dynamic Drive Control Dynamic Drive Control
DDS Drive Data Set Drive Data Set
DI Digital Input Digital input
DI/DO Digital Input/Digital Output Digital input/output, bidirectional
DMC DRIVE-CLiQ Hub Module Cabinet DRIVE-CLiQ Hub Module Cabinet
DME DRIVE-CLiQ Hub Module External DRIVE-CLiQ Hub Module External
DMM Double Motor Module Double Motor Module
DO Digital Output Digital output
DO Drive Object Drive object
DP Decentralized Peripherals Distributed I/O
DPRAM Dual Ported Random Access Memory Dual-Port Random Access Memory

Appendix

DQ DRIVE-CLiQ DRIVE-CLiQ
DRAM Dynamic Random Access Memory Dynamic Random Access Memory
DRIVE-CLiQ Drive Component Link with IQ Drive Component Link with IQ
DSC Dynamic Servo Control Dynamic Servo Control
DSM Doppelsubmodul Double submodule
DTC Digital Time Clock Timer
E
EASC External Armature Short-Circuit External armature short-circuit
EDS Encoder Data Set Encoder data set
EEPROM Electrically Erasable Programmable Read-Only Electrically Erasable Programmable Read-Only
Memory Memory
EGB Elektrostatisch gefährdete Baugruppen Electrostatically sensitive devices
EIP EtherNet/IP EtherNet Industrial Protocol (real-time Ethernet)
ELCB Earth Leakage Circuit Breaker Residual current operated circuit breaker
ELP Earth Leakage Protection Ground-fault monitoring
EMC Electromagnetic Compatibility Electromagnetic compatibility
EMF Electromotive Force Electromotive force
EMK Elektromotorische Kraft Electromotive force
EMV Elektromagnetische Verträglichkeit Electromagnetic compatibility
EN Europäische Norm European standard
EnDat Encoder-Data-Interface Encoder interface
EP Enable Pulses Pulse enable
EPOS Einfachpositionierer Basic positioner
ES Engineering System Engineering system
ESB Ersatzschaltbild Equivalent circuit diagram
ESD Electrostatic Sensitive Devices Electrostatically sensitive devices
ESM Essential Service Mode Essential service mode
ESR Extended Stop and Retract Extended stop and retract
F
F… Fault Fault
FAQ Frequently Asked Questions Frequently Asked Questions
FBLOCKS Free Blocks Free function blocks
FCC Function Control Chart Function control chart
FCC Flux Current Control Flux current control
FD Function Diagram Function diagram
F-DI Failsafe Digital Input Fail-safe digital input
F-DO Failsafe Digital Output Fail-safe digital output
FEPROM Flash-EPROM Non-volatile write and read memory
FG Function Generator Function generator
FI - Fault current
FOC Fiber-Optic Cable Fiber-optic cable
FP Funktionsplan Function diagram
FPGA Field Programmable Gate Array Field Programmable Gate Array
FW Firmware Firmware
G
GB Gigabyte Gigabyte

Appendix

GC Global Control Global control telegram (broadcast telegram)
GND Ground Reference potential for all signal and operating
voltages, usually defined as 0 V (also referred to as
M)
GSD Gerätestammdatei Generic Station Description: Describes the features
of a PROFIBUS slave
GSV Gate Supply Voltage Gate supply voltage
GUID Globally Unique Identifier Globally Unique Identifier
H
HF High frequency High frequency
HFD Hochfrequenzdrossel Radio frequency reactor
HLA Hydraulic Linear Actuator Hydraulic linear actuator
HLG Hochlaufgeber Ramp-function generator
HM Hydraulic Module Hydraulic Module
HMI Human Machine Interface Human Machine Interface
HTL High-Threshold Logic Logic with high interference threshold
HW Hardware Hardware
I
i. V. In Vorbereitung Under development: This property is currently not
available
I/O Input/Output Input/output
I2C Inter-Integrated Circuit Internal serial data bus
IASC Internal Armature Short-Circuit Internal armature short-circuit
IBN Inbetriebnahme Commissioning
ID Identifier Identification
IE Industrial Ethernet Industrial Ethernet
IEC International Electrotechnical Commission International Electrotechnical Commission
IF Interface Interface
IGBT Insulated Gate Bipolar Transistor Insulated gate bipolar transistor
IGCT Integrated Gate-Controlled Thyristor Semiconductor power switch with integrated con-
trol electrode
IL Impulslöschung Pulse suppression
IP Internet Protocol Internet Protocol
IPO Interpolator Interpolator
IT Isolé Terre Non-grounded three-phase line supply
IVP Internal Voltage Protection Internal voltage protection
J
JOG Jogging Jogging
K
KDV Kreuzweiser Datenvergleich Data cross-check
KHP Know-how protection Know-how protection
KIP Kinetische Pufferung Kinetic buffering
Kp - Proportional gain
KTY84-130 - Temperature sensor
L
L - Symbol for inductance
LED Light Emitting Diode Light emitting diode

Appendix

LIN Linearmotor Linear motor
LR Lageregler Position controller
LSB Least Significant Bit Least significant bit
LSC Line-Side Converter Line-side converter
LSS Line-Side Switch Line-side switch
LU Length Unit Length unit
LWL Lichtwellenleiter Fiber-optic cable
M
M - Symbol for torque
M Masse Reference potential for all signal and operating
voltages, usually defined as 0 V (also referred to as
GND)
MB Megabyte Megabyte
MCC Motion Control Chart Motion Control Chart
MDI Manual Data Input Manual data input
MDS Motor Data Set Motor data set
MLFB Maschinenlesbare Fabrikatebezeichnung Machine-readable product code
MM Motor Module Motor Module
MMC Man-Machine Communication Man-machine communication
MMC Micro Memory Card Micro memory card
MSB Most Significant Bit Most significant bit
MSC Motor-Side Converter Motor-side converter
MSCY_C1 Master Slave Cycle Class 1 Cyclic communication between master (class 1)
and slave
MSR Motorstromrichter Motor-side converter
MT Messtaster Probe
N
N. C. Not Connected Not connected
N… No Report No report or internal message
NAMUR Normenarbeitsgemeinschaft für Mess- und Regel- Standardization association for measurement and
technik in der chemischen Industrie control in chemical industries
NC Normally Closed (contact) NC contact
NC Numerical Control Numerical control
NEMA National Electrical Manufacturers Association Standardization association in USA (United States
of America)
NM Nullmarke Zero mark
NO Normally Open (contact) NO contact
NSR Netzstromrichter Line-side converter
NTP Network Time Protocol Standard for synchronization of the time of day
NVRAM Non-Volatile Random Access Memory Non-volatile read/write memory
O
OA Open Architecture Software component which provides additional
functions for the SINAMICS drive system
OAIF Open Architecture Interface Version of the SINAMICS firmware as of which the
OA application can be used
OASP Open Architecture Support Package Expands the commissioning tool by the corre-
sponding OA application
OC Operating Condition Operation condition

