Siemens SIMOTICS S-1FL6, SINAMICS V90 Compact Operating Instructions

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SINAMICS V90, SIMOTICS S-1FL6 PROFINET (PN) interface Getting Started

Compact Operating Instructions

Table of contents

1 Fundamental safety instructions .............................................................................................................................. 3

1.1 General safety instructions ...................................................................................................................... 3

1.2 Handling electrostatic sensitive devices (ESD) ....................................................................................... 7

1.3 Industrial security .................................................................................................................................... 7

1.4 Residual risks of power drive systems..................................................................................................... 8

2 General information ................................................................................................................................................ 9

2.1 Deliverables ............................................................................................................................................. 9

2.1.1 Drive components.................................................................................................................................... 9

2.1.2 Motor components ................................................................................................................................. 14

2.2 Device combination ............................................................................................................................... 17

2.3 Accessories ........................................................................................................................................... 20

2.4 Function list ........................................................................................................................................... 22

2.5 Technical data ....................................................................................................................................... 23

2.5.1 Technical data - servo drives ................................................................................................................. 23

2.5.2 Technical data - servo motors ............................................................................................................... 25

2.5.3 Address of CE-authorized manufacturer ............................................................................................... 28

3 Mounting .............................................................................................................................................................. 29

3.1 Mounting the drive ................................................................................................................................. 29

3.2 Mounting the motor................................................................................................................................ 33

4 Connecting ........................................................................................................................................................... 40

4.1 System connection ................................................................................................................................ 40

4.2 Main circuit wiring .................................................................................................................................. 45

4.2.1 Line supply - L1, L2, L3 ......................................................................................................................... 45

4.2.2 Motor power - U, V, W ........................................................................................................................... 46

4.3 Control/Status interface - X8 ................................................................................................................. 48

4.3.1 Interface definition ................................................................................................................................. 48

4.3.2 Standard wiring ..................................................................................................................................... 48

4.4 24 V power supply/STO ......................................................................................................................... 49

4.5 Encoder interface - X9 ........................................................................................................................... 51

4.6 External braking resistor - DCP, R1 ...................................................................................................... 54

4.7 Motor holding brake ............................................................................................................................... 54

4.8 PROFINET interface - X150 .................................................................................................................. 55

5 Commissioning ..................................................................................................................................................... 56

5.1 Introduction to the BOP ......................................................................................................................... 57

5.2 Initial commissioning in JOG mode ....................................................................................................... 62

5.3 Commissioning in basic positioner control mode (EPOS) ..................................................................... 63

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5.4 Commissioning in speed control mode (S) ............................................................................................ 64

5.5 Commissioning control functions........................................................................................................... 65

5.5.1 Speed limit ............................................................................................................................................ 65

5.5.2 Torque limit ........................................................................................................................................... 66

5.5.3 EJOG .................................................................................................................................................... 67

6 PROFINET communication ....................................................................................................................................68

6.1 Supported telegrams ............................................................................................................................. 68

6.2 I/O data signals ..................................................................................................................................... 70

6.3 Control word definition .......................................................................................................................... 71

6.3.1 STW1 control word (for telegrams 1, 2, 3, 5) ........................................................................................ 71

6.3.2 STW2 control word (for telegrams 2, 3, 5) ............................................................................................ 72

6.3.3 STW1 control word (for telegrams 102, 105) ........................................................................................ 72

6.3.4 STW2 control word (for telegrams 102, 105) ........................................................................................ 73

6.3.5 STW1 control word (for telegrams 7, 9, 110, 111) ................................................................................ 74

6.3.6 STW2 control word (for telegrams 9, 110, 111) .................................................................................... 74

6.3.7 G1_STW encoder 1 control word .......................................................................................................... 75

6.3.8 SATZANW control word ........................................................................................................................ 75

6.3.9 MDI_MOD control word ......................................................................................................................... 76

6.3.10 POS_STW control word ........................................................................................................................ 76

6.3.11 POS_STW1 positioning control word .................................................................................................... 77

6.3.12 POS_STW2 positioning control word .................................................................................................... 77

6.4 Status word definition ............................................................................................................................ 78

6.4.1 ZSW1 status word (for telegrams 1, 2, 3, 5) .......................................................................................... 78

6.4.2 ZSW2 status word (for telegram 2, 3, 5) ............................................................................................... 78

6.4.3 ZSW1 status word (for telegrams 102, 105) .......................................................................................... 79

6.4.4 ZSW2 status word (for telegram 102, 105) ........................................................................................... 79

6.4.5 ZSW1 status word (for telegram 7, 9, 110, 111) ................................................................................... 80

6.4.6 ZSW2 status word (for telegrams 9, 110, 111) ...................................................................................... 80

6.4.7 G1_ZSW encoder 1 status word ........................................................................................................... 81

6.4.8 MELDW status word ............................................................................................................................. 81

6.4.9 POS_ZSW1 positioning status word ..................................................................................................... 82

6.4.10 POS_ZSW2 positioning status word ..................................................................................................... 82

7 Parameters ...........................................................................................................................................................83

7.1 Overview ............................................................................................................................................... 83

7.2 Parameter list ........................................................................................................................................ 84

8 Diagnostics ......................................................................................................................................................... 114

8.1 Overview ............................................................................................................................................. 114

8.2 List of faults and alarms ...................................................................................................................... 116

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Fundamental safety instructions

1.1

General safety instructions

DANGER

Danger to life due to live parts and other energy sources

Death or serious injury can result when live parts are touched.

• Only work on electrical devices when you are qualified for this job.

• Always observe the country-specific safety rules.

Generally, six steps apply when establishing safety:

1. Prepare for shutdown and notify all those who will be affected by the procedure.

2. Disconnect the machine from the supply. – Switch off the machine. – Wait until the discharge time specified on the warning labels has elapsed. – Check that it really is in a no-voltage condition, from phase conductor to phase conductor and phase

conductor to protective conductor. – Check whether the existing auxiliary supply circuits are de-energized. – Ensure that the motors cannot move.

3. Identify all other dangerous energy sources, e.g. compressed air, hydraulic systems, or water.

4. Isolate or neutralize all hazardous energy sources by closing switches, grounding or short-circuiting or closing valves, for example.

5. Secure the energy sources against switching on again.

6. Ensure that the correct machine is completely interlocked.

After you have completed the work, restore the operational readiness in the inverse sequence.

WARNING

Danger to life through a hazardous voltage when connecting an unsuitable power supply

Touching live components can result in death or severe injury.

• 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

Danger to life when live parts are touched on damaged motors/devices

Improper handling of motors/devices can damage them.

For damaged motors/devices, hazardous voltages can be present at the enclosure or at exposed components.

• Ensure compliance with the limit values specified in the technical data during transport, storage and operation.

•

Do not use any damaged motors/devices.

WARNING

Danger to life through electric shock due to unconnected cable shields

Hazardous touch voltages can occur through capacitive cross-coupling due to unconnected cable shields.

• As a minimum, connect cable shields and the cores of cables that are not used at one end at the grounded

housing potential.

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WARNING

Danger to life due to electric shock when not grounded

For missing or incorrectly implemented protective conducto

r connection for devices with protection class I, high

voltages can be present at open, exposed parts, which when touched, can result in death or severe injury.

•

Ground the device in compliance with the applicable regulations.

WARNING

Danger to life due to electric shock when opening plug connections in operation

When opening plug connections in operation, arcs can result in severe injury or death.

• Only open plug connections when the equipment is in a no-

voltage state, unless it has been explicitly stated

that they can be opened in operation.

WARNING

Danger to life through electric shock due to the residual charge of the power component capacitors

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.

NOTICE

Material damage due to loose power connections

Insufficient tightening torques or vibrations can result in loose electrical connections. This can result in damage due to fire, device defects or malfunctions.

• Tighten all power connections with the specified tightening torques, e.g. line supply connection, motor connection, DC link connections.

•

Check all power connections at regular intervals. This applies in particular after transport.

WARNING

Danger to life due to fire spreading if housing is inadequate

Fire and smoke development can cause severe personal injury or material damage.

• Install devices without a protective housing in a metal control cabinet (or protect the device by another equivalent measure) in such a way that contact with fire is prevented.

•

Ensure that smoke can only escape via controlled and monitored paths.

WARNING

Danger to life from electromagnetic fields

Electromagnetic fields (EMF) are generated by the operation of electrical power equipment, such as transformers, converters, or motors.

People with pacemakers or implants are at particular risk in the immediate vicinity of this equipment.

• If you have a heart pacemaker or implant, maintain a minimum distance of 2 m from electrical power equipment.

WARNING

Danger to life from permanent-magnet fields

Even when switched off, electric motors with permanent magnets represent a potential risk for persons with heart pacemakers or implants if they are close to converters/motors.

• If you have a heart pacemaker or implant, maintain a minimum distance of 2 m.

• When transporting or storing permanent-magnet motors always use the original packing materials with the warning

labels attached.

• Clearly mark the storage locations with the appropriate warning labels.

•

IATA regulations must be observed when transported by air.

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WARNING

Danger to life through unexpected movement of machines when using mobile wireless devices or mobile phones

Using mobile wireless devices or mobile phones with a transmit power > 1 W closer than approx. 2 m to the components may cause the devices to malfunction, influence the functional safety of machines therefore putting people at risk or causing material damage.

• Switch the wireless devices or mobile phones off in the immediate vicinity of the components.

WARNING

Danger to life due to the motor catching fire in the event of insulation overload

There is higher stress on the motor insulation through a ground fault in an IT system. If the insulation fails, it is possible that death or severe injury can occur as a result of smoke and fire.

• Use a monitoring device that signals an insulation fault.

•

Correct the fault as quickly as possible so the motor insulation is not overloaded.

WARNING

Danger to life due to fire if overheating occurs because of insufficient 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

Danger of an accident occurring due to missing or illegible warning labels

Missing or illegible warning labels can result in accidents involving death or serious injury.

• Check that the warning labels are complete based on the documentation.

• Attach any missing warning labels to the components, in the national language if necessary.

•

Replace illegible warning labels.

NOTICE

Device damage caused by incorrect voltage/insulation tests

Incorrect voltage/insulation tests can damage the device.

• Before carrying out a voltage/insulation check of the system/machine, disconnect the devices as all converters and

motors have been subject to a high voltage test by the manufacturer, and therefore it is not necessary to perform an

additional test within the system/machine.

WARNING

Danger to life when safety functions are inactive

Safety functions that are inactive or that have not been adjusted accordingly can cause operational faults on machines that could lead to 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 guaranteed that the functions relevant to safety are running

correctly.

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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

WARNING

Danger to life or malfunctions of the machine as a result of incorrect or changed parameterization

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).

WARNING

Risk of injury caused by moving parts or parts that are flung out

Touching moving motor parts or drive output elements and loose motor parts that are flung out (e.g. feather keys) in operation can result in severe injury or death.

• Remove any loose parts or secure them so that they cannot be flung out.

• Do not touch any moving parts.

• Safeguard all moving parts using the appropriate safety guards.

WARNING

Danger to life due to fire if overheating occurs because of insufficient cooling

Inadequate cooling can cause overheating resulting in death or severe injury as a result of smoke and fire. This can also result in increased failures and reduced service lives of motors.

•

Comply with the specified coolant requirements for the motor.

WARNING

Danger to life due to fire as a result of overheating caused by incorrect operation

When incorrectly operated and in the case of a fault, the motor can overheat resulting in fire and smoke. This can result in severe injury or death. Further, excessively high temperatures destroy motor components and result in increased failures as well as shorter service lives of motors.

• Operate the motor according to the relevant specifications.

• Only operate the motors in conjunction with effective temperature monitoring.

•

Immediately switch off the motor if excessively high temperatures occur.

CAUTION

Risk of injury due to touching hot surfaces

In operation, the motor can reach high temperatures, which can cause burns if touched.

• Mount the motor so that it is not accessible in operation.

Measures when maintenance is required:

• Allow the motor to cool down before starting any work.

•

Use the appropriate personnel protection equipment, e.g. gloves.

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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).

1.3

Industrial security

Note Industrial security Siemens provides products and solutions with industrial security functions that support the secure operation of plants,

ystems, 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 solut

ions only represent

one component of such a concept. The customer is responsible for preventing unauthorized access to its plants, systems, machines and networks. Systems,

machines and components should only be connected to the enterprise network or the internet if and to the extent necessary and with appropriate security measures (e.g. use of firewalls and network segmentation) in place.

Additionally, Siemens’ guidance on appropriate security measures should be taken into account. For more information about industrial security, please visit:

Industrial security (

http://www.siemens.com/industrialsecurity).

Siemens’ products and solutions undergo continuous development to make them more secure. Sie

mens strongly

recommends to apply product updates as soon as available and to always use the latest product versions. Use of product versions that are no longer supported, and failure to apply latest updates may increase customer’s exposure to cyber threat

To stay informed about product updates, subscribe to the Siemens Industrial Security RSS Feed at: Industrial security (

http://www.siemens.com/industrialsecurity).

WARNING

Danger to life as a result of unsafe operating states resulting from software manipulation

Software manipulations (e.g. viruses, trojans, malware or worms) can cause unsafe operating states in your system that may lead to death, serious injury, and property damage.

• Keep the software up to date.

• Incorporate the automation and drive components into a holistic, state-of-the-art industrial security concept for the

installation or machine.

• Make sure that you include all installed products into the holistic industrial security concept.

• Protect files stored on exchangeable storage media from malicious software by with suitable protection measures, e.g.

virus scanners.

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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 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 cables and connections

– Response times of the control system and of the drive

– Operation and/or environmental conditions outside the specification

– Condensation/conductive contamination

– 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 emissions of light, noise, particles, gases, etc., can occur inside and outside the components under fault conditions caused by, for example:

– Component failure

– Software errors

– Operation and/or environmental conditions outside the specification

– External influences/damage

3. Hazardous shock voltages caused by, for example:

– Component failure

– Influence during electrostatic charging

– Induction of voltages in moving motors

– Operation and/or environmental conditions outside the specification

– Condensation/conductive contamination

– External influences/damage

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 the residual risks of the drive system components, see the relevant sections in the technical user documentation.