Appendix

OCC One Cable Connection One-cable technology
OEM Original Equipment Manufacturer Original equipment manufacturer
OLP Optical Link Plug Bus connector for fiber-optic cable
OMI Option Module Interface Option Module Interface
P
p… - Adjustable parameters
P1 Processor 1 CPU 1
P2 Processor 2 CPU 2
PB PROFIBUS PROFIBUS
PcCtrl PC Control Master control
PD PROFIdrive PROFIdrive
PDC Precision Drive Control Precision Drive Control
PDS Power unit Data Set Power unit data set
PDS Power Drive System Drive system
PE Protective Earth Protective ground
PELV Protective Extra Low Voltage Safety extra-low voltage
PFH Probability of dangerous failure per hour Probability of dangerous failure per hour
PG Programmiergerät Programming device
PI Proportional Integral Proportional integral
PID Proportional Integral Differential Proportional integral differential
PLC Programmable Logical Controller Programmable logic controller
PLL Phase-Locked Loop Phase-locked loop
PM Power Module Power Module
PMI Power Module Interface Power Module Interface
PMSM Permanent-magnet synchronous motor Permanent-magnet synchronous motor
PN PROFINET PROFINET
PNO PROFIBUS Nutzerorganisation PROFIBUS user organization
PPI Point to Point Interface Point-to-point interface
PRBS Pseudo Random Binary Signal White noise
PROFIBUS Process Field Bus Serial data bus
PS Power Supply Power supply
PSA Power Stack Adapter Power Stack Adapter
PT1000 - Temperature sensor
PTC Positive Temperature Coefficient Positive temperature coefficient
PTP Point To Point Point-to-point
PWM Pulse Width Modulation Pulse width modulation
PZD Prozessdaten Process data
Q
R
r… - Display parameters (read-only)
RAM Random Access Memory Memory for reading and writing
RCCB Residual Current Circuit Breaker Residual current operated circuit breaker
RCD Residual Current Device Residual current device
RCM Residual Current Monitor Residual current monitor
REL Reluctance motor textile Reluctance motor textile
RESM Reluctance synchronous motor Synchronous reluctance motor

Appendix

RFG Ramp-Function Generator Ramp-function generator
RJ45 Registered Jack 45 Term for an 8-pin socket system for data transmis-
sion with shielded or non-shielded multi-wire cop-
per cables
RKA Rückkühlanlage Cooling unit
RLM Renewable Line Module Renewable Line Module
RO Read Only Read only
ROM Read-Only Memory Read-only memory
RPDO Receive Process Data Object Receive Process Data Object
RS232 Recommended Standard 232 Interface standard for cable-connected serial data
transmission between a sender and receiver (also
known as EIA232)
RS485 Recommended Standard 485 Interface standard for a cable-connected differen-
tial, parallel, and/or serial bus system (data trans-
mission between a number of senders and
receivers, also known as EIA485)
RTC Real Time Clock Real-time clock
RZA Raumzeigerapproximation Space-vector approximation
S
S1 - Continuous operation
S3 - Intermittent duty
SAM Safe Acceleration Monitor Safe acceleration monitoring
SBC Safe Brake Control Safe brake control
SBH Sicherer Betriebshalt Safe operating stop
SBR Safe Brake Ramp Safe brake ramp monitoring
SBT Safe Brake Test Safe brake test
SCA Safe Cam Safe cam
SCC Safety Control Channel Safety Control Channel
SCSE Single Channel Safety Encoder Single-channel safety encoder
SD Card SecureDigital Card Secure digital memory card
SDC Standard Drive Control Standard Drive Control
SDI Safe Direction Safe motion direction
SE Sicherer Software-Endschalter Safe software limit switch
SESM Separately-excited synchronous motor Separately excited synchronous motor
SG Sicher reduzierte Geschwindigkeit Safely limited speed
SGA Sicherheitsgerichteter Ausgang Safety-related output
SGE Sicherheitsgerichteter Eingang Safety-related input
SH Sicherer Halt Safe stop
SI Safety Integrated Safety Integrated
SIC Safety Info Channel Safety Info Channel
SIL Safety Integrity Level Safety Integrity Level
SITOP - Siemens power supply system
SLA Safely-Limited Acceleration Safely limited acceleration
SLM Smart Line Module Smart Line Module
SLP Safely-Limited Position Safely Limited Position
SLS Safely-Limited Speed Safely limited speed
SLVC Sensorless Vector Control Sensorless vector control

Appendix

SM Sensor Module Sensor Module
SMC Sensor Module Cabinet Sensor Module Cabinet
SME Sensor Module External Sensor Module External
SMI SINAMICS Sensor Module Integrated SINAMICS Sensor Module Integrated
SMM Single Motor Module Single Motor Module
SN Sicherer Software-Nocken Safe software cam
SOS Safe Operating Stop Safe operating stop
SP Service Pack Service pack
SP Safe Position Safe position
SPC Setpoint Channel Setpoint channel
SPI Serial Peripheral Interface Serial peripheral interface
SPS Speicherprogrammierbare Steuerung Programmable logic controller
SS1 Safe Stop 1 Safe Stop 1 (time-monitored, ramp-monitored)
SS1E Safe Stop 1 External Safe Stop 1 with external stop
SS2 Safe Stop 2 Safe Stop 2
SS2E Safe Stop 2 External Safe Stop 2 with external stop
SSI Synchronous Serial Interface Synchronous serial interface
SSL Secure Sockets Layer Encryption protocol for secure data transfer (new
TLS)
SSM Safe Speed Monitor Safe feedback from speed monitor
SSP SINAMICS Support Package SINAMICS support package
STO Safe Torque Off Safe torque off
STW Steuerwort Control word
T
TB Terminal Board Terminal Board
TEC Technology Extension Software component which is installed as an addi-
tional technology package and which expands the
functionality of SINAMICS (previously OA applica-
tion)
TIA Totally Integrated Automation Totally Integrated Automation
TLS Transport Layer Security Encryption protocol for secure data transfer (previ-
ously SSL)
TM Terminal Module Terminal Module
TN Terre Neutre Grounded three-phase line supply
Tn - Integral time
TPDO Transmit Process Data Object Transmit Process Data Object
TSN Time-Sensitive Networking Time-Sensitive Networking
TT Terre Terre Grounded three-phase line supply
TTL Transistor-Transistor-Logic Transistor-transistor logic
Tv - Rate time
U
UL Underwriters Laboratories Inc. Underwriters Laboratories Inc.
UPS Uninterruptible Power Supply Uninterruptible power supply
USV Unterbrechungsfreie Stromversorgung Uninterruptible power supply
UTC Universal Time Coordinated Universal time coordinated
V
VC Vector Control Vector control

Appendix

Vdc - DC link voltage
VdcN - Partial DC link voltage negative
VdcP - Partial DC link voltage positive
VDE Verband Deutscher Elektrotechniker Verband Deutscher Elektrotechniker [Association of
German Electrical Engineers]
VDI Verein Deutscher Ingenieure Verein Deutscher Ingenieure [Association of Ger-
man Engineers]
VPM Voltage Protection Module Voltage Protection Module
Vpp Volt peak to peak Volt peak to peak
VSM Voltage Sensing Module Voltage Sensing Module
W
WEA Wiedereinschaltautomatik Automatic restart
WZM Werkzeugmaschine Machine tool
X
XML Extensible Markup Language Extensible markup language (standard language
for Web publishing and document management)
Y
Z
ZK Zwischenkreis DC link
ZM Zero Mark Zero mark
ZSW Zustandswort Status word

Appendix
A.3 Parameter macros
Parameter macro p0015 = G130 built-in unit

This macro is used to make default settings for operating the built-in unit.
Table A- 1 Parameter macro p0015 = G130 built-in unit
Sink Source
Parameters Description DO Parameters Description DO
p0400[0] Encoder type selection Vector 9999 User-defined Vector
p0404[0] Encoder configuration Vector 200008h Vector
p0405[0] Square-wave encoder track A/B Vector 9h Bipolar, like A/B track Vector
p0408[0] Rotary encoder pulse No. Vector 1024 1024 pulses per revolution Vector
p0420[0] Encoder connection Vector 0x2 Encoder connection = terminal Vector
p0500 Technology application Vector 1 Pumps, fans Vector
p0600 Motor temperature sensor for Vector 0 No sensor Vector
monitoring
p0601 Motor temperature sensor type Vector 0 No sensor Vector
p0603[0] CI: Motor temperature Vector r4105 Sensor on TM31 TM31
p0604 Motor overtemperature alarm Vector 120 120 °C Vector
threshold
p0605 Motor overtemperature fault Vector 155 155 °C Vector
threshold
p0606 Motor overtemperature timer Vector 0 0s Vector
p0610 Response to motor overtempera- Vector 12 Messages, no reduction of I_max, Vector
ture condition temperature saved
p0700[0] Macro binector input (BI) Vector 70001 PROFIdrive Vector
p0864 BI: Infeed operation Vector 1 Vector
p1000[0] Macro connector inputs (CI) for Vector 100001 PROFIdrive Vector
speed setpoints
p1001 CO: Fixed speed setpoint 1 Vector 300 300 rpm Vector
p1083 CO: Speed limit in positive direc- Vector 6000 6000 rpm Vector
tion of rotation
p1086 CO: Speed limit in negative direc- Vector -6000 -6000 rpm Vector
tion of rotation
p1115 Ramp-function generator selection Vector 1 Extended ramp-function generator Vector
p1120 Ramp-function generator ramp-up Vector 20 20 s Vector
time
p1121 Ramp-function generator ramp- Vector 30 30 s Vector
down time
p1135 OFF3 ramp-down time Vector 10 10 s Vector
p1200 Flying restart operating mode Vector 0 Flying restart not active Vector
p1240 Vdc controller configuration Vector 1 Vdc-max controller enabled Vector
p1254 Vdc controller automatic ON level Vector 1 Automatic detection enabled Vector
detection
p1280 Vdc controller configuration (V/f) Vector 1 Vdc-max controller enabled Vector

Appendix
Sink Source
Parameters Description DO Parameters Description DO
p1300 Open-loop/closed-loop control Vector 20 Encoderless speed control Vector
operating mode
p1911 Number of phases to be identified Vector 1 1 phase Vector
p2051[0] CI: PROFIBUS PZD send word Vector r2089[0] ZSW1 Vector
p2051[1] CI: PROFIBUS PZD send word Vector r0063[0] n-act unsmoothed Vector
p2051[2] CI: PROFIBUS PZD send word Vector r0068[0] I-act unsmoothed Vector
p2051[3] CI: PROFIBUS PZD send word Vector r0080[0] M-act unsmoothed Vector
p2051[4] CI: PROFIBUS PZD send word Vector r0082[0] P-act unsmoothed Vector
p2051[5] CI: PROFIBUS PZD send word Vector r2131 FAULT Vector
p2080[0] BI: PROFIBUS send status word 1 Vector r0899.0 Ready for switching on Vector
p2080[1] BI: PROFIBUS send status word 1 Vector r0899.1 Ready for operation Vector
p2080[2] BI: PROFIBUS send status word 1 Vector r0899.2 Operation Vector
p2080[3] BI: PROFIBUS send status word 1 Vector r2139.3 Fault Vector
p2080[4] BI: PROFIBUS send status word 1 Vector r0899.4 No OFF2 Vector
p2080[5] BI: PROFIBUS send status word 1 Vector r0899.5 No OFF3 Vector
p2080[6] BI: PROFIBUS send status word 1 Vector r0899.6 Switching on inhibited Vector
p2080[7] BI: PROFIBUS send status word 1 Vector r2139.7 Alarm active Vector
p2080[8] BI: PROFIBUS send status word 1 Vector r2197.7 No setpoint/actual value deviation Vector
p2080[9] BI: PROFIBUS send status word 1 Vector r0899.9 Control request Vector
p2080[10] BI: PROFIBUS send status word 1 Vector r2199.1 Comparison value reached Vector
p2080[11] BI: PROFIBUS send status word 1 Vector r1407.7 M/I/P limiting not active Vector
p2080[12] BI: PROFIBUS send status word 1 Vector 0 Vector
p2080[13] BI: PROFIBUS send status word 1 Vector r2129.14 No alarm for motor overtempera- Vector
ture
p2080[14] BI: PROFIBUS send status word 1 Vector r2197.3 Clockwise Vector
p2080[15] BI: PROFIBUS send status word 1 Vector r2129.15 No Therm. alarm Power unit over- Vector
load
p2088 PROFIBUS Invert status word Vector B800h Vector
p2128[14] Select fault/alarm code for trigger Vector 7910 A7910: Alarm, motor overtemper- Vector
ature
p2128[15] Select fault/alarm code for trigger Vector 5000 A5000: Therm. alarm Power unit Vector
overload
p2153 Time constant revolutions actual Vector 20 20 ms Vector
value filter
p4053[0] TM31 analog inputs, smoothing TM31 0 0 ms TM31
time constant
p4056[0] Type of analog inputs TM31 0 Voltage 0...10 V TM31
p4056[1] Type of analog inputs TM31 0 Voltage 0...10 V TM31
p4076[0] Type of analog outputs TM31 1 Voltage 0...10 V TM31
p4076[1] Type of analog outputs TM31 1 Voltage 0...10 V TM31
p4071[0] Signal analog output 0 TM31 r0063 Actual speed value smoothed Vector
p4071[1] Signal analog output 1 TM31 r0068 Absolute current actual value Vector
p4100 Type of temperature sensor TM31 0 Evaluation disabled TM31
p4102[0] Alarm threshold, temperature TM31 251 °C When this value is exceeded, alarm TM31
sensing A35211 is triggered.
p4102[1] Fault threshold for temperature TM31 251 °C When this value is exceeded, fault TM31
sensing F35207 is triggered.
p7003 Winding system Vector 1 Separate winding systems Vector

Appendix
Parameter macro p0700 = 1: PROFIdrive (70001)

This macro is used to set the PROFIdrive interface as the default command source.
Table A- 2 Parameter macro p0700 = 1: PROFIdrive
Sink Source
Parameter Description DO Parameter Description DO
p0840[0] ON/OFF1 Vector r2090.0 PZD 1 bit 0 Vector
p0844[0] No OFF2_1 Vector r2090.1 PZD 1 bit 1 Vector
p0845[0] No OFF2_2 Vector r0722.4 CU DI4 CU
p0806 Inhibit LOCAL mode Vector 0 Vector
p0810 Changeover CDS bit 0 Vector 0 Vector
p0852 Enable operation Vector r2090.3 PZD 1 bit 3 Vector
p0854 Control request Vector r2090.10 PZD 1 bit 10 Vector
p0922 Profibus PZD telegram selection Vector 999 Free telegram configuration
p1020 FSW bit 0 Vector 0 Vector
p1035 MOP raise Vector r2090.13 PZD 1 bit 13 Vector
p1036 MOP lower Vector r2090.14 PZD 1 bit 14 Vector
p1113 Direction reversal Vector r2090.11 PZD 1 bit 11 Vector
p1140 Enable RFG Vector r2090.4 PZD 1 bit 4 Vector
p1141 Start RFG Vector r2090.5 PZD 1 bit 5 Vector
p1142 Enable nsetp Vector r2090.6 PZD 1 bit 6 Vector
p2103 Acknowledge fault 1 Vector r2090.7 PZD 1 bit 7 Vector
p2104 Acknowledge fault 2 Vector r0722.3 CU DI3 CU
p2106 Ext. fault_1 Vector r0722.6 CU DI6 CU
p2107 Ext. fault_2 Vector 1 Vector
p2112 Ext. alarm_1 Vector r0722.11 CU DI11 CU
p2116 Ext. alarm_2 Vector 1 Vector
p0738 DI/DO8 CU r0899.11 Pulses enabled Vector
p0748.8 Invert DI/DO8 CU 0 Not inverted
p0728.8 Set DI/DO8 input or output CU 1 Output
p0739 DI/DO9 CU r2139.3 Fault active Vector
p0748.9 Invert DI/DO9 CU 1 Inverted
p0740 DI/DO10 CU 1 +24 V CU
p0741 DI/DO11 CU 0 CU
p0728.11 Set DI/DO11 input or output CU 0 Input
p0742 DI/DO12 CU r2138.7 Ackn fault Vector