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General information

The SINAMICS V90 drives with the PROFINET interface (referred to as SINAMICS V90 PN) are available in two variants, 400 V variant and 200 V variant.

The 200 V variant is available in three frame sizes: FSB, FSC, and FSD. Frame sizes B, and C are used on the single phase or three phase power network while frame size D is used on the three phase power network only.

The 400 V variant is available in four frame sizes: FSAA, FSA, FSB, and FSC. All the frame sizes are used on three phase power network only.

2.1

Deliverables

2.1.1

Drive components

Components in the SINAMICS V90 PN 200 V variant drive package

Component

Illustration

Rated power (kW)

Outline dimension (Width x Height x

Depth, mm)

Frame size

Article number

SINAMICS V90 PN, single/three-phase, 200 V

0.1/0.2/0.4 55 x 170 x 170

FSB 6SL3210-5FB10-

1UF0

6SL3210-5FB10-

2UF0

6SL3210-5FB10-

4UF1

0.75 80 x 170 x 195 FSC 6SL3210-5FB10-

8UF0

SINAMICS V90 PN, three-phase, 200 V

1.0/1.5/2.0 95 x 170 x 195 FSD 6SL3210-5FB11-

0UF1

6SL3210-5FB11-

5UF0

6SL3210-5FB12-

0UF0

Connectors

For FSB 6SL3200-0WT02-

0AA0

For FSC and FSD 6SL3200-0WT03-

0AA0

Shielding plate

For FSB

For FSC and FSD

User documentation

Information Guide

English-Chinese bilingual version

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Components in the SINAMICS V90 PN 400 V variant drive package

Component

Illustration

Rated power (kW)

Outline dimension (Width x Height x

Depth, mm)

Frame size

Article number

SINAMICS V90 PN, three-phase, 400 V

0.4 60 x 180 x 200 FSAA 6SL3210-5FE10-

4UF0

0.75/1.0 80 x 180 x 200 FSA 6SL3210-5FE10-

8UF0

6SL3210-5FE11-

0UF0

1.5/2.0 100 x 180 x 220 FSB 6SL3210-5FE11-

5UF0

6SL3210-5FE12-

0UF0

3.5/5.0/7.0 140 x 260 x 240 FSC 6SL3210-5FE13-

5UF0

6SL3210-5FE150UF0

6SL3210-5FE17-

0UF0

Connectors

For FSAA

6SL3200-0WT000AA0

For FSA 6SL3200-0WT01-

0AA0

For FSB and FSC *

Shielding plate

For FSAA and FSA

For FSB and FSC

User documentation Information Guide English-Chinese bilingual version

* You can obtain the connectors for SINAMICS V90 PN 400V servo drives of FSB and FSC from the connector kits for

SINAMICS V90 PN 400V servo drives of FSAA or FSA.

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Drive rating plate (example)

①

Drive name

⑤

Article number

②

Power input

⑥

MAC address

③

Power output

⑦

Product serial number

④

Rated motor power

⑧

Part number

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Article number explanation (example)

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Serial number explanation (example)

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2.1.2

Motor components

Components in the SIMOTICS S-1FL6 low inertia motor package

Component

Illustration

Rated power (kW)

Shaft height (mm)

Article number

SIMOTICS S-1FL6, low inertia

0.05/0.1 20

1FL6022-2AF21-1❑❑1

1FL6024-2AF21-1❑❑1

0.2/0.4 30

1FL6032-2AF21-1❑❑1

1FL6034-2AF21-1❑❑1

0.75/1.0 40

1FL6042-2AF21-1❑❑1

1FL6044-2AF21-1❑❑1

1.5/2.0 50

1FL6052-2AF21-0❑❑1

1FL6054-2AF21-0❑❑1

User documentation

SIMOTICS S-1FL6 Servo Motors Installation Guide

Components in the SIMOTICS S-1FL6 high inertia motor package

Component

Illustration

Rated power (kW)

Shaft height (mm)

Article number

SIMOTICS S1FL6, high inertia

0.4/0.75 45

1FL6042-1AF61-

❑

❑❑1

1FL6044-1AF61- ❑ ❑❑1

0.75/1.0/1.5/1.7 5/2.0

1FL6061-1AC61-

❑

❑❑1

1FL6062-1AC61-

❑

❑❑1

1FL6064-1AC61-

❑

❑❑1

1FL6066-1AC61-

❑

❑❑1

1FL6067-1AC61-

❑

❑❑1

2.5/3.5/5.0/7.0 90

1FL6090-1AC61-

❑

❑❑1

1FL6092-1AC61-

❑

❑❑1

1FL6094-1AC61-

❑

❑❑1

1FL6096-1AC61-

❑

❑❑1

Straight connectors with a fixed outlet direction 0

Angular connectors with a flexible outlet direction 2

User docu-

mentation

SIMOTICS S-1FL6 Servo Motors Installation Guide

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Motor rating plate (example)

①

Motor type

⑦

Rated power

⑬

Rated current

②

Article number

⑧

Encoder type and resolution

⑭

Holding brake

③

Serial number

⑨

Thermal class

⑮

Motor ID

④

Rated torque

⑩

Degree of protection

⑯

Weight

⑤

Stall torque

⑪

Motor operating mode

⑰

Maximum speed

⑥

Rated voltage

⑫

Stall current

⑱

Rated speed

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Article number explanation

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2.2

Device combination

V90 PN 200 V servo system

SIMOTICS S-1FL6 low inertia servo motors

SINAMICS V90 PN 200 V servo drives

MOTION-CONNECT 300 pre-assembled cables

Power cable

Brake cable

Encoder cable

Rated torque (Nm)

Rated power (kW)

Rated speed (rpm)

Shaft height (mm)

Article number 1FL60

Article number 6SL321 0-5

Frame size

Article number 6FX3002-5

Article number 6FX3002-2

0.16 0.05 3000 20 22-2AF21-1 ❑ ❑1 FB101UF0

FSB CK01-1AD0

(3 m) CK01-1AF0

(5 m) CK01-1BA0

(10 m) CK01-1CA0

(20 m)

BK02-1AD0 (3 m)

BK02-1AF0 (5 m)

BK02-1BA0 (10 m)

BK02-1CA0 (20 m)

❑❑ 20-1AD0 (3

m) 20-1AF0 (5

m) 20-1BA0

(10 m) 20-1CA0

(20 m)

0.32 0.1 3000 24-2AF21-1 ❑ ❑

0.64 0.2 3000 30 32-2AF21-1 ❑ ❑1 FB10-

2UF0

1.27 0.4 3000 34-2AF21-1 ❑ ❑1 FB10-

4UF1

2.39 0.75 3000 40 42-2AF21-1 ❑ ❑1 FB10-

8UF0

FSC

3.18 1 3000 44-2AF21-1 ❑ ❑1 FB11-

0UF1

FSD

4.78 1.5 3000 50 52-2AF21-0 ❑ ❑1 FB11-

5UF0

CK31-1AD0 (3 m)

CK31-1AF0 (5 m)

CK31-1BA0 (10 m)

CK31-1CA0

(20 m)

BL02-1AD0 (3 m)

BL02-1AF0 (5 m)

BL02-1BA0 (10 m)

BL02-1CA0

(20 m)

❑❑ 10-1AD0 (3

m) 10-1AF0 (5

m) 10-1BA0

(10 m) 10-1CA0

(20 m)

6.37 2 3000 54-2AF21-0 ❑ ❑1 FB120UF0

Incremental encoder TTL 2500 ppr A Incremental encoder TTL

2500 ppr

Absolute encoder single-turn 21-bit M Absolute encoder single-

turn 21-bit

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V90 PN 400 V servo system

SIMOTICS S-1FL6 high inertia servo motors with straight connectors

SINAMICS V90 PN 400 V servo drives

MOTION-CONNECT 300 pre-assembled cables

Power cable

Brake cable

Encoder cable

Rated torque (Nm)

Rated power (kW)

Rated speed (rpm)

Shaft height (mm)

Article number 1FL60

Article number 6SL321 0-5

Frame size

Article number 6FX3002-5

Article number 6FX3002-2

1.27 0.4 3000 45 42-1AF61-0 ❑ ❑1 FE10-

4UF0

FSAA CL01-1AD0

(3 m) CL01-1AF0

(5 m) CL01-1AH0

(7 m) CL01-1BA0

(10 m) CL01-1BF0

(15 m) CL01-1CA0

(20 m)

BL02-1AD0 (3 m)

BL02-1AF0 (5 m)

BL02-1AH0 (7 m)

BL02-1BA0 (10 m)

BL02-1BF0 (15 m)

BL02-1CA0 (20 m)

❑❑ 10-1AD0 (3

m) 10-1AF0 (5

m) 10-1AH0 (7

m) 10-1BA0

(10 m) 10-1BF0

(15 m) 10-1CA0

(20 m)

2.39 0.75 3000 44-1AF61-0 ❑ ❑1 FE10-

8UF0

FSA

3.58 0.75 2000 65 61-

1AC61-0

❑ ❑1 FE11-

0UF0

4.78 1.0 2000 621AC61-0

❑ ❑

7.16 1.5 2000 64-

1AC61-0

❑ ❑1 FE11-

5UF0

FSB CL11-1AD0

(3 m) CL11-1AF0

(5 m) CL11-1AH0

(7 m) CL11-1BA0

(10 m) CL11-1BF0

(15 m) CL11-1CA0

(20 m)

8.36 1.75 2000 66-

1AC61-0

❑ ❑

9.55 2.0 2000 67-

1AC61-0

❑ ❑1 FE12-

0UF0

11.9 2.5 2000 90 90-

1AC61-0

❑ ❑

16.7 3.5 2000 92-

1AC61-0

❑ ❑1 FE13-

5UF0

FSC

23.9 5.0 2000 94-

1AC61-0

❑ ❑1 FE15-

0UF0

33.4 7.0 2000 96-

1AC61-0

❑ ❑1 FE17-

0UF0

Incremental encoder TTL 2500 ppr A Incremental encoder TTL

2500 ppr

Absolute encoder 20-bit + 12-bit multi-turn L Absolute encoder 20-bit +

12-bit multi-turn

Page 19

Getting Started A5E37208904-003, 04/2017

SIMOTICS S-1FL6 high inertia servo motors with angular connectors

SINAMICS V90 PN 400 V servo drives

MOTION-CONNECT 300 pre-assembled cables

Power cable

Brake cable

Encoder cable

Rated torque (Nm)

Rated power (kW)

Rated speed (rpm)

Shaft height (mm)

Article number 1FL60

Article number 6SL321 0-5

Frame size

Article number 6FX3002-5

Article number 6FX3002-2

1.27 0.4 3000 45 42-1AF61-2 ❑ ❑1 FE10-

4UF0

FSAA CL02-1AD0

(3 m) CL02-1AF0

(5 m) CL02-1AH0

(7 m) CL02-1BA0

(10 m) CL02-1BF0

(15 m) CL02-1CA0

(20 m)

BL03-1AD0 (3 m)

BL03-1AF0 (5 m)

BL03-1AH0 (7 m)

BL03-1BA0 (10 m)

BL03-1BF0 (15 m)

BL03-1CA0 (20 m)

❑ ❑ ❑ ❑

-1AD0 (3 m)

-1AF0 (5 m)

-1AH0 (7 m)

-1BA0 (10 m)

-1BF0 (15 m)

-1CA0 (20 m)

2.39 0.75 3000 44-1AF61-2 ❑ ❑1 FE10-

8UF0

FSA

3.58 0.75 2000 65 611AC61-2

❑ ❑1 FE11-

0UF0

4.78 1.0 2000 621AC61-2

❑ ❑

7.16 1.5 2000 64-

1AC61-2

❑ ❑1 FE11-

5UF0

FSB CL12-1AD0

(3 m) CL12-1AF0

(5 m) CL12-1AH0

(7 m) CL12-1BA0

(10 m) CL12-1BF0

(15 m) CL12-1CA0

(20 m)

8.36 1.75 2000 66-

1AC61-2

❑ ❑

9.55 2.0 2000 67-

1AC61-2

❑ ❑1 FE12-

0UF0

11.9 2.5 2000 90 90-

1AC61-2

❑ ❑

16.7 3.5 2000 92-

1AC61-2

❑ ❑1 FE13-

5UF0

FSC

23.9 5.0 2000 94-

1AC61-2

❑ ❑1 FE15-

0UF0

33.4 7.0 2000 961AC61-2

❑ ❑1 FE17-

0UF0

Incremental encoder TTL 2500 ppr A Incremental encoder TTL

2500 ppr

Absolute encoder 20-bit + 12-bit multi-turn L Absolute encoder 20-bit +

12-bit multi-turn

DB 10

Note You can select a SINAMICS V90 PN servo drive for all the SIMOTICS S

-1FL6 servo motors whose rated power values are

equal to or smaller than that specified as matching with this servo drive in the table above.

Page 20

Getting Started

20 A5E37208904-003, 04/2017

2.3

Accessories

Fuse/Type-E combination motor controller

A fuse/type-E combination motor controller/circuit breaker can be used to protect the system. Integral solid state short circuit protection does not provide branch circuit protection. Branch circuit protection must be provided in accordance with the National Electrical Code and any additional local codes. Refer to the following table for the selection of fuses, type-E combination motor controllers, and circuit breakers:

SINAMICS V90 PN 200 V variant

SINAMICS V90 PN

Recommended fuse

Type-E combination motor controller 1)

Power supply

Frame size

Rated power (kW)

CE-compliant

UL/cULcompliant listed (JDDZ) fuse

Rated current (A)

Rated voltage (VAC)

Rated power (hp)

Article number

1-phase, 200 VAC to 240 VAC

FSB 0.1 3NA3 801 (6

6 A 2.8 to 4 230/240 1/3 3RV 2011-

1EA10

0.2 3NA3 801 (6

6 A 2.8 to 4 230/240 1/3 3RV 2011-

1EA10

0.4 3NA3 803 (10 A)

10 A 5.5 to 8 230/240 1 3RV 2011-

1HA10

FSC 0.75 3NA3 805 (16

20 A 9 to 12.5 230/240 2 3RV 2011-

1KA10

3-phase, 200 VAC to 240 VAC

FSB 0.1 3NA3 801 (6

6 A 2.8 to 4 230/240 3/4 3RV 2011-

1EA10

0.2 3NA3 801 (6

6 A 2.8 to 4 230/240 3/4 3RV 2011-

1EA10

0.4 3NA3 803 (10

10 A 2.8 to 4 230/240 3/4 3RV 2011-

1EA10

FSC 0.75 3NA3 805 (16

20 A 5.5 to 8 230/240 2 3RV 2011-

1HA10

FSD 1.0 3NA3 805 (16

20 A 7 to 10 230/240 3 3RV 2011-

1JA10

1.5 3NA3 810 (25

25 A 10 to 16 230/240 5 3RV 2011-

4AA10

2.0 3NA3 810 (25

25 A 10 to 16 230/240 5 3RV 2011-

4AA10

The above types for type-E combination motor controllers are listed in compliance with both CE and UL/cUL standards.

SINAMICS V90 PN 400 V variant

SINAMICS V90 PN

Recommended fuse type

Type-E combination motor controller 1)

Power supply

Frame size

Rated power (kW)

CE-compliant

UL/cULcompliant listed (JDDZ) fuse

Rated current (A)

Rated voltage (VAC)

Rated power (hp)

Article number

3-phase, 380 VAC to 480 VAC

FSAA 0.4 3NA3 801-6

(6 A)

10 A 2.2 to 3.2 380/480 0.5 3RV 2021-

1DA10

FSA 0.75 3NA3 801-6

(6 A)

10 A 2.8 to 4 380/480 1 3RV 2021-

1EA10

1.0 3NA3 803-6

(10 A)

10 A 3.5 to 5 380/480 1.34 3RV 2021-

1FA10

FSB 1.5 3NA3 803-6

(10 A)

15 A 5.5 to 8 380/480 2 3RV 2021-

1HA10

2.0 3NA3 805-6

(16 A)

15 A 11 to 16 380/480 2.68 3RV 2021-

4AA10

Page 21

Getting Started A5E37208904-003, 04/2017

SINAMICS V90 PN

Recommended fuse type

Type-E combination motor controller 1)

Power supply

Frame size

Rated power (kW)

CE-compliant

UL/cULcompliant listed (JDDZ) fuse

Rated current (A)

Rated voltage (VAC)

Rated power (hp)

Article number

FSC 3.5 3NA3 807-6

(20 A)

25 A 14 to 20 380/480 4.7 3RV 2021-

4BA10

5.0 3NA3 807-6

(20 A)

25 A 14 to 20 380/480 6.7 3RV 2021-

4BA10

7.0 3NA3 810-6 (25 A)

25 A 20 to 25 380/480 9.4 3RV 2021-

4DA10

The above types for Type-E combination motor controllers are listed in compliance with both CE and UL/cUL standards.

For more information about the accessories, refer to SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions.

WARNING

Requirements for United States/Canadian installations (UL/cUL)

Suitable for use on a circuit capable of delivering not more than 65000 rms Symmetrical Amperes, 480 VAC maximum for 400 V variants of drives or 240 VAC maximum for 200 V variant drives, when protected by UL/cUL listed (JDDZ) fuse or type E combination motor controller. For each frame size AA, A, B, C and D, use 75 °C copper wire only.

This equipment is capable of providing internal motor overload protection according to UL508C.

For Canadian (cUL) installations the drive mains supply must be fitted with any external recommended suppressor with the

following features:

• Surge-protective devices; device shall be a Listed Surge-protective device (Category code VZCA and VZCA7)

• Rated nominal voltage 480/277 VAC, 50/60 Hz, 3-phase

• Clamping voltage VPR = 2000 V, IN = 3kA min, MCOV = 508 VAC, SCCR = 65 kA

• Suitable for Type 2 SPD application

•

Clamping shall be provided between phases and also between phase and ground

Product maintenance

The components are subject to continuous further development within the scope of product maintenance (improvements to robustness, discontinuations of components, etc).

These further developments are "spare parts-compatible" and do not change the article number.

In the scope of such spare parts-compatible further developments, connector positions are sometimes changed slightly. This does not cause any problems with proper use of the components. Please take this fact into consideration in special installation situations (e.g. allow sufficient clearance for the cable length).

Use of third-party products

This document contains recommendations relating to third-party products. Siemens accepts the fundamental suitability of these third-party products.

You can use equivalent products from other manufacturers.

Siemens does not accept any warranty for the properties of third-party products.

Page 22

Getting Started

22 A5E37208904-003, 04/2017

2.4

Function list

Function

Description

Control mode

Basic positioner (EPOS) Positions axes in absolute/relative terms with a motor en-

coder

EPOS

Speed control (S) Flexibly controls motor speed and direction through

PROFINET communication port

Safe Torque Off (STO) Safely disconnects torque-generating motor power supply

to prevent an unintentional motor restart

EPOS, S

One-button auto tuning Estimates the machine characteristic and sets the closed

loop control parameters (speed loop gain, speed integral compensation, filter if necessary, etc.) without any user

intervention

EPOS, S

Real-time auto tuning Estimates the machine characteristic and sets the closed

loop control parameters (speed loop gain, speed integral compensation, filter if necessary, etc.) continuously in real

time without any user intervention

EPOS, S

Resonance suppression Suppresses the mechanical resonance, such as workpiece

vibration and base shake

EPOS, S

Low frequency vibration suppres-

sion

Suppresses the low frequency vibration in the machine

system

EPOS

Speed limit Limits motor speed through internal speed limit commands

(two groups)

EPOS, S

Torque limit Limits motor torque through internal torque limit commands

(two groups)

EPOS, S

Basic operator panel (BOP)

Displays servo status on a 6-digit 7-segment LED display

EPOS, S

External braking resistor - DCP, R1 An external braking resistor can be used when the internal

braking resistor is insufficient for regenerative energy

EPOS, S

Digital inputs/outputs (DIs/Dos) Control signals and status signals can be assigned to four

programmable digital inputs and two digital outputs

EPOS, S

PROFINET communication Supports communication between the SINAMICS V90 PN

servo drive and PLC with PROFINET communication protocol

EPOS, S

SINAMICS V-ASSISTANT You can perform parameter settings, test operation, ad-

justment and other operations with a PC

EPOS, S

Page 23

Getting Started A5E37208904-003, 04/2017

2.5

Technical data

2.5.1

Technical data - servo drives

General technical data

Parameter

Description

24 VDC

power supply

Voltage (V)

24 (-15% to +20%)

Maximum current (A)

When using a motor without a brake: 1.5 A When using a motor with a brake: 1.5 A + motor holding brake rated current (See

Section "Technical data - servo motors (Page 25)".)

Overload capability

300%

Control system

Servo control

Dynamic brake

Built-in

Protective functions Earthing fault protection, output short-circuit protection 2), overvolt-

age/undervoltage protection

, I2t inverter,I2t motor, IGBT overtemperature pro-

tection 4)

Overvoltage criteria

Category III

Speed control

mode

Speed control range

Internal speed command 1:5000

Torque limit

Set through a parameter

Environ-

mental conditions

Surrounding air

temperature

Opera-

tion

0 °C to 45 °C: without power derating

45 °C to 55 °C: with power derating

Storage

-40 °C to +70 °C

Ambient humidi-

Opera-

tion

< 90% (non-condensing) Storage

90% (non-condensing)

Operating environment Indoors (without direct sunlight), free from corrosive gas, combustible gas, oil

gas, or dust

Altitude

≤ 1000 m (without power derating)

Degree of protection

IP 20

Degree of pollution

Class 2

Vibration Operation Shock Operational area II

Peak acceleration: 5 g, 30 ms and 15 g, 11 ms Quantity of shocks: 3 per direction × 6 directions

Duration of shock: 1 s

Vibration

Operational area II

10 Hz to 58 Hz: 0.075 mm deflection

58 Hz to 200 Hz: 1 g vibration

Product packag-

ing

Vibration

2 Hz to 9 Hz: 3.5 mm deflection

9 Hz to 200 Hz: 1 g vibration Quantity of cycles: 10 per axis

Sweep seed: 1 octave/min

Certifica-

tion

UL, CE, KC, C-Tick, EAC

1 )

When SINAMICS V90 PN works with a motor with a brake, the voltage tolerance of 24 VDC power supply must be -10%

to +10% to meet the voltage requirement of the brake.

Integral solid state short circuit protection does not provide branch circuit protection. Branch circuit protection must be

provided in accordance with the National Electrical Code and any additional local codes.

The V90 PN 200 V servo drive has an overvoltage threshold of 410 VDC and an undervoltage threshold of 150 VDC;

the V90 PN 400 V servo drive has an overvoltage threshold of 820 VDC and an undervoltage threshold of 320 VDC.

SINAMICS V90 PN does not support motor overtemperature protection. Motor overtemperature is calculated by I2t and

protected by the output current from the drive.

Page 24

Getting Started

24 A5E37208904-003, 04/2017

Specific technical data

SINAMICS V90 PN 200V variant

Article No.

6SL3210-5FB...

10-1UF0

10-2UF0

10-4UF1

10-8UF0

11-0UF1

11-5UF0

12-0UF0

Frame size

FSB

FSC

FSD

Rated output current (A)

1.2

1.4

2.6

4.7

6.3

10.6

11.6

Max. output current (A)

3.6

4.2

7.8

14.1

18.9

31.8

34.8

Max. supported motor power (kW)

0.1

0.2

0.4

0.75

1.0

1.5

2.0

Power loss

Main circuit (W)

105

113

Regenerative resistor

(W)

5 5 7 9 13 25 25

Control circuit (W)

Total (W)

148

156

Output frequency (Hz)

0 to 330

Power supply

Voltage/frequency FSB and FSC: single phase/three phase 200 VAC to 240 VAC, 50/60 Hz

FSD: three phase 200 VAC to 240 VAC, 50/60 Hz

Permissible voltage

fluctuation

-15% to +10%

Permissible frequency

fluctuation

-10% to +10%

Permissible supply con-

figuration

TN, TT, IT

Rated input current (A)

1-phase

2.5

3.0

5.0

10.4 - -

3-phase 1.5 1.8 3.0 5.0 7.0 11.0 12.0

Power supply capacity

(kVA)

1-phase

0.5

0.7

1.2

2.0 - -

3-phase 0.5 0.7 1.1 1.9 2.7 4.2 4.6

Inrush current (A)

8.0

Cooling method

Self-cooled

Fan-cooled

Mechanical

design

Outline dimensions (W x

H x D, mm)

50 x 170 x 170 80 x 170

x 195

95 x 170 x 195

Weight (kg)

1.25

1.95

2.3

2.4

The values here are calculated at rated load.

SINAMICS V90 PN 400V variant

Article No.

6SL3210-5FE...

104UF0

108UF0

110UF0

115UF0

120UF0

135UF0

150UF0

170UF0

Frame size

FSAA

FSA

FSB

FSC

Rated output current (A)

1.2

2.1

3.0

5.3

7.8

11.0

12.6

13.2

Max. output current (A)

3.6

6.3

9.0

13.8

23.4

33.0

37.8

39.6

Max. supported motor power (kW)

0.4

0.75

1.0

1.75

2.5

3.5

5.0

7.0

Power loss

Main circuit (W)

115

138

Regenerative resistor

(W)

17 57 57 131 131 339 339 339

Control circuit (W)

Total (W)

118

124

250

262

467

490

513

Output frequency (Hz) 0 to 330

Page 25

Getting Started A5E37208904-003, 04/2017

Article No.

6SL3210-5FE...

104UF0

108UF0

110UF0

115UF0

120UF0

135UF0

150UF0

170UF0

Frame size

FSAA

FSA

FSB

FSC

Power supply

Voltage/frequency

Three phase 380 VAC to 480 VAC, 50/60 Hz

Permissible voltage fluc-

tuation

-15% to +10%

Permissible frequency

fluctuation

-10% to +10%

Permissible supply con-

figuration

TN, TT, IT

Rated input current (A)

1.5

2.6

3.8

6.6

9.8

13.8

15.8

16.5

Power supply capacity (kVA)

1.7 3.0 4.3 7.6 11.1 15.7 18.0 18.9

Inrush current (A)

8.0

4.0

2.5

Cooling method

Self-cooled

Fan-cooled

Mechanical design

Outline dimensions (W x H x D, mm)

60 x 180 x

200

80 x 180 x 200 100 x 180 x 220 140 x 260 x 240

Weight (kg)

1.5

1.9

2.5

5.0

5.5

5.75

The values here are calculated at rated load.

2.5.2

Technical data - servo motors

General technical data

Parameter

Description

Type of motor

Permanent-magnet synchronous motor

Cooling

Self-cooled

Relative humidity [RH]

90% (non-condensing at 30°C )

Installation altitude [m]

≤ 1000 (without power derating)

Thermal class

Vibration severity grade

A (according to IEC 60034-14)

Shock resistance [m/s2]

25 (continuous in axial direction); 50 (continuous in radial direction); 250 (in a short time of 6 ms)

Bearing lifetime [h]

> 20000

Paint finish

Black

Protection degree of shaft

IP 65, with shaft oil seal

Type of construction

IM B5, IM V1, and IM V3

Positive rotation

Clockwise (default setting in servo drives)

Certification

CE, EAC

This lifetime is only for refere

nce. When a motor keeps running at rated speed under rated load, replace its bearing after

20,000 to 30,000 hours of service time. Even if the time is not reached, the bearing must be replaced when unusual

noise, vibration, or faults are found.

Page 26

Getting Started

26 A5E37208904-003, 04/2017

Specific technical data

SIMOTICS S-1FL6, low inertia servo motor

Article No.

1FL60...