Appendix
Sink Source
p0743 DI/DO13 CU 1 +24 V CU
p0744 DI/DO14 CU 1 +24 V CU
p0745 DI/DO15 CU 1 +24 V CU
Parameter macro p0700 = 2: TM31 terminals (70002)

This macro is used to set terminal block TM31 as the command source.
Table A- 3 Parameter macro p0700 = 2: TM31 terminals
Sink Source
p0840[0] ON/OFF1 Vector r4022.0 TM31 DI0 TM31
p0844[0] No OFF2_1 Vector 1 Vector
p0845[0] No OFF2_2 Vector r4022.4 TM31 DI4 TM31
p0852 Enable operation Vector 1 Vector
p0854 Control request Vector 1 Vector
p1020 FSW bit 0 Vector r4022.1 TM31 DI1 TM31
p1021 FSW bit 1 Vector r4022.2 TM31 DI2 TM31
p1035 MOP raise Vector r4022.1 TM31 DI1 TM31
p1036 MOP lower Vector r4022.2 TM31 DI2 TM31
p1113 Direction of rotation reversal Vector 0 Vector
p1140 Enable RFG Vector 1 Vector
p1141 Start RFG Vector 1 Vector
p1142 Enable nsetp Vector 1 Vector
p2103 Acknowledge fault_1 Vector 0 Vector
p2104 Acknowledge faults_2 Vector r4022.3 TM31 DI3 TM31
p2106 Ext. fault_1 Vector r4022.6 TM31 DI6 TM31
p2112 Ext. alarm_1 Vector r4022.11 TM31 DI11 TM31

Appendix
Sink Source
p2103 Acknowledge fault 1 TM31 0 TM31
p2104 Acknowledge fault 2 TM31 r4022.3 TM31 DI3 TM31
p4030 DO0 TM31 r0899.11 Pulses enabled Vector
p4031 DO1 TM31 r2139.3 Fault Vector
p4048.1 Invert DO1 TM31 1 Inverted
p4038 DO8 TM31 r0899.0 Ready to start Vector
p4028.8 Set DI/DO8 input or output TM31 1 Output
p4039 DO9 TM31 0 TM31
p4028.9 Set DI/DO9 input or output TM31 0 Input
p4040 DO10 TM31 0 TM31
p4041 DO11 TM31 0 TM31

Appendix
Parameter macro p0700 = 3: CU terminals (70003)

This macro is used to set the CU320 terminals as the command source.
Table A- 4 Parameter macro p0700 = 3: CU terminals
Sink Source
p0840[0] ON/OFF1 Vector r0722.0 CU DI0 CU
p0852 Enable operation Vector 1 Vector
p0854 Control request Vector 1 Vector
p1020 FSW bit 0 Vector r0722.1 CU DI1 CU
p1021 FSW bit 1 Vector r0722.2 CU DI2 CU
p1035 MOP raise Vector r0722.1 CU DI1 CU
p1036 MOP lower Vector r0722.2 CU DI2 CU
p1113 Direction of rotation reversal Vector 0 Vector
p1140 Enable RFG Vector 1 Vector
p1141 Start RFG Vector 1 Vector
p1142 Enable nsetp Vector 1 Vector
p2103 Acknowledge fault 1 Vector 0 Vector
p2104 Acknowledge fault 2 Vector r0722.3 CU DI3 CU
p2106 Ext. fault_1 Vector r0722.6 CU DI6 CU
p2112 Ext. alarm_1 Vector r0722.11 CU DI11 CU
p0738 DI/DO8 CU r0899.11 Pulses enabled Vector
p0739 DI/DO9 CU r2139.3 Fault active Vector
p0748.9 Invert DI/DO9 CU 1 Inverted
p0740 DI/DO10 CU 1 +24 V CU
p0728.11 Set DI/DO11 input or output CU 0 Input

Appendix
Sink Source
p0743 DI/DO13 CU 1 +24 V CU
p0744 DI/DO14 CU 1 +24 V CU
p0745 DI/DO15 CU 1 +24 V CU
Parameter macro p0700 = 4: PROFIdrive+TM31 (70004)

This macro is used to set the PROFIdrive interface and terminal block TM31 as the command
source.
Table A- 5 Parameter macro p0700 = 4: PROFIdrive+TM31
Sink Source
p0840[0] ON/OFF1 Vector r2090.0 PZD 1 bit 0 Vector
p0852 Enable operation Vector r2090.3 PZD 1 bit 3 Vector
p0854 Control request Vector r2090.10 PZD 1 bit 10 Vector
p1035 MOP raise Vector r2090.13 PZD 1 bit 13 Vector
p1036 MOP lower Vector r2090.14 PZD 1 bit 14 Vector
p1113 Direction of rotation reversal Vector r2090.11 PZD 1 bit 11 Vector
p1140 Enable RFG Vector r2090.4 PZD 1 bit 4 Vector
p1141 Start RFG Vector r2090.5 PZD 1 bit 5 Vector
p1142 Enable nsetp Vector r2090.6 PZD 1 bit 6 Vector
p2103 Acknowledge fault 1 Vector r2090.7 PZD 1 bit 7 Vector
p2104 Acknowledge fault 2 Vector r4022.3 TM31 DI3 TM31
p2106 Ext. fault_1 Vector r4022.6 TM31 DI6 TM31
p2112 Ext. alarm_1 Vector r4022.11 TM31 DI11 TM31

Appendix
Sink Source
p2103 Acknowledge fault 1 TM31 r2090.7 PZD 1 bit 1 Vector
p2104 Acknowledge fault 2 TM31 r4022.3 TM31 DI3 TM31
p4030 DO0 TM31 r0899.11 Pulses enabled Vector
p4031 DO1 TM31 r2139.3 Fault Vector
p4048.1 Invert DO1 TM31 1 Inverted
p4038 DO8 TM31 r0899.0 Ready to start Vector
p4028.8 Set DI/DO8 input or output TM31 1 Output
p4039 DO9 TM31 0 TM31
p4040 DO10 TM31 0 TM31
p4041 DO11 TM31 0 TM31

Appendix
Parameter macro p1000 = 1: PROFIdrive (100001)

This macro is used to set the default setpoint source via PROFIdrive.
Table A- 6 Parameter macro p1000 = 1: PROFIdrive
Sink Source
p1070 Main setpoint Vector r2050[1] PROFIdrive PZD2 Vector
p1071 Main setpoint scaling Vector 1 100 % Vector
p1075 Supplementary setpoint Vector 0 Vector
p1076 Supplementary setpoint scaling Vector 1 100 % Vector
Parameter macro p1000 = 2: TM31 terminals (100002)