Rated power [kW]

0.05

0.1

0.2

0.4

0.75 1 1.5 2 Rated torque [Nm]

0.16

0.32

0.64

1.27

2.39

3.18

4.78

6.37

Maximum torque [Nm]

0.48

0.96

1.91

3.82

7.2

9.54

14.3

19.1

Rated speed [rpm]

3000

Maximum speed [rpm]

5000

Rated frequency [Hz]

200

Rated current [A] 1.2 1.2 1.4 2.6 4.7 6.3 10.6 11.6

Maximum current [A]

3.6

4.2

7.8

14.2

18.9

31.8

34.8

Moment of inertia [10-4

kgm2]

0.031 0.052 0.214 0.351 0.897 1.15 2.04 2.62

Moment of inertia (with

brake) [10-4 kgm2]

0.038 0.059 0.245 0.381 1.06 1.31 2.24 2.82

Recommended load to mo-

tor inertia ratio

Max. 30x Max. 20x Max. 15x

Operating temperature [°C] 1FL602❑, 1FL603❑ and 1FL604❑: 0 to 40 (without power derating)

1FL605❑: 0 to 30 (without power derating) 1)

Storage temperature [°C]

-20 to +65

Maximum noise level [dB]

Holding brake

Rated voltage

(V)

24 ± 10%

Rated current

(A)

0.25 0.3 0.35 0.57

Holding brake

torque [Nm]

0.32 1.27 3.18 6.37

Maximum brake opening time [ms]

35 75 105 90

Maximum brake closing

time [ms]

10 10 15 35

Maximum number of emergency

stops

2000

Oil seal lifetime [h]

3000 to 5000

Encoder lifetime [h]

> 20000 3)

Protection degree of motor

body

IP 65

Protection degree of cable

end connector

IP20 -

Weight [kg]

With brake

0.70

0.86

1.48

1.92

3.68

4.20

6.76

8.00

Without brake

0.47

0.63

1.02

1.46

2.80

3.39

5.35

6.56

When the surrounding temperature is between 30 °C and 40 °C, the 1FL605 motor will have a power derating of 10%.

Restricted emergency stop operation is permissible. Up to 2000 braking operations for the motors of 0.05 kW to 1 kW,

and 200 braking operations for the motors of 1.5 kW to 2 kW can be executed with 300% rotor moment of inertia as external moment of inertia from a speed of 3000 rpm without the brake being subject to an inadmissible amount of wear.

This lifetime is only for reference. When a motor keeps running at 80% rated value and the surrounding temperature is

30 °C, the encoder lifetime can be ensured.

Page 27

Getting Started A5E37208904-003, 04/2017

Note The data of rated torque, rated power, maximum torque in the above table allows a tolerance of 10%.

SIMOTICS S-1FL6, high inertia servo motor

Article No.

1FL60...

Rated power [kW]

0.40

0.75

1.00

1.50

1.75

2.00

2.5

3.5

5.0

7.0 1)

Rated torque [Nm]

1.27

2.39

3.58

4.78

7.16

8.36

9.55

11.9

16.7

23.9

33.4

Maximum torque [Nm]

3.8

7.2

10.7

14.3

21.5

25.1

28.7

35.7

50.0

70.0

90.0

Rated speed [rpm]

3000

2000

Maximum speed [rpm]

4000

3000

2500

2000

Rated frequency [Hz]

200

133

Rated current [A]

1.2

2.1

2.5

3.0

4.6

5.3

5.9

7.8

11.0

12.6

13.2

Maximum current [A]

3.6

6.3

7.5

9.0

13.8

15.9

17.7

23.4

33.0

36.9

35.6

Moment of inertia [10-4 kgm2]

2.7

5.2

8.0

15.3/1

1.7

15.3

22.6

29.9

47.4

69.1

90.8

134.3

Moment of inertia (with brake) [10-4 kgm2]

3.2

5.7

9.1

16.4/1

3.5 2)

16.4

23.7

31.0

56.3

77.9

99.7

143.2

Recommended load to motor inertia ratio

Max. 10x

Max. 5x

Max. 5x Operating temperature [°C]

0 to 40 (without power derating)

Storage temperature [°C]

-20 to +65

Maximum noise level [dB]

Holding brake

Rated voltage (V)

24 ± 10%

Rated current

(A)

0.88 1.44 1.88

Holding brake torque [Nm]

3.5

Maximum brake opening

time [ms]

60 180 220

Maximum

brake closing

time [ms]

115

Maximum

number of emergency

stops

2000 3)

Oil seal lifetime [h]

5000

Encoder lifetime [h]

> 20000

Degree of protection

IP65, with shaft oil seal

Weight of

incremental encoder motor [kg]

With brake 2)

4.6/4. 8

6.4/6. 6

8.6/8. 8

11.3/1

0.1

11.3/1

1.5

14.0/1

4.2

16.6/1

6.8

21.3/2

1.5

25.7/2

5.9

30.3/3

0.5

39.1/3

9.3

Without brake

3.3/3.4 5.1/5.2 5.6/5.7 8.3/7.0 8.3/8.4 11.0/1

1.1

13.6/1

3.7

15.3/1

5.4

19.7/1

9.8

24.3/2

4.4

33.2/3

3.3

Page 28

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28 A5E37208904-003, 04/2017

Article No.

1FL60...

Weight of absolute encoder motor [kg]

With brake 2) 4.4/4.5 6.2/6.3 8.3/8.4 11.0/9

11.0/1

1.1

13.6/1

3.7

16.3/1

6.4

20.9/2

1.0

25.3/2

5.4

29.9/3

0.0

38.7/3

8.8

Without brake

3.1/3. 2

4.9/5. 0

5.3/5. 4

8.0/6. 7

8.0/8. 1

10.7/1

0.8

13.3/1

3.4

14.8/1

4.9

19.3/1

9.4

23.9/2

4.0

32.7/3

2.8

When the surrounding temperature is higher than 30 °C, the 1FL6096 motors with brake will have a power derating of

10%.

The former value indicates the data for high inertia motors with straight connectors; the latter value indicates the data for

high inertia motors with angular connectors.

Restricted emergency stop operation is permissible. Up to 2000 braking operations can be executed with 300% rotor

moment of inertia as external moment of inertia from a speed of 3000 rpm without the brake being subject to an inadmissible amount of wear.

This lifetime is only for reference. When a motor keeps running at 80% rated value and the surrounding temperature is

30 °C, the encoder lifetime can be ensured.

Note The data of rated torque, rated power, and maximum torque in th

e above table allows a tolerance of 10%.

Power derating

For deviating conditions (surrounding temperature > 40 °C or installation altitude > 1000 m above sea level) the permissible torque/power must be determined from the following table. Surrounding temperatures and installation altitudes are rounded off to 5 °C and 500 m respectively.

Power derating as a function of the installation altitude and ambient temperature

Installation altitude above sea level (m)

Surrounding temperature in °C

< 30

30 to 40

1000

1.07

1.00

0.96

0.92

0.87

1500 1.04 0.97 0.93 0.89 0.84

2000

1.00

0.94

0.90

0.86

0.82

2500

0.96

0.90

0.86

0.83

0.78

3000

0.92

0.86

0.82

0.79

0.75

3500

0.88

0.82

0.79

0.75

0.71

4000

0.82

0.77

0.74

0.71

0.67

2.5.3

Address of CE-authorized manufacturer

The address of CE-authorized manufacturer is as follows:

Siemens AG

Digital Factory

Motion Control

Frauenauracher Straße 80

DE-91056 Erlangen

Germany

Page 29

Getting Started A5E37208904-003, 04/2017

Mounting

3.1

Mounting the drive

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 may be permitted.

WARNING

Death or severe personal injury from harsh installation environment

A harsh installation environment will jeopardize personal safety and equipment. Therefore,

• Do not install the drive and the motor in an area subject to inflammables or combustibles, water or corrosion hazards.

• Do not install the drive and the motor in an area where it is likely to be exposed to constant vibrations or physical

shocks.

•

Do not keep the drive exposed to strong electro-magnetic interference.

CAUTION

Hot surface

During operation and for a short time after switching-off the drive, the surfaces of the drive can reach a high temperature. Avoid coming into direct contact with the drive surface.

For mounting conditions, see Technical data - servo drives (Page 23).

Mounting orientation and clearance

Mount the drive vertically in a shielded cabinet and observe the mounting clearances specified in the illustration below:

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30 A5E37208904-003, 04/2017

Note The drive must be derated to 80% when the following conditions are satisfied:

•

The surrounding temperature is 0 °C to 45 °C, and the mounting clearance is less than 10

mm. In this case, the minimum

mounting clearance should not be less than 5 mm.

•

The surrounding temperature is 45 °C to 55 °C. In this case, the minimum mounting clearance should not be less than

20 mm.

SINAMICS V90 PN 200V variant (unit: mm)

Page 31

Getting Started A5E37208904-003, 04/2017

SINAMICS V90 PN 400V variant (unit: mm)

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32 A5E37208904-003, 04/2017

Mounting the drive

For V90 PN 200 V variant, use two M5 screws to mount the FSB drives and four M5 screws to mount the FSC, and FSD drives.

For V90 PN 400 V variant, use two M5 screws to mount the FSAA drive and four M5 screws to mount the FSA, FSB, and FSC drives.

The recommended tightening torque is 2.0 Nm.

Note EMC instructions

•

To comply with the EMC standards, all cables connected with the SINAMICS V90 PN drive system must be shielded

cables, which include cables from the line supply to the line filter and from the line filter to the drive.

•

The SINAMICS V90 PN drives have been tested in accordance with the emission requirements of the category of C2

(domestic) environment. The conductive emissions and radiated emissions are in compliance with the standard of EN 55011 and reached Class A.

•

In a residential environment, this product can cause high-frequency interferences that may necessitate suppression

measures.

• For a radiated emission test, an external AC filter (between the mains supply and the drive) will be used to meet the EMC

requirement and the

drive will be installed inside the shielded metallic chamber, other parts of the motion control system

(including the PLC, DC power supply, motor) will be put inside the shielded chamber.

•

For a conductive emission test, an external AC filter (between the mains supply and the drive) will be used to meet the

EMC requirement.

• For the radiated emission and conductive emission test, the length of the line supply cable between the line filter and the

drive must be shorter than 1 m.

•

The harmonic current value of SINAMICS V90 PN drive exceeds the class A limit of IEC 61000-3-2, but the SINAMICS

V90 PN drive system installed within the Category C2 First Environment require supply authority acceptance for

connection to the public low-voltage power supply network. Please contact your local supply network provider.

Note Screw tightening Make sure you fix the screw to the terminal door of the drive after you have completed the installation work.

Page 33

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3.2

Mounting the motor

NOTICE

Damage to the encoder

Do not exert any shock at the shaft end; otherwise, the encoder may be damaged.

For mounting conditions, see Technical data - servo motors (Page 25).

Mounting orientation

SIMOTICS S-1FL6 supports flange mounting only and three types of constructions, so it can be installed in three orientations as shown in the following figure.

Note When configuring the IM V3 type of construction, pay particular attention to the permissible axial force (weight force of the

drive elements) and the necessary degree of protection.

Motor dimensions (unit: mm)

Low inertia servo motor, shaft height: 20 mm, 30 mm, and 40 mm

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34 A5E37208904-003, 04/2017

Low inertia servo motor, shaft height: 50 mm

Type

1FL60...

Shaft height

100

115

4.5

5.5 7 9

30 - 0.02

50 - 0.03

70 - 0.03

95 - 0.03

2.5 - 0.2

3 - 0.2

3 - 0.3

LG 6 8 8 12

8 - 0.009 14 - 0.011 19 - 0.013 19 - 0.013

M3 × 8

M4 × 15

M6 × 16

22 26 30 40

17.5

22.5

GA 9 16

21.5

F 3 5 6 6

Without brake

106

123

139

158.8

192

216

KB1

- - - - - - 143.5 167.5

With brake

119

139

132.5

157.5

178.3

198.1

226

250

KB1 - - - - - -

177.5

201.5

KB2 - - - - - -

32.5

KL1 - - - - - -

135

KL2 - - - - - -

• ①−Power cable connector, ②−Incremental encoder cable connector, ③−Brake cable connector. These connectors

should be ordered separately. For more information about the order information of the connectors, see the SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions.

• For the low inertia motor with shaft-height of 50 mm, the boundary dimensions of encoder connector−

② and brake

connector−

③ are the same.

•

For the low inertia motor with shaft-height of 20 mm, only two screws are needed to mount the flange.

Page 35

Getting Started A5E37208904-003, 04/2017

High inertia servo motor with straight connectors, with the incremental encoder

High inertia servo motor with angular connectors, with the incremental encoder

Type

1FL60...

Shaft height

130

180

100

145

200

LZ 7 9

13.5

80 - 0.03

110 - 0.035

114.3 - 0.035

4 - 0.3

6 - 0.3

3 - 0.3

19 - 0.013

22 -0.013

35 - 0.016

M6 x 16

M8 x 16

M12 x 25

21.5

6 - 0.03

8 - 0.036

10 - 0.036

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36 A5E37208904-003, 04/2017

Type

1FL60...

Without brake

154.5 201.5 148 181/16

4.5 1)

181 214 247 189.5 211.5 237.5 289.5

KB1

93.5

140.5

85.5

118.5

151.5

184.5

140

162

188

240

KB2 - -

With brake

201 248 202.5 235.5/

219 1)

235.5 268.5 301.5 255 281 307 359

KB1

140

187

140

173

206

239

206

232

258

310

KB2

31.5

39.5

44.5

With straight connectors KL1

136

158

184

KL2

115

149

KL3

KL4

14 22 34

With angular connectors KL1

96.2

117.5

143

KL2

84.6 108 141.1

KL3

KL4

• ①−Power cable connector, ②−Incremental encoder cable connector, ③−Brake cable connector. These connectors

should be ordered separately. For more information about the order information of the connectors, see the SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions.

• The boundary dimensions of encoder connector−

② and brake connector−③ are the same.

•

The shaft height 90 mm motor has two M8 screw holes for eyebolts.

The former value indicates the dimension for high inertia motors with straight connectors; the latter value indicates the

dimension for high inertia motors with angular connectors.

High inertia servo motor with straight connectors, with the absolute encoder

Page 37

Getting Started A5E37208904-003, 04/2017

High inertia servo motor with angular connectors, with the absolute encoder

Type

1FL60...

Shaft height

130

180

100

145

200

LZ 7 9

13.5

80 - 0.03

110 - 0.035

114.3 - 0.035

4 - 0.3

6 - 0.3

3 - 0.3

18 D 19 - 0.013

22 - 0.013

35 - 0.016

M6 x 16

M8 x 16

M12 x 25

21.5

6 - 0.03

8 - 0.036

10 - 0.036

Without brake

157 204 151 184/16

7.5 1)

184 217 250 197 223 249 301

KB1

100

147

125

158

191

135

161

187

239

KB2

- - -

With brake

203.5 250.5 205.5 238.5/

222 1)

238.5 271.5 304.5 263 289 315 367

KB1

147

194

147

180

213

246

201

227

253

305

KB2

31.5

39.5

44.5

With straight connectors

KL1

136

158

184

KL2

60 60 60

With angular connectors

KL1

96.2

117.5

143

KL2

60 60 60

Page 38

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38 A5E37208904-003, 04/2017

Type

1FL60...

• ①-Power cable connector, ②−Absolute encoder cable connector, ③−Brake cable connector. These connectors

should be ordered separately. For more information about the order information of the connectors, see the SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions.

•

The shaft height 90 mm motor has two M8 screw holes for eyebolts.

The former value indicates the dimension for high inertia motors with straight connectors; the latter value indicates the

dimension for high inertia motors with angular connectors.

Mounting the motor

WARNING

Personal injury and material damage

Some motors, especially the 1FL609❑ are heavy. The excessive weight of the motor should be considered and any necessary assistance required for mounting should be sought.

Otherwise, the motor can fall down during mounting. This can result in serious personal injury or material damage.

NOTICE

Damage to the motor

If the liquid enters the motor, the motor may be damaged During motor installation or operation, make sure that no liquid (water, oil, etc.) can penetrate into the motor. Besides,

when installing the motor horizontally, make sure that the cable outlet faces downward to protect the motor from ingress of oil or water.

NOTICE

Magnetic interference to the absolute encoder from the magnetic field

To avoid magnetic interference to the absolute encoder, keep the servo motor with an absolute encoder at least 15 mm away from the devices that produce a magnetic field stronger than 10 mT.

Note Using the eyebolts

The 1FL609❑ motor (90 mm shaft height) has two M8 screw holes for screwing in two eyebolts. Lift the 1FL609❑ motor only

at the eyebolts. Eyebolts that have been screwed in must be either tightened or removed after mounting.

Install the motor onto a steel flange with four screws as shown in the following figure:

Motor

Screw

Recommended flange size

Tightening torque

Flange material

Low inertia motors

1FL602❑

2 x M4

120 x 100 x 40 (mm)

2.4 Nm

Steel

1FL603❑

4 x M5

120 x 100 x 40 (mm)

4.7 Nm

1FL604❑

4 x M6

120 x 100 x 40 (mm)

8 Nm

1FL605❑

4 x M8

120 x 100 x 40 (mm)

20 Nm

Page 39

Getting Started A5E37208904-003, 04/2017

Motor

Screw

Recommended flange size

Tightening torque

Flange material

High inertia motors

1FL604❑

4 x M6

270 x 270 x 10 (mm)

8 Nm

Steel

1FL606❑

4 x M8

390 x 390 x 15 (mm)

20 Nm

1FL609❑

4 x M12

420 x 420 x 20 (mm)

85 Nm

Motor heating conditions

The rated motor specifications are continuous allowable values at a surrounding air temperature of 40 °C when the motor is installed with a steel flange. When the motor is mounted on a small surface, the motor temperature may rise considerably because of the limited heat radiating abilities of the surface. Make sure you use a suitable flange according to Siemens recommended flange sizes.

Note The actual temperature ris

e depends on how the flange (motor mounting section) is fixed on the installation surface, what

material is used for the motor mounting section, and motor speed. Always check the actual motor temperature.

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40 A5E37208904-003, 04/2017

Connecting

4.1

System connection

The following illustrations show the examples of the SINAMICS V90 PN servo system connection.

Connection diagram for FSB on the single phase power network:

Page 41

Getting Started A5E37208904-003, 04/2017

Connection diagram for FSD on the three phase power network:

DANGER

Danger to life when PE connectors are touched

When the equipment is working, hazardous touch current can be present at the PE connectors; if touched, this can result in death or severe personal injury.

•

Do not touch the PE connector during operation or within a certain period since power disconnection.

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42 A5E37208904-003, 04/2017

WARNING

Personal injury and damage to property from improper connections Improper connections have high risks of electrical shock and short circuit, which will jeopardize personal safety

and equipment.

• The drive must be dir

ectly connected with the motor. It is not permissible to connect a capacitor, inductor or

filter between them.

• The line supply voltage must be within the allowable range (refer to the drive rating plate). Never connect the line supply cable to the motor terminals U, V, W or connect the motor power cable to the line input terminals L1, L2, L3.

• Never wire up the U, V, W terminals in an interchanged phase sequence.

• If the CE marking for cables is mandatory in some cases, the motor power cable, line supply cable and

brake cable used must all be shielded cables.

• For terminal connection, make sure that the clearances in air between non-insulated live parts are at least

5.5 mm.

• Route signal cables and power cables separately in different cable conduits. The signal cables shall be at least 10 cm away from the power cables.

• Cables connected may not come into contact with rotating mechanical parts.

CAUTION

Personal injury and damage to property from inadequate protection

Inadequate protection may cause minor personal injury or damage to property.

• Route a second PE conductor with the cross section of the supply system lead in parallel to the protective earth via separate terminals or use a copper protective earth conductor with a cross section of 10 mm

• Terminals for equipotential bondings that exist in addition to terminals for PE conductors must not be used for looping- through the PE conductors.

•

To ensure protective separation, an isolating transformer must be used for the 220 VAC/380 VAC line supply system.

NOTICE

Important wiring information

In order to meet

EMC

requirements, all cables must be shielded cables.

The cable shields of shielded twisted-

pair cables should be connected to the shielding plate or the cable clamp of the servo

drive.

NOTICE

Drive damage caused by short-circuiting between the shielding wire and the unused pin on the PROFINET I/O connector

The shielding wire may inadvertently be short-circuited to the unused pin on the to-be-assembled PROFINET I/O connector. This can cause damage to the drive.

Exercise caution when connecting the shielding cable to the PROFINET I/O connector. For more information about the assembly method of the connector, see Section "Assembly of cable terminals on the drive

side" in the SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions.

Note Low Voltage Directive complied Our products comply

with EN61800-5-1: 2007 standards and Low Voltage Directive (Low Voltage Directive 2006/95/EC).

Note For low inertia motors of shaft heights 20 mm, 30 mm and 40 mm, the encoder cable connectors may only be accessible to

electrically skilled personnel.

Note The mini

-USB interface of the SINAMICS V90 PN is used for fast commissioning and diagnostics with SINAMICS V-

ASSISTANT installed in the PC. Do not use it for long monitoring.

Page 43

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Connecting the cable shields with the shielding plate

To achieve EMC-compliant installation of the drive, use the shielding plate that is shipped with the drive to connect the cable shields. See the following example for steps of connecting cable shields with the shielding plate:

DANGER

Death or severe personal injury from electrical shock

The earth leakage current for the drive can be greater than AC 3.5 mA, which may cause death or severe personal injury due to electrical shock.

A fixed earth connection is required to eliminate the dangerous leakage current. In addition, the minimum size of the protective earth conductor shall comply with the local safety regulations for high leakage current equipment.

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44 A5E37208904-003, 04/2017

Adjusting cable directions from the motor side

For some low inertia motors and all high inertia motors, you can adjust the direction of the power cable, encoder cable, or brake cable from the motor side to facilitate cable connection.

The following illustrations take high inertia motors with the incremental encoder for example to show how to adjust the cable directions.

Low inertia motors with a shaft height of 50 mm and high inertia motors with straight connectors

Note Rotating the connectors You can rotate all the three motor

-side connectors only within 360°.

High inertia motors with angular connectors

Note Rotating the connectors Yo

u can rotate all the three motor-side connectors only within 310°.

Note For an absolute encoder cable on a high inertia motor with angular connectors, adjust its direction just the same as you

adjust the cable directions on a high inertia motor with str

aight connectors mentioned above.

Page 45

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4.2

Main circuit wiring

4.2.1

Line supply - L1, L2, L3

SINAMICS V90 PN 200 V variant

Recommended minimum cable cross-section:

When used on the single phase power network:

FSB (0.1 kW to 0.2 kW): 0.33 mm2

FSB (0.4 kW): 0.52 mm2

FSC: 1.31 mm2

When used on the three phase power network:

FSB: 0.33 mm2

FSC: 0.52 mm2

FSD (1 kW): 0.82 mm2

FSD (1.5 kW to 2 kW): 2.08 mm2

SINAMICS V90 PN 400 V variant

Recommended minimum cable cross-section:

FSAA and FSA: 1.5 mm

FSB and FSC: 2.5 mm2

Note For 200 V variant, when using the FSB and FSC on the single phase power network, you can connect the power supply to

any two connectors of L1, L2, and L3.

Assembling the line supply cable terminals

The procedure of assembling a line supply cable terminal is the same as that for a power cable terminal on the drive side.

For more information, see the SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions.

Attaching the line supply cable

CAUTION

Risk of injury due to improper cable connection

When attaching the line supply cable to a line supply connector that has not been fixed on the drive, you can injure your fingers.

•

Make sure you first fix the line supply connector on the drive, and then attach the cable to the connector.

200 V variant

● For FSB

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46 A5E37208904-003, 04/2017

● For FSC and FSD

400 V variant

● For FSAA and FSA You can attach the line supply cable with the same method for 200 V variant drives of frame sizes FSC and FSD.

● For FSB and FSC The FSB and FSC servo drives are equipped with barrier terminals for line supply connection. You can fix the line supply

cable on the servo drives by using the M4 screws with a tightening torque of 2.25 Nm (19.91 lb.in).

4.2.2

Motor power - U, V, W

Motor output - drive side

SINAMICS V90 PN 200 V variant

Recommended minimum cable cross-section:

FSB: 0.75 mm2

FSC and FSD (1 kW): 0.75 mm2

FSD (1.5 kW to 2 kW): 2.5 mm2

SINAMICS V90 PN 400 V variant

Recommended minimum cable cross-section:

FSAA and FSA: 1.5 mm2

FSB and FSC: 2.5 mm2

Wiring

4: high inertia motors with straight connectors and all low inertia motors

: high inertia motors with angular connectors

Page 47

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Attaching the motor power cable

CAUTION

Risk of injury due to improper cable connection

When attaching the motor power cable to a

motor power connector that has not been fixed on the drive, you can injure your

fingers.

•

Make sure you first fix the motor power connector on the drive, and then attach the cable to the connector.

200 V variant

● For FSB

● For FSC and FSD

400 V variant

● For FSAA and FSA

You can attach the motor power cable with the same method for 200 V variant drives of frame sizes FSC and FSD.

● For FSB and FSC

The FSB and FSC servo drives are equipped with barrier terminals for motor power connection. You can fix the motor power cable on the servo drives by using the M4 screws with a tightening torque of 2.25 Nm (19.91 lb.in).

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48 A5E37208904-003, 04/2017

4.3

Control/Status interface - X8

4.3.1

Interface definition

Signal

Description

Signal

Description

Type: 20-pin MDR socket

Digital inputs/outputs

DI1

Digital input 1

DO1+

Digital output 1, positive

DI2

Digital input 2

DO1-

Digital output 1, negative

DI3

Digital input 3

DO2+

Digital output 2, positive

DI4

Digital input 4

DO2-

Digital output 2, negative

DI_COM

Common terminal for digital inputs

17 *

BK+

Motor holding brake control signal, positive

DI_COM

Common terminal for digital inputs

18 *

BK-

Motor holding brake control signal, negative

None 5 -

Reserved

* The pins are used to connect the brake control signals for 200 V variant drive only.

4.3.2

Standard wiring

Example 1

Page 49

Getting Started A5E37208904-003, 04/2017

Example 2

* Digital inputs, supporting both PNP and NPN types.

** The pins are used to connect the brake control signals for 200

V variant drive only. Refer to the section "Motor holding

brake" in SINAMICS V90, SI

MOTICS S-1FL6 Operating Instructions for the detailed connections.

4.4

24 V power supply/STO

The pin assignment for the 24 V power supply/STO interface is shown as follows:

Interface

Signal name

Description

STO 1

Safe torque off channel 1

STO +

Specific power supply for safe torque off

STO 2

Safe torque off channel 2

+24 V

Power supply, 24 VDC

Power supply, 0 VDC

Maximum conductor cross-section: 1.5 mm2

Wiring

WARNING

Material damages and personal injuries by the drop of a hanging axis

When the servo system is used as a hanging axis, the axis will drop if the positive and negative poles of the 24 V power supply are connected inversely. Unexpected drop of the hanging axis may cause material damages and personal injuries.

Make sure that the 24 V power supply is correctly connected.

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50 A5E37208904-003, 04/2017

WARNING

Material damages and personal injuries by the drop of a hanging axis

It is not allowed to use the STO with a hanging axis because the axis may drop. Unexpected drop of the hanging axis may cause material damages and personal injuries.

Note Using the STO function The STO1, STO+ and STO2 are short connected at the factory setting. When the STO function is to be used, you must remove the

short-circuit stick before connecting the STO interfaces. The

safety function of the servo drive is SIL 2 (EN61800

-5-2). If you do not need to use it any more, you must reinsert the short-

circuit stick; otherwise, the motor will not run. For detailed infor

mation about the STO function, refer to chapter "Safety Integrated basic functions" of SINAMICS V90,

SIMOTICS S

-1FL6 Operating Instructions.

Assembling the 24 V power supply and STO cable terminals

The procedure of assembling a 24 V power cable terminal or an STO cable terminal is the same as that for a power cable terminal on the drive side of the V90 PN 200 V servo drives.

For more information, see the SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions.

Plugging the 24 V power supply and STO cables

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4.5

Encoder interface - X9

The SINAMICS V90 PN 200V variant servo drive supports two kinds of encoders:

● Incremental encoder TTL 2500 ppr

● Absolute encoder single-turn 21-bit

The SINAMICS V90 PN 400V variant servo drive supports two kinds of encoders:

● Incremental encoder TTL 2500 ppr

● Absolute encoder 20-bit + 12-bit multi-turn

NOTICE

Cable shielding

The encoder cable

must

be shielded to meet the EMC requirements.