This macro is used to set analog input 0 on customer terminal block TM31 as the setpoint
source.
Table A- 7 Parameter macro p1000 = 2: TM31 terminals
Sink Source
p1070 Main setpoint Vector r4055 AI0 TM31 TM31
Parameter macro p1000 = 3: Motorized potentiometer (100003)

This macro is used to set the motorized potentiometer as the setpoint source.
Table A- 8 Parameter macro p1000 = 3: Motorized potentiometer
Sink Source
p1070 Main setpoint Vector r1050 Motorized potentiometer Vector

Appendix
Parameter macro p1000 = 4: Fixed setpoint (100004)

This macro is used to set the fixed setpoint as the setpoint source.
Table A- 9 Parameter macro p1000 = 4: Fixed setpoint
Sink Source
p1070 Main setpoint Vector r1024 Active fixed setpoint Vector

Appendix
A.4 Control cabinet design
A.4.1 General information

As a result of the modular concept, each of the individual combinations cannot be described.
Instead, fundamentals and generally applicable rules are explained, which when applied,
allow special device combinations to be mechanically configured that are electromagnetically
compatible.
As a result of their design, the components are intended for installation in housings and
cabinets. These housings are generally steel cabinets or control boxes, which guarantee
protection against direct contact and other environmental effects. They are part of an overall
EMC concept.
A.4.2 Safety instructions
WARNING
Not observing fundamental safety instructions and residual risks
The non-observance of the fundamental safety instructions and residual risks stated in
Chapter 1 can result in accidents with severe injuries or death.
• Adhere to the fundamental safety instructions.
WARNING
Danger of injury caused by foreign objects in the device
Parts (e.g.: drilling chips, end sleeves) falling into the device can cause short-circuits and
damage the insulation. This can lead to serious injuries (arcing, bangs, pieces flying out of
the equipment).
• Only perform installation and other work when the devices are current-free.
• Cover the ventilation slots during the installation of the cabinet and remove the cover
before switching on.
NOTICE
Limitation of overvoltages
On systems with a grounded phase conductor and a line voltage >600 VAC, line-side
components should be installed to limit overvoltages to overvoltage category II in
accordance with IEC 61800-5-1.

Appendix
Note
Protection against the spread of fire
The converter may be operated only in closed housings or in higher-level control cabinets
with protective covers that are closed, and when all of the protective devices are used.
Converters of the Open Type/IP20 degree of protection must be installed in a metal control
cabinet or protected by another equivalent measure such that fire cannot spread and
emissions outside of the control cabinet are prevented.
Note
Protection against condensation and electrically conductive contamination
To ensure the functional safety and safety functions of Safety Integrated, protect the
converter, e.g. by installing it in a control cabinet with degree of protection IP54 according to
IEC 60529 or Type 12 according to NEMA 250. Further measures may be necessary for
particularly critical operating conditions.
If condensation and conductive pollution can be excluded at the installation site, a lower
degree of cabinet protection may be permitted.
A.4.3 Directives
The switchgear cabinet must satisfy the following EC Directives in the European Economic
Area (EEA):
Table A- 10 Directives
Guideline Description
2014/35/EU Directive of the European Parliament and Council from February 26, 2014 on the approximation
of the laws relating to the provision of electrical equipment designed for use within certain volt-
age limits (Low-Voltage Directive)
2014/30/EU Directive of the European Parliament and Council of February 26, 2014 for the harmonization of
the laws of the member states relating to electromagnetic compatibility (EMC directive)
2006/42/EC Directive of the European Parliament and Council of May 17, 2006 on machinery and for chang-
ing Directive 95/16/EC (amendment) (machinery directive)

Appendix
A.4.4 Maximum cable lengths
Table A- 11 Maximum cable lengths
Type Maximum length [m]

24 V DC power cables 1) 10
24 V signal cables 1) 30
Power cable between the Power Module and motor 300 (shielded)
450 (unshielded)
when using 2 motor reactors in series 525 (shielded)
787 (unshielded)
DRIVE-CLiQ cables
• inside the control cabinet, e.g. connection between CU320-2 70
and the Power Module
100
• DRIVE-CLiQ MOTION-CONNECT connecting cables for external
components
Power cable between Braking Module and braking resistor 100
1) For longer lengths, suitable wiring must be provided by the user for overvoltage protection.
Table A- 12 Recommendations for overvoltage protection
DC supply 24 V signal cables

Weidmüller Weidmüller
Type: PU DS 24 V Type no.: MCZ OVP TAZ 24 V
Order number: 8682100000 Order number: 8449160000
Weidmüller GmbH & Co. KG
A.4.5 EMC-compliant design and control cabinet configuration

Detailed configuration instructions regarding the EMC-compliant design of drives and control
cabinet configuration can be found in the "SINAMICS Low Voltage Configuration Manual", see
Configuration Manual for SINAMICS G130, G150, S120 Built-in Units, S120 Cabinet Modules,
S150 (https://support.industry.siemens.com/cs/ww/en/view/83180185).

Appendix
A.4.6 Notes on control cabinet climate control

The minimum dimensions listed below for ventilation clearances must be observed. No other
components or cables may be installed in or laid through these areas.
NOTICE
Device failure caused by overloading of devices and components
If the guidelines for installing SINAMICS G130 devices are not observed, this can
significantly reduce the service life of the components. This can result in premature device
and component failure.
• Observe the guidelines for installing the devices and components.
You must take into account the following specifications when using SINAMICS G130:
• Ventilation clearance
• Cabling
• Air guidance
Table A- 13 Ventilation clearances for the components
Component Frame size Clearance (front) Clearance (above) Clearance (below)

[mm] [mm] [mm]
Power Module FX 40 1) 250 150
Power Module GX 50 1) 250 150
Power Module HX, JX 40 1) 250 150
1) The clearances refer to the area around the ventilation slots in the front cover.
Note
Notes on the dimensions
The dimensions refer to the outer edges of the devices.
A dimension drawing is available in the Operating Instructions.
Notes on ventilation
The SINAMICS G130 devices are forced-ventilated by means of integrated fans. To ensure an
adequate air supply, suitable openings for the inlet air (e.g. ventilation slots in the cabinet
door) and discharged air (e.g. by means of a hood) must be provided.
The cooling air must flow through the components vertically from bottom (cooler region) to
top (region heated by operation).
You must ensure that the air is flowing in the right direction. You must also ensure that the
warm air can escape at the top. The ventilation clearances specified in the table "Ventilation
clearances for the components" in the previous section must be observed.

Appendix
Note
Cables must not be routed directly on the components. The ventilation slots must not be
covered.
Cold air must not be allowed to blow directly onto electronic equipment.
NOTICE
Device failure due to condensation as a result of unsuitable air guidance and cooling
Unsuitable air guidance and cooling equipment can cause condensation, which can result in
device failure.
• Choose air guidance measures, as well as the arrangement of and settings for the
cooling equipment in such a way as to prevent condensation even with the highest
relative humidity.
• If required, install cabinet enclosure heating.
Figure A-1 Air guidance for Power Module, frame size FX, GX

Appendix
Figure A-2 Air guidance for Power Module, frame size HX, JX
Devices must not be operated in an "air short-circuit", since this can damage equipment or
cause it to fail.
The fan suction causes negative pressure to build up at the ventilation openings in the
cabinet doors. The pressure is dependent on the volume flow rate and the hydraulic cross-
section of the openings.
The air, which blows out of the top of the device, accumulates under the top cover/hood,
resulting in overpressure.
The difference between the overpressure at the top of the cabinet and the negative pressure
at the bottom creates a flow of air (air short-circuit). This can vary in strength depending on
the cross-section of the door and cover openings, as well as the volume flow rate of the air.

Appendix
Due to the flow of air within the cabinet, the device fan draws in pre-heated air. This heats up
the components considerably and the ventilator does not function effectively.
NOTICE
Device failure due to air short-circuit in the control cabinet
Unsuitable air guidance can cause an air short-circuit, which can result in overheating in the
control cabinet and device failure.
• Install suitable barriers in the control cabinet in order to prevent an air short-circuit from
occurring.
Barriers must be installed in such a way that no air can flow along the outer sides on the top
and bottom of the devices. In particular, air must be prevented from flowing from the top
(warm discharged air) to the bottom (cold cooling air). Suitable plates can be used as barriers
and must extend to the side panels or cabinet doors. They must be set up in such a way that
the outgoing air current is not forced into the cabinet cross-beams but is instead diverted
around them. Barriers must be in place for all degrees of protection higher than IP20.
The cabinets adjacent to the converter cabinets must also be taken into account when
partitions or barriers are installed.
To ensure sufficient ventilation for the devices, the opening cross-sections (minimum values)
specified in the following table must be observed.
The specified opening cross-sections comprise several small openings. To ensure that
pressure loss is kept to a minimum and that the flow resistance does not become too great at
these mesh-type openings, the cross sectional area of each opening must be around at least
190 mm² (e.g. 7.5 mm x 25 mm or 9.5 mm x 20 mm).
To ensure that the devices operate continuously, suitable measures must be taken to prevent
the ingress of dirt and dust. Wire lattices (wire fabric DIN 4189-St-vzk-1x0.28) or filter mats
(min. filter class G2) must be used for this purpose. The choice of filter mats depends on the
required degree of protection and the ambient conditions. If cabinets are installed in an
environment containing fine dust particles or oil vapors, micro-filter mats must be used to
prevent the devices from becoming contaminated.
If dirt filters are used, the specified opening cross-sections and the filter areas must be
adjusted upwards.
NOTICE
Device failure due to overheating as a result of contaminated dirt filters
Contaminated filter mats cause the device to overheat and fail.
• If dirt filters are used, observe the specified replacement intervals.
If the filter mats are heavily contaminated, the volume of air drawn is reduced due to the
increased flow resistance. This can cause the fans integrated in the devices to overload, or it
could cause the devices themselves to overheat and become damaged.
The opening cross-sections specified in the table refer in each case to one device. If more
than one device is installed in a cabinet, the opening cross-section increases accordingly. If
the required openings cannot be made in the cabinet, the devices must be distributed across
several cabinets, which are separated from each other by means of partitions.

Appendix
The warm air must be discharged via the top cover/hood or via side openings in the cabinet at
the level of the top of the device. The size of the opening cross-section must also be taken
into account here.
With degrees of protection higher than IP20 and if a hood is used, it may be necessary to use
an "active" hood. An "active" hood contains fans that blow the air current forwards. The hood
is closed, with the exception of the air outlet point.
If you choose an "active" hood, you must ensure that the fans are sufficiently powerful to
prevent air from accumulating in the cabinet. If air accumulates, the cooling capacity is
reduced. This can overheat and destroy the devices. The air capacity of the fans should at
least be equivalent to the device fan data.
Table A- 14 Volume flow rate, opening cross-sections
Power Module
Article number 6SL3310- 1GE32-1AA3 1GE32-6AA3 1GE33-1AA3 1GE36-1AA3 1GE41-0AA3
1GH28-5AA3 1GE33-8AA3 1GE37-5AA3 1GF37-4AA3
1GH31-0AA3 1GE35-0AA3 1GE38-4AA3 1GF38-1AA3
1GH31-2AA3 1GF31-8AA3 1GF34-7AA3 1GH37-4AA3
1GH31-5AA3 1GF32-2AA3 1GF35-8AA3 1GH38-1AA3
1GF32-6AA3 1GH34-1AA3
1GF33-3AA3 1GH34-7AA3
1GF34-1AA3 1GH35-8AA3
1GH31-8AA3
1GH32-2AA3
1GH33-6AA3
1GH33-3AA3
Cooling air require- [m³/s] 0.17 0.23 0.36 0.78 1.48
ment
Min. opening cross-
section in cabinet
- Inlet [m²] 0.1 0.1 0.19 0.28 0.47
- Outlet [m²] 0.1 0.1 0.19 0.28 0.47

Appendix

Index
Connector output (CO), 196
Copy motor data set (MDS), 194
" Copying the command data set (CDS), 194
Copying the drive data set (DDS), 194
"Siemens Industry Online Support" App, 5
Data sets, 189
Drive data set (DDS), 191
Drive objects, 188
3
Encoder data set (EDS), 192
3-mass model, 519 Interconnecting signals, 197
Motor data set (MDS), 193
Parameter categorization, 186
A Parameter types, 185
Parameters, 185
Actual speed value filter, 356
Basic information about the drive system, 185
Acyclic communication, 223
BICO technology, 195
Determining drive object numbers, 231
Interconnecting signals, 197
Error values in parameter responses, 228
Bimetallic NC contact, 515
Parameter request and parameter response, 225
Binector input (BI), 196
Parameter request and response, 226
Binector output (BO), 196
Alarms, 540
Blocking protection, 510
Analog inputs, 106, 210
brake control
Analog outputs, 107, 380
Extended, 493
AOP30, 168
Simple, 441
Application classes, 217
Bypass
Armature short-circuit braking
Bypass with synchronizer with degree of
external, 423
overlapping, 484
Internal, 425
Bypass with synchronizer without degree of
Assigning the SINAMICS password
overlapping, 487
Web server, 478
Without synchronization, 490
Automatic restart, 407
Bypass function, 482
Automatic speed controller optimization, 388
Auxiliary supply, 67
Auxiliary Voltage, 108
C
Cable and screw terminals, 543
B Cable lengths, 58
Cable lugs, 56
Basic commissioning
2 cable lugs per phase, 57
Enter the motor data, 172
Back-to-back, 57
Entering the basic parameters, 176
CBE20, 250
Entering the encoder data, 173
CDS (command data set), 190
Motor identification, 178
Copy, 194
Selecting the motor type, 172
Certifications, 6
Basic information
Changing the SINAMICS password
BICO technology, 195
Web server, 478
Binector input (BI), 196
Cleaning, 542
Binector output (BO), 196
Closed-loop torque control, 370
Command data set (CDS), 190
Command data set, 190
Connector input (CI), 196