NOTICE

Drive damage caused by short-circuiting between the shielding wire and the unused pin on the encoder connector

The shielding wire may inadvertently be short-circuited to the unused pin on the to-be-assembled encoder connector. This can cause damage to the drive.

Exercise caution when connecting the shielding cable to the encoder connector. For more information, see Section "Assembly of cable terminals on the drive side" in the SINAMICS V90, SIMOTICS S-

1FL6 Operating Instructions.

Encoder interface - drive side

Illustration

Pin No.

Signal name

Description

Biss_DataP

Absolute encoder data signal, positive

Biss_DataN

Absolute encoder data signal, negative

Biss_ClockN

Absolute encoder clock signal, negative

Biss_ClockP

Absolute encoder clock signal, positive

P5V

Encoder power supply, 5 V

P5V

Encoder power supply, 5 V

Encoder power supply, grounding

Encoder R phase positive signal

Encoder R phase negative signal

Encoder B phase negative signal

12 Bp Encoder B phase positive signal

Encoder A phase negative signal

Encoder A phase positive signal

Screw type: UNC 4-40 (plug-in terminal block)

Tightening torque: 0.4 Nm

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Encoder connector - motor side

Illustration

Pin No.

Incremental encoder TTL 2500 ppr

Illustration Absolute encoder single-turn 21-bit

Signal

Description

Signal

Description

Low inertia motor, shaft height: 20 mm, 30 mm and 40 mm

P_Supply

Power supply 5 V

P_Supply

Power supply 5 V

2 M Power supply 0 V

Power supply 0 V

A+

Phase A+

Clock_P

Clock

B+

Phase B+

Data_P

Data

R+

Phase R+

n. c.

Not connected

n. c.

Not connected

P_Supply

Power supply 5 V

7 P_Supply Power supply 5 V M Power supply 0 V

8 M Power supply 0 V

Clock_N

Inverted clock

9 A- Phase A- Data_N Inverted data

B-

Phase B-

Shielding

Grounding

R-

Phase R-

Note

The pin11 to pin15 of the absolute

encoder connector are not connected.

12 Shielding Grounding

Illustration

Pin No.

Incremental encoder TTL 2500 ppr

Absolute encoder single-turn 21-bit Absolute encoder 20-bit + 12-bit multi-turn

Signal

Description

Signal

Description

Low inertia motor, shaft height: 50 mm High inertia motor, shaft height: 45 mm, 65 mm, and 90 mm

Straight connectors:

Angular connectors (for high inertia motors only):

P_Supply

Power supply 5 V

P_Supply

Power supply 5 V

2 M Power supply 0 V

Power supply 0 V

A+

Phase A+

n. c.

Not connected

A-

Phase A-

Clock_N

Inverted clock

B+

Phase B+

Data_P

Data

B-

Phase B-

Clock_P

Clock

R+

Phase R+

n. c.

Not connected

8 R- Phase R- Data_N Inverted data

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Wiring

Low inertia motor, shaft height: 20 mm, 30 mm and 40 mm

Low inertia motor, shaft height: 50 mm

High inertia motor, shaft height: 45 mm, 65 mm, and 90 mm

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Grounding

To ensure better EMC effects, you are recommended to strip the encoder cable and connect the cable shield to earth, as shown in the following figure:

4.6

External braking resistor - DCP, R1

The SINAMICS V90 PN has been designed with an internal braking resistor to absorb regenerative energy from the motor. When the internal braking resistor cannot meet the braking requirements (e.g. the alarm A52901 is generated), you can connect an external braking resistor. For more information about how to select a braking resistor, see Section "Accessories" in the SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions.

Note The 200 V variant servo drive with rated power of 0.1 kW (FSB) does not have a built

-in resistor.

Connecting an external braking resistor

NOTICE

Damage to the drive

Before connecting an external resistor to DCP and R1, remove the connection between terminals DCP and R2; otherwise, the drive may be damaged.

For more information about how to connect the external braking resistor, see Section "System connection (Page 40)".

4.7

Motor holding brake

You can connect the SINAMICS V90 PN servo drive to a servo motor with brake to use the function of motor holding brake.

NOTICE

Shortening the service life of motor brake

The motor brake is used for holding purpose only. Frequent emergency stops with the motor brake will shorten its service life.

Unless absolutely necessary, do not apply the motor brake as an emergency stop or deceleration mechanism.

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4.8

PROFINET interface - X150

PROFINET interface

PROFINET devices from the SINAMICS family have a PROFINET interface (Ethernet-controller/interface) with two ports (physical connection possibilities).

Every PROFINET device on the network is uniquely identified via its PROFINET interface. For this purpose, each PROFINET interface has:

● A MAC address (factory default)

● An IP address

● A device name (name of the station)

Illustration

PROFINET communication port 1 - P1

PROFINET communication port 2 - P2

Signal

Description

Signal

Description

P1RXP

Port 1 receive data +

P2RXP

Port 2 receive data +

P1RXN

Port 1 receive data -

P2RXN

Port 2 receive data -

P1TXP

Port 1 transmit data +

P2TXP

Port 2 transmit data +

PE terminal

Protective earthing

PE terminal

Protective earthing

PE terminal

Protective earthing

PE terminal

Protective earthing

P1TXN

Port 1 transmit data -

P2TXN

Port 2 transmit data -

PE terminal

Protective earthing

PE terminal

Protective earthing

PE terminal

Protective earthing

PE terminal

Protective earthing

LED displays

For diagnostic purposes, the RJ45 sockets are each equipped with a green and an orange LED. This allows the following status information about the respective PROFINET port to be displayed:

Name

Color

Status

Meaning

Link Green lit Transfer rate 100 Mbit/s

off

No or faulty connection

Activity Orange

lit

Data exchange

off

No data exchange

Wiring

The maximum length of cables between stations (L1 to Ln) is 100 m. For a long cable, you are recommended to fix it on the cabinet to prevent the connector damage caused by dragging.

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Note When connecting the ports P1 and P2, you need to make sure that the physical input and output connections are the same

with the connections in the topology.

Commissioning

Prior to commissioning, read "Introduction to the BOP (Page 57)" for more information about the BOP operations. In case of any faults or alarms during commissioning, refer to Chapter "Diagnostics (Page 114)" for detailed description.

CAUTION

Carefully read the safety instructions

Before your commissioning or operation, read the safety instructions in Chapter "Fundamental safety instructions (Page 3)" carefully. Failure to observe the instructions may cause serious effects.

WARNING

Material damages and personal injuries by the drop of a hanging axis

Before commissioning, a crosstie must be used to hold the hanging axis in prevention of an unexpected drop. In addition, make sure that the 24 V power supply is correctly connected.

NOTICE

Firmware damage due to drive power-off during data transfer

Switching off the 24 V power supply for the drive during data transfer from the micro SD card/SD card to the drive can cause damage to the drive firmware.

• Do not switch off the drive power supply when the data transfer from the micro SD card/SD card to the drive is in

process.

NOTICE

Existing setting data may be overwritten by the setting data on the micro SD card/SD card during startup.

•

When a drive is switched on with a micro SD card/SD card containing user setting data, the existing setting data on the

drive will be overwritten.

• When a drive is switched on with a micro SD card/SD card containing no user setting data, the drive will automatically save the existing user setting data onto the micro SD card/SD card.

Before starting up the drive with a micro SD card/SD card, check whether the micro SD card/SD card contains user setting

data. Otherwise, the existing data on the drive may be overwritten.

Note Plugging or unplugging the micro SD card/SD card will cause startup failure. Do not plug or unplug the micro SD card/SD card during startup; otherwise, the drive will fail to start up.

Note In S control mode, if the m

otor shaft is blocked, the blocked torque is the current effective torque. Long time shaft blocking

can cause damage to the motor.

Engineering tool - SINAMICS V-ASSISTANT

You can use the engineering tool SINAMICS V-ASSISTANT to perform the trial operation.

SINAMICS V-ASSISTANT is a software tool that can be installed on a PC and runs on the Windows operating system. It communicates with the SINAMICS V90 PN servo drive with a USB cable (To ensure the stability of online commissioning, Siemens recommends you to use a shielded USB cable of no longer than 3 m with ferrite cores on both ends.). With SINAMICS V-ASSISTANT, you can change drive parameters and monitor drive working states in online mode.

For more information, refer to SINAMICS V-ASSISTANT Online Help. You can search and download SINAMICS VASSISTANT from Technical support website (https://support.industry.siemens.com/cs/ww/en/).

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5.1

Introduction to the BOP

Overview

The SINAMICS V90 PN servo drive is designed with a Basic Operator Panel (BOP) on the front panel of the servo drive:

You can use the BOP for the following operations:

● Standalone commissioning

● Diagnosis

● Parameter access

● Parameter settings

● Micro SD card/SD card operations

● Drive restart

LED status indicators

Two LED status indicators (RDY and COM) are available to indicate drive status. Both LEDs are tricolor (green/red/yellow).

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You can find detailed information about the status indications in the table below:

Status indicator

Color

Status

Description

RDY

Off

24 V control board power supply is missing

Green

Continuously lit

The drive is in "servo on" state

Red

Continuously lit

The drive is in "servo off" state or in the startup state

Flash at 1 Hz

Alarms or faults occurs

Green and

yellow

Flash alternatively at

2 Hz

Drive identification

COM

Green

Continuously lit

PROFINET communication is working with IRT

Flash at 0.5 Hz

PROFINET communication is working with RT

Flash at 2 Hz

Micro SD card/SD card operating (read or write)

Red Continuously lit Communication error (always put the PROFINET communica-

tion error as the first consideration)

Control buttons

Button

Description

Functions

M button

• Exits from the current menu

• Switches between operating modes in the top level

OK button

Short-pressing:

• Confirms selection or input

• Enters sub menu

• Acknowledges faults

Long-pressing: Activates auxiliary functions

• JOG

• Saves parameter set in drive (RAM to ROM)

• Sets parameter set to default

• Transfers data (drive to micro SD card/SD card)

• Transfers data (micro SD card/SD card to drive)

•

Updates firmware

UP button

• Navigates to the next item

• Increases a value

• JOG in CW (clockwise)

DOWN button

• Navigates to the previous item

• Decreases a value

• JOG in CCW (counter-clockwise)

SHIFT button Moves the cursor from digit to digit for single digit editing,

including the digit of positive/negative sign

Note:

When the sign is edited, "_" indicates positive and "-" indi-

cates negative.

Press the key combination for four seconds to restart the drive

Moves current display to the left page when

is displayed at the upper right corner, for

example .

Moves current display to the right page when

is displayed at the lower right corner, for

example .

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Menu structure

The overall parameter structure of SINAMICS V90 PN BOP is designed as follows:

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BOP displays

Display

Example

Description

8.8.8.8.8.8.

Drive is in startup state

------ Drive is busy

Fxxxxx

Fault code, in the case of a single fault

F.xxxxx.

Fault code of the first fault, in the case of multiple faults

Fxxxxx.

Fault code, in the case of multiple faults

Axxxxx

Alarm code, in the case of a single alarm

A.xxxxx.

Alarm code of the first alarm, in the case of multiple alarms

Axxxxx.

Alarm code, in the case of multiple alarms

Rxxxxx

Parameter number, read-only parameter

Pxxxxx

Parameter number, editable parameter

P.xxxxx

Parameter number, editable parameter; the dot means that at

least one parameter has been changed

In xxx

Indexed parameter Figure after "In" indicates the number of indices.

For example, "In 001" means that this indexed parameter is 1.

xxx.xxx

Negative parameter value

xxx.xx<>

Current display can be moved to left or right

xxxx.xx>

Current display can be moved to right

xxxx.xx<

Current display can be moved to left

S Off

Operating display: servo off

Para

Editable parameter group

P xxxx

Parameter group Five groups are available:

P APP

: application

P BASE

: basic

P CON

: communication

P EPOS

: basic positioner

P ALL

: all parameters

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Display

Example

Description

Data

Read-only parameter group

Func

Function group

JOG JOG function

Save

Save data in drive

defu

Restore drive to default settings

dr--sd

Save data from drive to micro SD card/SD card

sd--dr

Upload data from micro SD card/SD card to drive

Update

Update firmware

ABS

The zero position has not been set

A.B.S.

The zero position has been set

r xxx

Actual speed (positive direction)

r -xxx

Actual speed (negative direction)

T x.x

Actual torque (positive direction)

T -x.x

Actual torque (negative direction)

xxxxxx

Actual position (positive direction)

xxxxxx.

Actual position (negative direction)

DCxxx.x

Actual DC link voltage

Exxxxx

Position following error

run The motor is running

Con The communication between the commissioning tool

SINAMICS V-ASSISTANT and the servo drive is established. In this case, the BOP is protected from any operations except

clearing alarms and acknowledging faults.

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5.2

Initial commissioning in JOG mode

Prerequisites

● The servo drive is connected to the servo motor without load

● The servo drive is not in servo on status

Operating sequence

Note Set bit 0 of parameter p29108 to 1, and then save the parameter setting and restart the drive, to enable the JOG function;

otherwise, you cannot access the function related parameter p1058. If you have assigned digita

l signal EMGS, keep it at a high level (1) to ensure normal operation.

Step

Description

Remarks

1 Connect necessary units and check wiring. It is necessary to connect the following cables:

• Power cable

• Encoder cable

• Brake cable

• Line supply cable

•

24 VDC cable

2 Switch on the 24 VDC power supply. 3 Check the servo motor type.

• If the servo motor has an incremental encoder, input motor ID (p29000).

• If the servo motor has an absolute encoder, the servo

drive can identify the servo motor automatically.

Fault

F52984

occurs when the servo motor is not

identified. You can find the motor ID from the motor rating

plate. Go to "Motor components (Page 14)" for

detailed descriptions about motor rating plate.

4 Check the direction of motor rotation.

The default direction of rotation is CW (clockwise). You can

change it by setting the parameter p29001 if necessary.

p29001=0: CW p29001=1: CCW

Setting a parameter without index (example)

Setting a parameter with index (example)

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Step

Description

Remarks

5 Check the JOG speed.

The default JOG speed is 100 rpm. You can change it by setting the parameter p1058.

Set bit 0 of parameter p29108 to 1, and then save the parameter setting and restart the drive, to enable the JOG function; otherwise, you cannot access

p1058.

Save parameters with the BOP.

7 Switch on the main line supply.

Clear faults and alarms.

Refer to "Diagnostics (Page 114)".

9 For the BOP, enter the JOG menu function and press the UP

DOWN

button to run the servo motor.

For the engineering tool, use the JOG function to run the

servo motor.

For more information about JOG with SINAMICS VASSISTANT, see SINAMICS V-ASSISTANT Online Help.

JOG in speed (example)

JOG in torque (example)

5.3

Commissioning in basic positioner control mode (EPOS)

The following takes the EJOG function for example to describe the commissioning in EPOS mode.

Step

Description

Remarks

Switch off the main line supply.

2 Power off the servo drive and connect it to the controller (for

example, SIMATIC S7-1500) with the PROFINET cable and signal cable.

If any one of digital signals EMGS, CWL, and CCWL

is not assigned to a DI, it will be set to a high level (1) automatically.

If you have assigned any one of digital signals EMGS, CWL, and CCWL to a DI, keep it at a high level (1).

Switch on the 24 VDC power supply.

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Step

Description

Remarks

4 Check the servo motor type.

• If the servo motor has an incremental encoder, input the motor ID (p29000).

• If the servo motor has an absolute encoder, the servo

drive can identify the servo motor automatically.

Fault

F52984

occurs when the servo motor is not

identified. You can find the motor ID from the motor rating

plate. For the detailed information of the motor rating

plate, see Section "Motor components (Page 14)".

5 Switch to the basic positioner control mode by setting pa-

rameter p29003 = 1.

•

p29003 = 1: basic positioner control (EPOS)

•

p29003 = 2: speed control (S)

6 Save the parameter and restart the servo drive to apply the

setting of the basic positioner control mode.

7 Set the mechanical gear ratio with parameters p29247,

p29248 and p29249.

• p29247: LU per load revolution

• p29248: load revolutions

•

p29249: motor revolutions

8 Select the axis type by setting parameter p29245. If you use

the modular axis, you need to define the modular range by

setting parameter p29246.

• p29245 = 0: linear axis

• p29245 = 1: modular axis

9 Setting jogging setpoints with the appropriate parameters.

• Velocity (p2585, p2586)

•

Incremental (p2587, p2588)

Refer to "EJOG (Page 67)".

Switch on the main line supply.

Set up the PROFINET configuration with TIA Portal.

12 Select the telegram for PROFINET communication with

parameter p0922.

5.4

Commissioning in speed control mode (S)

Step

Description

Remarks

Switch off the main line supply.

2 Power off the servo drive and connect it to the controller (for

example, SIMATIC S7-1500) with the PROFINET cable and signal cable.

If any one of digital signals EMGS, CWL, and CCWL

is not assigned to a DI, it will be set to a high level (1) automatically.

If you have assigned any one of digital signals EMGS, CWL, and CCWL to a DI, keep it at a high

level (1).

Switch on the 24 VDC power supply.

4 Check the servo motor type.

• If the servo motor has an incremental encoder, input motor ID (p29000).

• If the servo motor has an absolute encoder, the servo

drive can identify the servo motor automatically.

Fault

F52984

occurs when the servo motor is not

identified. You can find the motor ID from the motor rating

plate. Go to "Motor components (Page 14)" for de-

tailed descriptions about motor rating plate.

5 Set up the PROFINET configuration with TIA Portal. 6 Select the telegram for PROFINET communication with

parameter p0922.

7 Set the IP address for the station with parameters p8921,

p8923.

8 Set the device name for the station with parameter p8920. The device name must be unique within the

PROFINET network.

9 Active the IP configuration and device name with parameter

p8925.

10 Set the torque limitation and speed limitation. Refer to "Torque limit (Page 66)" and "Speed limit

(Page 65)".

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Step

Description

Remarks

11 Configure necessary digital input signals by setting the fol-

lowing parameters:

• p29301: DI1

• p29302: DI2

• p29303: DI3

•

p29304: DI4

The factory settings are:

• p29301: 2 (RESET)

• p29302: 11 (TLIM)

• p29303: 0

• p29304: 0

12 Save parameters with the BOP and restart the drive.

Switch on the main line supply.

Clear faults and alarms.

Refer to "Diagnostics (Page 114)".

15 Send and receive the process data (PZD) with TIA Portal. The actual speed of the servo motor can be viewed

from the BOP operating display.

The default display is the actual speed.

5.5

Commissioning control functions

5.5.1

Speed limit

Two sources in total are available for the speed limit. You can select one of them via the digital input signal SLIM:

Digital signal (SLIM)

Speed limit

Internal speed limit 1

Internal speed limit 2

Note The bit 0 of parameter p29108 must

be set to 1 to enable the speed limit function.

Note You can switch between the two sources and modify their values when the servo drive is running.

Note Fault F7901 occ

urs when the actual speed exceeds the positive speed limit + hysteresis speed (p2162) or the negative

speed limit

- hysteresis speed (p2162).

Overall speed limit

Besides the above two channels, an overall speed limit is also available.

You can configure the overall speed limit by setting the following parameters:

Parameter

Value range

Default

Unit

Description

p1083

0 to 210000

210000

rpm

Overall speed limit (positive)

p1086

-210000 to 0

-210000

rpm

Overall speed limit (negative)

Internal speed limit

Select an internal speed limit by setting the following parameters:

Parameter

Value range

Default

Unit

Description

Digital input

(SLIM)

p29070[0]

0 to 210000

210000

rpm

Internal speed limit 1 (positive)

p29070[1]

0 to 210000

210000

rpm

Internal speed limit 2 (positive)

p29071[0]

-210000 to 0

-210000

rpm

Internal speed limit 1 (negative)

p29071[1]

-210000 to 0

-210000

rpm

Internal speed limit 2 (negative)

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Note After the motor is commissioned, p1082, p1083, p1086, p29070 and p29071 are set to the maximum speed of the motor

automatically.

5.5.2

Torque limit

Two sources in total are available for the torque limit. You can select one of them via the digital input signal TLIM:

Digital input (TLIM)

Torque limit

Internal torque limit 1

Internal torque limit 2

When the torque setpoint reaches torque limit, the torque is limited to the value selected by TLIM.

Note You can switch between the two sources and modify their values when the servo drive is running.

Overall torque limit

Besides the above two sources, an overall torque limit is also available. The overall torque limit takes effect when an emergency stop (OFF3) happens. In this case, the servo drive brakes with a maximum torque.

You can configure the overall torque limit by setting the following parameters:

Parameter

Value range

Default

Unit

Description

p1520

-1000000.00 to 20000000.00

Overall torque limit (positive)

p1521 -20000000.00 to 1000000.00 0 Nm Overall torque limit (negative)

Internal torque limit

Select an internal torque limit by setting the following parameters:

Parameter

Value range

Default

Unit

Description

Digital input (TLIM)

p29050[0]

-150 to 300

300

Internal torque limit 1 (positive)

p29050[1]

-150 to 300

300

Internal torque limit 2 (positive)

p29051[0] -300 to 150 -300 % Internal torque limit 1 (negative) 0

p29051[1]

-300 to 150

-300

Internal torque limit 2 (negative)

The following diagram shows how the internal torque limit functions:

Torque limit reached (TLR)

When the generated torque has nearly (internal hysteresis) reached the value of the positive torque limit or negative torque limit, the signal TLR is output.

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5.5.3

EJOG

When telegrams 7, 9, 110, and 111 are used, select a jogging channel with the PROFINET control words STW1.8 and STW1.9:

Control word

Setting

Description

STW1.8 STW1.9

No jogging channel activated.

Jog 1 signal source rising edge activated.

Jog 2 signal source rising edge activated.

Reserved.

Features

Selecting a jogging mode

When telegram 110 is used, select a jogging mode with the PROFINET control word POS_STW.5:

Control word

Setting

Description

POS_STW.5

Jogging, incremental active.

Jogging, velocity active.

When telegram 111 is used, select a jogging mode with the PROFINET control word POS_STW2.5:

Control word

Setting

Description

POS_STW2.5

Jogging, incremental active.

Jogging, velocity active.

Note When telegrams 7 and 9 are used, endless jogging is fixed.

Setting jogging setpoints

When telegrams 7 and 9 are used, set the following jogging setpoint with the appropriate parameters:

● Velocity (p2585, p2586)

When telegrams 110, and 111 are used, set the following jogging setpoints with the appropriate parameters:

● Velocity (p2585, p2586)

● Incremental (p2587, p2588)

Overview of important parameters

•

p2585

EPOS jog 1 setpoint veloc

ity

•

p2586

EPOS jog 2 setpoint velocity

•

p2587

EPOS jog 1 travel distance

•

p2588

EPOS jog 2 travel distance

For more information about the parameters above, see Section "Parameter list (Page 84)".

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PROFINET communication

PROFINET IO is a real time protocol based on Ethernet. It is used as high level network for industrial automation applications. PROFINET IO focuses on the data exchange for a programmable controller. A PROFINET IO network consists of the following devices:

● IO controller: typically, it is the PLC, which controls the whole application

● IO device: a decentralized IO device (for example, encoder, sensor), which is controlled by the IO controller

● IO supervisor: HMI (human machine interface) or PC for diagnostic purposes or commissioning

PROFINET supplies two kinds of real time communication, that is, PROFINET IO RT (Real Time) and PROFINET IO IRT (Isochronous Real Time). The real time channel is used for IO data and alarm mechanism.

In PROFINET IO RT, the RT data is transferred via a prioritized Ethernet frame. No special hardware is required. Due to this prioritization a cycle time of 4 ms can be achieved. PROFINET IO IRT is used for more precise timing requirements. Cycle time of 2 ms is possible, but also special hardware for IO devices and switches are required.

All diagnostic and configuration data is transferred via the non-real time channel (NRT). For this purpose the common TCP/IP protocol is used. Anyhow, no timing can be guaranteed and typically the cycle times can be more than 100 ms.

6.1

Supported telegrams

SINAMICS V90 PN supports standard telegrams and Siemens telegrams for speed control mode and basic positioner control mode. You can select the desired telegram with parameter p0922. See the following table for details.

From the perspective of the drive unit, the received process data represents the receive words and the process data to be sent represents the send words.

Maximum number of PZD

Description

Receive word

Send word

Standard telegram 1

p0922 = 1

Standard telegram 2

p0922 = 2

Standard telegram 3

p0922 = 3

Standard telegram 5

p0922 = 5

Standard telegram 7

p0922 = 7

Standard telegram 9 10 5 p0922 = 9

Siemens telegram 102

p0922 = 102

Siemens telegram 105 10 10 p0922 = 105

Siemens telegram 110

p0922 = 110

Siemens telegram 111

p0922 = 111

One PZD = one word Standard telegram 5 and Siemens telegram 105 can only be used

when the V90 PN connects to the SIMATICS S7-1500

and the TIA Portal version is V14 or higher.

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Telegrams used for speed control mode

1 2 3 5 102

105

Appl.

class

1 1 1, 4 4 1, 4 4

PZD1

STW1

ZSW1

STW1

ZSW1

STW1

ZSW1

STW1

ZSW1

STW1

ZSW1

STW1

ZSW1

PZD2 NSOLL

NIST_A NSOLL

NIST_B NSOLL

NIST_ B

PZD3

PZD4

STW2

ZSW2

STW2

ZSW2

STW2

ZSW2

STW2

ZSW2

STW2

ZSW2

PZD5 G1_STW G1_ZSW G1_STW G1_ZSW MOMR

MELDW MOMR

MELD

PZD6 G1_XIS

XERR G1_XIS

G1_STW G1_ZSW G1_STW G1_ZS

PZD7

G1_XIS T1

XERR G1_XI

ST1

PZD8

G1_XIS T2

KPC G1_XIS

PZD9

G1_XIS T2

KPC G1_XI

ST2

PZD10

Telegrams used for basic positioner control mode

7 9 110

111

Appl. class

3 3 3

PZD1

STW1

ZSW1

STW1

ZSW1

STW1

ZSW1

STW1

ZSW1

PZD2 SATZANW AKTSATZ SATZANW AKTSATZ SATZANW AKTSATZ POS_STW1 POS_ZSW

PZD3

STW2 ZSW2 POS_STW POS_ZSW POS_STW

POS_ZSW

PZD4

MDI_ TARPOS

XIST_A

STW2

ZSW2

STW2

ZSW2

PZD5

OVERRIDE

MELDW

OVERRIDE

MELDW

PZD6

MDI_ VELOCITY

MDI_TAR POS

XIST_A MDI_TAR

POS

XIST_A

PZD7

PZD8

MDI_ACC

MDI_VELO CITY

NIST_B

PZD9

MDI_DEC

PZD10 MDI_MOD MDI_ACC MDI_ACC FAULT_CO

PZD11 MDI_DEC MDI_DEC WARN_CO

PZD12

MDI_MODE

user 1)

user 2)

User-defined receive word

User-defined send word

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6.2

I/O data signals

Parameters p200x apply as reference variables (telegram contents = 4000 hex or 40000000 hex in the case of double words if the input variable has the value p200x).

The following table provides an overview of the I/O data used in the telegram.