Index
Command sources DCP flashing, 262

CU terminals, 206 DCPS, 60
General information, 184 DCPS, DCNS connection for a dV/dt filter with Voltage
PROFIdrive, 202 Peak Limiter, 60
PROFIdrive+TM31, 208 DDS (drive data set), 191
TM31 terminals, 204 Copy, 194
Communication Declaration of conformity
Communication services, 321 EMC directive, 6
I&M, 276 Machinery directive, 6
Used port numbers, 321 Deleting the SINAMICS password
via EtherNet/IP, 291 Web server, 479
via Modbus TCP, 307 Derating behavior at increased pulse frequency, 432
via PROFIBUS, 245 Derating data, 590
via PROFIdrive, 215 Current derating as a function of the pulse
via PROFINET, 256 frequency, 592
via SINAMICS Link, 278 Installation altitudes between 2000 m and 5000 m
Communication Board Ethernet CBE20, 250 above sea level, 590
Communication interfaces Permissible output current as a function of the
Parallel operation, 323 ambient temperature, 590
Connection cross-sections, 58 Reduce the ambient temperature and the output
Connector input (CI), 196 current, 591
Connector output (CO), 196 Using an isolating transformer, 591
Control cabinet climate control, 643 Determining drive object numbers, 231
Control cabinet design, 640 Determinism, 257
Directives, 641 Diagnostics, 530
Opening cross-sections, 647 LEDs, 530
Ventilation, 643 Parameter, 536
Control Interface Module Diagnostics channels, 237
Frame size FX, replacement, 548 Digital inputs, 105, 105
Frame size GX, replacement, 550 Digital inputs/outputs, 77, 79, 93, 95, 109
Frame size HX, replacement, 552 Digital outputs, 384
Frame size JX, replacement, 554 Dimension drawings
Control Unit CU320-2 DP, 73 CU320-2 Control Unit, 40
Control via PROFIBUS, 248 SMC30 Sensor Module, 43
CU320-2 Control Unit, 40 TM31 Terminal Module, 42
CU320-2 DP, 73 Direction of motor rotation, 59
CU320-2 PN, 89 Direction reversal, 331, 438
CU320-2 PN Control Unit, 89 Disconnect the basic interference suppression
Current controller adaptation, 375 module, 62
Current setpoint filters, 374 Disposal, 621
Cyclic communication, 219 Drive Control Chart, 327
Drive Control Chart (DCC), 26
Drive data set, 191
D Drive objects, 188, 188
DRIVE-CLiQ interface, 76, 92, 104, 115
Data matrix code, 30
DRIVE-CLiQ wiring diagram, 68
Data sets, 189
Droop Function, 366
Data transfer
PROFINET, 263
Date of manufacture, 30
E
DC braking, 426
DCC, 26, 327 EDS (encoder data set), 192
DCNS, 60

Index
Efficiency optimization, 396 Fast flying restart with voltage acquisition via
Method 1, 397 VSM10, 415
Method 2, 398 with encoder, 415
EIP, 291 without encoder, 412
Electromagnetic compatibility Forming the DC-link capacitors, 584
EMC compliant design, 49 Friction characteristic curve, 421
Introduction, 47
Noise emissions, 48
Operational reliability and noise immunity, 47 G
Electromagnetic fields, 17
Gear factor, 180
Electronic power supply, 80, 96, 104
General Data Protection Regulation, 6
SMC30, 115
Ground fault test, 417
Electrostatic sensitive devices, 20
Encoder data set, 192
Encoder with gear factor, 180
H
Energy-saving display, 445
Error values in parameter responses, 228 High overload, 594
Essential service mode, 459, 459 Hotline, 4
Ethernet interface, 162, 251
EtherNet/IP, 291
Activating X1400 (CBE20), 293 I
Activating X150 CU320-2 PN, 293
I&M, 276
Commissioning the drive, 292
I2t motor model, 517
Connect the drive device, 292
Identification & Maintenance, 276
Create generic I/O module, 291
IF1, 323
Integrating the drive into an Ethernet network, 304
IF2, 323
Make the communication settings, 293
Increasing the output frequency, 429
Extended brake control, 493
Installation device, 544
Extended monitoring functions, 498
Installation location, 33
External 24 V DC supply, 67
IO controller, 256
IO Device, 256
IO supervisor, 256
F
IT system, 62
Factory setting, 180
Fan
Frame size FX, replacement, 572 K
Frame size GX, replacement, 574
K50, 111
Frame size HX, replacement, 576
Kinetic buffering, 403
Frame size JX, replacement, 580
Know-how protection, 450
Fan voltage, adjustment, 60
Activating, 453
Fast magnetization, 399
Changing the password, 455
Faults, 540
Deactivate, 454
Faults and alarms, 540
Load to file system, 456
Forwarding, 201
OEM exception list, 455
Propagation, 201
KTY, 515
Features, 26
Firmware update, 586
Firmware, updating, 586
L
Fixed setpoints, 213
Fixed speed setpoints, 213 List of abbreviations, 621
Flying restart, 410 Load monitoring, 498
Fast flying restart, 414 Low overload, 594

Index
M Parameter reset, 180

Parameter reset via STARTER, 181
Maintenance, 542, 542
Resetting Parameters via AOP30, 180
Maintenance and servicing, 541
Partial load operation, 594
Maximum cable lengths, 642
Permanent-magnet synchronous motors, 376
MBAP, 313
Power block
MDS (motor data set), 193
Crane lifting lugs, 545
Copy, 194
Frame size FX, replacement, 556
Media redundancy, 266
Frame size GX, replacement, 559
Memory card, 41
Frame size HX, replacement, 562
Slot, 87, 100
Frame size JX, replacement, 567
Minimum speed, 332
Power connections, 56
Modbus Application Header, 313
Connecting the motor and power cables, 59
Modbus TCP, 307
Pre-control, 504
Activate via interface X1400, 309
Preparation
Activate via interface X150, 308
Mechanical installation, 33
Communication via data set 47, 316
PROFIBUS, 245
Function codes used, 313
Address switches, 83
Mapping tables, 310
Bus terminating resistor, 82
Modbus register to the parameters of the Control
Connectors, 82
Unit, 310
Diagnostics, 240
Parameterizing communication for X1400, 310
DPMC1 and DPMC2, 246
Parameterizing communication for X150, 309
Master Classes 1 and 2, 246
Read and write access, 313
Setting the address, 83
Reading and writing parameters, 315
PROFIBUS connection, 81
Moment of inertia estimator, 500
PROFIBUS diagnostics data, 240
Accelerated estimation, 503
Channel-related diagnostics, 243
Speed controller adaptation, 503
Data sets DS0/DS1 and diagnostics alarm, 244
Monitoring Functions, 506
Identifier-related diagnostics, 242
Motor changeover/selection, 418
Standard diagnostics, 241
Motor data identification, 389
Status messages/module status, 242
Motor data set, 193
PROFIdrive, 215
Motor identification, 388
Acyclic communication, 223
Motorized potentiometer, 212
Application classes, 217
Communication types, 216
Controller, 216
O
Cyclic communication, 219
Online operation with STARTER, 252 Device classes, 215
open actual speed value, 368 Drive unit, 216
Operating hours counters, 435 Message classes, 237
Operation on a non-grounded system, 62 Message classes for PROFINET, 238
Operator panel, 168 PROFIBUS message classes, 240
Output terminals, 379 Supervisor, 216
Overload capability, 593 PROFIenergy, 270
Overload responses, 507 Certification, 270
Commands, 273
PROFINET
P Connection channels, 264
Data transfer, 263
Parallel operation of communication interfaces, 323
Diagnostics, 238
Parameter request and parameter response, 225
Structure example of a system redundancy, 268
Parameter request and response, 226
System redundancy, 267

Index
PROFINET interface, 98 Power block, frame size HX, 562

PROFINET IO, 245, 256 Power block, frame size JX, 567
Addresses, 258 Replacing components, 547
Device name (NameOfStation), 260 Residual risks, 22
Dynamic IP address assignment, 261 Resonance damping, 344
Identification & Maintenance, 276 Ring topology, 266
IP address, 259 Scalance, 266
IP address assignment, 259 Rotating measurement, 393
MAC address, 258 Shortened, 395
RT and IRT, 257 Runtime, 435
PROFINET IO with IRT, 258
PROFINET IO with RT, 257
Propagation, 201 S
Propagation type, 201
S5 – Selector for voltage/current AI0, AI1, 107
Protecting power components, 506
Safety instructions
Protective functions, 506
Control cabinet design, 640
PT100, 515
Electromagnetic fields, 17
PT1000, 515
Electrostatic sensitive devices, 20
PTC, 515
General safety instructions, 15
Pulse frequency wobbling, 433
Safety Integrated, 6
Sequence of objects in the telegram, 247
Serial interface (RS232), 85, 98
Q
Service, 27
Quality, 27 Setpoint addition, 330
Setpoint channel, 330
Setpoint sources, 210
R Analog inputs, 210
Fixed speed setpoints, 213
Ramp-function generator, 334
General information, 184
Ramp-function generator tracking, 335
Motorized potentiometer, 212
Rating plate
Short-circuit test, 417
Date of manufacture, 30
Shortened rotating measurement, 395
Real-time communication, 257
Siemens Industry Online Support
Recycling, 621
App, 5
Reference model, 363
Signal connections, 69
Relay outputs, 110
Simple brake control, 441
Replacement
Simulation operation, 436
Automatic firmware update, 585
SINAMICS Link, 278
Control Interface Module, frame size FX, 548
Activation, 285
Control Interface Module, frame size GX, 550
Bus cycle, 279
Control Interface Module, frame size HX, 552
Commissioning, 281
Control Interface Module, frame size JX, 554
Communication failure, 288
Crane lifting lugs, 545
Configuration example, 286
Error messages, 585
Diagnostics, 288
Fan, frame size FX, 572
Preconditions, 278
Fan, frame size GX, 574
Receive data, 278
Fan, frame size HX, 576
Receiving data, 284
Fan, frame size JX, 580
Send data, 278
Installation device, 544
Sending data, 282
Power block, frame size FX, 556
Synchronous cycle, 279
Power block, frame size GX, 559
Topology, 280
Transmission time, 279

Index
Skip frequency bands, 332 Temperature sensor connection

Slip compensation, 345 Control Interface Module, 514
SMC30, 111 Sensor Module, 513
SMC30 Sensor Module, 43 TM31, 512
SMC30 Sensor Module Cabinet-Mounted (option Temperature sensor evaluation, 512
K50), 111 3-mass model, 519
SMC30: connection examples, Bimetallic NC contact, 515
Speed controller, 357 I2t motor model, 517
Speed controller adaptation, 364 KTY, 515
Speed controller optimization, 393 PT100, 515
Speed controller pre-control, 360 PTC, 515
Speed limitation, 333 Wire-breakage monitoring, 516
Stall protection, 511 Test pulse evaluation, 417
STARTER, 124 Thermal monitoring, 507
Access point, 160 Thermal motor models, 516
Commissioning, 127 Thermal motor protection, 512
Creating a project, 127 Tightening torques, 543
DEVICE, 161 TM150
Installation, 126 Forming groups, 524
Online operation via PROFINET, 252 Sensor failure in a group, 526
S7ONLINE, 161 Smoothing time for temperature channels, 526
Target device selection, 160 Temperature evaluation, 525
Transferring the drive project, 161 Temperature measurement, 521
User interface, 126 Temperature sensor types, 522
STARTER via Ethernet, 162 TM31, 102
Parameter, 167 Connection overview, 103
Setting the IP Address of the drive, 164 TM31 Terminal Module, 41, 102
Setting the IP address of the PG/PC interface, 163 TM31, front view, 102
Starting the web server, 473 TM54F, 121
Stationary measurement, 389 TM54F Terminal Module, 121
Storage, 32 Tool, 34, 45, 542
Support, 4 Torque limiting, 372
Synchronization, 444 Transport, 31
System redundancy, 267 Type plate, 29
Configuring, 268
Diagnostics LEDs, 268
Example, 268 U
U/f control, 338
Ungrounded system, 62
T
Unit changeover, 439
Technical data, 595 Unpacking, 34
General, 588
Power Module, 3 AC 660 ... 690 V, 608
Power Module, 380 ... 480 V 3 AC, 596 V
Power Module, 500 ... 600 V 3 AC, 602
Vdc control, 402
Technical support, 4
Vdc_max control, 405
Technology controller, 480
Vdc_min control, 403
Telegram selection, user defined, 220
Vector control
Telegrams
sensorless, 348
Sequence of objects, 247
with encoder, 355
Telegrams and process data, 220
Vector speed/torque control with/without encoder, 347
Temperature sensor, 107

Index
Ventilation, 542 X524, 104

Voltage boost, 341 SMC30, 115
at startup, 343 X530, 105
During acceleration, 343 X531
Permanent, 342 SMC30, 117
X540, 108
X541, 109
W X542, 110
X9, 69
Web server, 463
Assigning the SINAMICS password, 478
Changing the SINAMICS password, 478
Configuring user accounts, 477
Deleting the SINAMICS password, 479
Login, 473
Logout, 477
Saving settings, 476
User-defined Web pages, 472
Web sites of third-party companies, 6
Wire-breakage monitoring, 516
Wiring diagram
DRIVE-CLiQ connections, 68
Write protection, 448
X
X100, 76, 92
X101, 76, 92
X102, 76, 92
X103, 76, 92
X122, 77, 93
X124, 80, 96
X126, 81
X127, 84, 97
X132, 79, 95
X140, 85, 98
X1400, 251
X150, 98
X400, 72
X401, 72
X402, 72
X41, 69
X42, 71
X46, 71
X500, 104
SMC30, 115
X501, 104
X520, 105
SMC30, 116
X521, 106
SMC30, 117
X522, 107


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Preface

Maintenance and servicing 11

Siemens AG A5E00331449A Copyright © Siemens AG 2004 - 2020.

Structure of this documentation

Inverter chassis units

Documentation on the Internet

Time zone Europe/Africa

Time zone America

Time zone Asia/Pacific

Inverter chassis units

Siemens Support for on the move

EMC limit values for South Korea

Inverter chassis units

Web sites of third-party companies

Compliance with the General Data Protection Regulation

Inverter chassis units

Inverter chassis units

4.6 Connection overview ......................................................................................................... 52

Inverter chassis units

6.3.3 Data sets ......................................................................................................................... 189

Inverter chassis units

6.8.4.2 EtherNet/IP ...................................................................................................................... 266

Inverter chassis units

7 Setpoint channel and closed-loop control ......................................................................................... 329

Inverter chassis units

9.2.5 Automatic restart function ............................................................................................... 407

Inverter chassis units

9.3.2.3 Bypass without synchronizer (p1260 = 3) ......................................................................... 490

Inverter chassis units

Inverter chassis units

Inverter chassis units

Inverter chassis units

Inverter chassis units

Inverter chassis units

Inverter chassis units

1.2 Handling electrostatic sensitive devices (ESD)

Figure 1-1 ESD protective measures

Inverter chassis units

1.3 Industrial security

Inverter chassis units

1.4 Residual risks of power drive systems

Inverter chassis units

Inverter chassis units

2.2 Overview of the chassis units

Figure 2-1 Overview of the chassis units

Inverter chassis units

2.3 Overview of the Power Modules

Figure 2-2 Overview of the Power Modules

Inverter chassis units

2.4 Applications, features

2.4.2 Features, quality, service

Inverter chassis units

Inverter chassis units

2.5 Wiring principle

Wiring principle for SINAMICS G130

Figure 2-3 Wiring principle for SINAMICS G130

Inverter chassis units

2.6 Type plate

Specifications on the type plate

Figure 2-4 Type plate of built-in unit