Signal

Description

Receive word/send word

Data type

Scaling

STW1 Control word 1 Receive word U16 -

STW2

Control word 2

Receive word

U16

ZSW1

Status word 1

Send word

U16

ZSW2

Status word 2

Send word

U16 - NSOLL_A

Speed setpoint A (16 bit)

Receive word

I16

4000 hex ≙ p2000

NSOLL_B

Speed setpoint B (32 bit)

Receive word

I32

40000000 hex ≙ p2000

NIST_A

Speed actual value A (16 bit)

Send word

I16

4000 hex ≙ p2000

NIST_B

Speed actual value B (32 bit)

Send word

I32

40000000 hex ≙ p2000

G1_STW

Encoder 1 control word

Receive word

U16

G1_ZSW

Encoder 1 status word

Send word

U16

G1_XIST1

Encoder 1 actual position 1

Send word

U32

G1_XIST2

Encoder 1 actual position 2

Send word

U32 - MOMRED

Torque reduction

Receive word

I16

4000 hex ≙ p2003

MELDW

Message word

Send word

U16

KPC

Position controller gain factor

Receive word

I32

XERR

Position deviation

Receive word

I32 - AKTSATZ

Position selected block

Send word

U16

MDI_TAR

POS

MDI position Receive word I32 1 hex ≙ 1 LU

MDI_VELO

CITY

MDI velocity Receive word I32 1 hex ≙ 1000 LU/min

MDI_ACC MDI acceleration override Receive word I16 4000 hex ≙ 100%

MDI_DEC

MDI deceleration override

Receive word

I16

4000 hex ≙ 100%

XIST_A

Position actual value A

Send word

I32

1 hex ≙ 1 LU

OVERRIDE

Position velocity override Receive word I16 4000 hex ≙ 100%

MDI_MODE

Position MDI mode

Receive word

U16

FAULT_CO

Fault code Send word U16 -

WARN_CO

Alarm code Send word U16 -

POS_ZSW

Position status word

Send word

U16

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Signal

Description

Receive word/send word

Data type

Scaling

user User-defined receive word

(p29150):

• 0: No function

• 1: Additional torque

(0x4000 = p2003)

• 2: Additional speed

(0x4000 = p2000)

Receive word I16 -

user User-defined send word

(p29151):

• 0: No function

• 1: Actual torque (0x4000 =

p2003)

• 2: Actual absolute current (0x4000 = p2002)

•

3: DI status

Send word I16 -

Make sure that signal OVERRIDE is set to a value from 0 to 32767.

6.3

Control word definition

6.3.1

STW1 control word (for telegrams 1, 2, 3, 5)

Note When p29108.0 = 0, STW1.11 is disabled.

Note When telegram 5 is used, STW1.4, STW1.5, and STW1.6 are disabl

ed.

Note STW1.10 must be set to 1 to allow the PLC to control the drive.

Signal

Description

STW1.0

= ON (pulses can be enabled)

0 = OFF1 (braking with ramp-function generator, then pulse suppression and ready for switching on)

STW1.1 1 = No OFF2 (enable is possible)

0 = OFF2 (immediate pulse suppression and switching on inhibited)

STW1.2 1 = No OFF3 (enable is possible)

0 = OFF3 (braking with the OFF3 ramp p1135, then pulse suppression and switching on inhibited)

STW1.3 1 = Enable operation (pulses can be enabled)

0 = Inhibit operation (suppress pulses)

STW1.4 1 = Operating condition (the ramp-function generator can be enabled)

0 = Inhibit ramp-function generator (set the ramp-function generator output to zero)

STW1.5 1 = Continue ramp-function generator

0 = Freeze ramp-function generator (freeze the ramp-function generator output)

STW1.6 1 = Enable setpoint

0 = Inhibit setpoint (set the ramp-function generator input to zero)

STW1.7

= 1. Acknowledge faults

STW1.8

Reserved

STW1.9

Reserved

STW1.10

1 = Control via PLC

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Signal

Description

STW1.11

1 = Setpoint inversion

STW1.12

Reserved

STW1.13

Reserved

STW1.14

Reserved

STW1.15

Reserved

6.3.2

STW2 control word (for telegrams 2, 3, 5)

Signal

Description

STW2.0 Reserved

STW2.1

Reserved

STW2.2

Reserved

STW2.3

Reserved

STW2.4

Reserved

STW2.5

Reserved

STW2.6

Reserved

STW2.7

Reserved

STW2.8

1 = Traverse to fixed endstop

STW2.9

Reserved

STW2.10

Reserved

STW2.11

Reserved

STW2.12

Master sign-of-life, bit 0

STW2.13

Master sign-of-life, bit 1

STW2.14

Master sign-of-life, bit 2

STW2.15

Master sign-of-life, bit 3

6.3.3

STW1 control word (for telegrams 102, 105)

Note When telegram 105 is used, STW1.4, STW1.5, and

STW1.6 are disabled.

Note STW1.10 must be set to 1 to allow PLC to control the drive.

Signal

Description

STW1.0

= ON (pulses can be enabled)

0 = OFF1 (braking with ramp-function generator, then pulse suppression and ready for switching on)

STW1.1 1 = No OFF2 (enable is possible)

0 = OFF2 (immediate pulse suppression and switching on inhibited)

STW1.2 1 = No OFF3 (enable is possible)

0 = OFF3 (braking with the OFF3 ramp p1135, then pulse suppression and switching on inhibited)

STW1.3 1 = Enable operation (pulses can be enabled)

0 = Inhibit operation (suppress pulses)

STW1.4 1 = Operating condition (the ramp-function generator can be enabled)

0 = Inhibit ramp-function generator (set the ramp-function generator output to zero)

STW1.5 1 = Continue ramp-function generator

0 = Freeze ramp-function generator (freeze the ramp-function generator output)

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Signal

Description

STW1.6 1 = Enable setpoint

0 = Inhibit setpoint (set the ramp-function generator input to zero)

STW1.7

= 1. Acknowledge faults

STW1.8

Reserved

STW1.9

Reserved

STW1.10

1 = Control via PLC

STW1.11

1 = Ramp-function generator active

STW1.12

1 = Unconditionally open the holding brake

STW1.13 Reserved

STW1.14

Reserved

STW1.15 Reserved

6.3.4

STW2 control word (for telegrams 102, 105)

Note When p29108.0 = 0, STW2.4 is disabled.

Signal

Description

STW2.0

Reserved

STW2.1

Reserved

STW2.2 Reserved

STW2.3

Reserved

STW2.4

1 = Bypass ramp-function generator

STW2.5

Reserved

STW2.6

1 = Integrator inhibit, speed controller

STW2.7

Reserved

STW2.8

1 = Traverse to fixed endstop

STW2.9

Reserved

STW2.10

Reserved

STW2.11

Reserved

STW2.12

Master sign-of-life, bit 0

STW2.13

Master sign-of-life, bit 1

STW2.14

Master sign-of-life, bit 2

STW2.15

Master sign-of-life, bit 3

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6.3.5

STW1 control word (for telegrams 7, 9, 110, 111)

Note STW1.10 must be set to 1 to allow the PLC to control the drive.

Signal

Description

STW1.0

= ON (pulses can be enabled)

0 = OFF1 (braking with ramp-function generator, then pulse suppression and ready for switching on)

STW1.1 1 = No OFF2 (enable is possible)

0 = OFF2 (immediate pulse suppression and switching on inhibited)

STW1.2 1 = No OFF3 (enable is possible)

0 = OFF3 (braking with the OFF3 ramp p1135, then pulse suppression and switching on inhibited)

STW1.3 1 = Enable operation (pulses can be enabled)

0 = Inhibit operation (suppress pulses)

STW1.4 1 = Do not reject traversing task

0 = Reject traversing task (ramp-down with the maximum deceleration)

STW1.5 1 = No intermediate stop

0 = Intermediate stop

STW1.6

= Activate traversing task

STW1.7

= Acknowledge faults

STW1.8

1 = Jog 1 signal source

STW1.9

1 = Jog 2 signal source

STW1.10

1 = Control via PLC

STW1.11 1 = Start referencing

0 = Stop referencing

STW1.12

Reserved

STW1.13

= External block change

STW1.14

Reserved

STW1.15

Reserved

6.3.6

STW2 control word (for telegrams 9, 110, 111)

Signal

Description

STW2.0

Reserved

STW2.1

Reserved

STW2.2

Reserved

STW2.3

Reserved

STW2.4 Reserved

STW2.5

Reserved

STW2.6

Reserved

STW2.7

Reserved

STW2.8

1 = Traverse to fixed endstop

STW2.9

Reserved

STW2.10

Reserved

STW2.11

Reserved

STW2.12

Master sign-of-life, bit 0

STW2.13

Master sign-of-life, bit 1

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Signal

Description

STW2.14

Master sign-of-life, bit 2

STW2.15

Master sign-of-life, bit 3

6.3.7

G1_STW encoder 1 control word

Signal

Description

G1_STW.0

Selects the function to be activate (with bit value = 1)

G1_STW.1

G1_STW.2

G1_STW.3

G1_STW.4

Start/stop/read selected function G1_STW.5 G1_STW.6

G1_STW.7 Mode of the function to be activated

1 = Flying measurement

0 = Search for reference mark

G1_STW.8

Reserved

G1_STW.9

Reserved

G1_STW.10 Reserved

G1_STW.11

Reserved

G1_STW.12

Reserved

G1_STW.13

1 = Request value cyclic transfer of the absolute position value in Gn_XIST2

G1_STW.14

1 = Request parking encoder

G1_STW.15

= Acknowledge encoder fault

6.3.8

SATZANW control word

Signal

Description

SATZANW.0

1 = Traversing block selection, bit 0

SATZANW.1

1 = Traversing block selection, bit 1

SATZANW.2

1 = Traversing block selection, bit 2

SATZANW.3

1 = Traversing block selection, bit 3

SATZANW.4

1 = Traversing block selection, bit 4

SATZANW.5

1 = Traversing block selection, bit 5

SATZANW.6

Reserved

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Signal

Description

SATZANW.7

Reserved

SATZANW.8

Reserved

SATZANW.9

Reserved

SATZANW.10

Reserved

SATZANW.11

Reserved

SATZANW.12

Reserved

SATZANW.13

Reserved

SATZANW.14

Reserved

SATZANW.15 1 = Activate MDI

0 = Deactivate MDI

6.3.9

MDI_MOD control word

Signal

Description

MDI_MOD.0 1 = Absolute positioning is selected

0 = Relative positioning is selected

MDI_MOD.1

0 = Absolute positioning through the shortest distance 1 = Absolute positioning in the positive direction 2 = Absolute positioning in the negative direction

3 = Absolute positioning through the shortest distance

MDI_MOD.2

MDI_MOD.3

Reserved

MDI_MOD.4

Reserved

MDI_MOD.5

Reserved

MDI_MOD.6

Reserved

MDI_MOD.7

Reserved

MDI_MOD.8

Reserved

MDI_MOD.9

Reserved

MDI_MOD.10 Reserved

MDI_MOD.11

Reserved

MDI_MOD.12 Reserved

MDI_MOD.13

Reserved

MDI_MOD.14

Reserved

MDI_MOD.15

Reserved

6.3.10

POS_STW control word

Signal

Description

POS_STW.0 1 = Tracking mode active

0 = No tracking mode active

POS_STW.1 1 = Set reference point

0 = Do not set reference point

POS_STW.2

1 = Reference cam active

POS_STW.3

Reserved

POS_STW.4

Reserved

POS_STW.5 1 = Jogging, incremental active

0 = Jogging, velocity active

POS_STW.6

Reserved

POS_STW.7

Reserved

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Signal

Description

POS_STW.8

Reserved

POS_STW.9

Reserved

POS_STW.10

Reserved

POS_STW.11

Reserved

POS_STW.12

Reserved

POS_STW.13

Reserved

POS_STW.14

Reserved

POS_STW.15

Reserved

Note If the tracking mode is activated, the position setpoint follows the actual position value, i.e. position setpoint = actual position

value.

6.3.11

POS_STW1 positioning control word

Signal

Description

POS_STW1.0

Traversing block selection, bit 0

POS_STW1.1

Traversing block selection, bit 1

POS_STW1.2

Traversing block selection, bit 2

POS_STW1.3

Traversing block selection, bit 3

POS_STW1.4

Traversing block selection, bit 4

POS_STW1.5

Traversing block selection, bit 5

POS_STW1.6

Reserved

POS_STW1.7

Reserved

POS_STW1.8 1 = Absolute positioning is selected

0 = Relative positioning is selected

POS_STW1.9

0 = Absolute positioning through the shortest distance 1 = Absolute positioning/MDI direction selection, positive 2 = Absolute positioning/MDI direction selection, negative

3 = Absolute positioning through the shortest distance

POS_STW1.10

POS_STW1.11 Reserved POS_STW1.12 1 = Continuous transfer

0 = Activate MDI block change with

of a traversing task (STW1.6)

POS_STW1.13

Reserved

POS_STW1.14 1 = Signal setting-up selected

0 = Signal positioning selected

POS_STW1.15

1 = MDI selection

6.3.12

POS_STW2 positioning control word

Signal

Description

POS_STW2.0

1 = Tracking mode active

POS_STW2.1

1 = Set reference point

POS_STW2.2 1 = Reference cam active

POS_STW2.3

Reserved

POS_STW2.4

Reserved

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Signal

Description

POS_STW2.5 1 = Jogging, incremental active

0 = Jogging, velocity active

POS_STW2.6

Reserved

POS_STW2.7

Reserved

POS_STW2.8

Reserved

POS_STW2.9 1 = Start the search for reference in the negative direction

0 = Start the search for reference in the positive direction

POS_STW2.10

Reserved

POS_STW2.11

Reserved

POS_STW2.12

Reserved

POS_STW2.13

Reserved

POS_STW2.14 1 = Software limit switch activation

POS_STW2.15

1 = STOP cam active

Note If the tracking mode is activated, the position setpoint follows the actual position value, i.e. position setpoint = actual position

value.

6.4

Status word definition

6.4.1

ZSW1 status word (for telegrams 1, 2, 3, 5)

Signal

Description

ZSW1.0

1 = Ready for servo on

ZSW1.1

1 = Ready for operation

ZSW1.2

1 = Operation enabled

ZSW1.3 1 = Fault present

ZSW1.4

1 = No coast down active (OFF2 inactive)

ZSW1.5 1 = No fast stop active (OFF3 inactive)

ZSW1.6

1 = Switching on inhibited active

ZSW1.7

1 = Alarm present

ZSW1.8

1 = Speed setpoint - actual value deviation within tolerance t_off

ZSW1.9

1 = Control requested

ZSW1.10

1 = f or n comparison value reached/exceeded

ZSW1.11

0 = I, M, or P limit reached

ZSW1.12

1 = Open the holding brake

ZSW1.13

1 = No motor overtemperature alarm

ZSW1.14 1 = Motor rotates forwards (n_act ≥ 0)

0 = Motor rotates backwards (n_act < 0)

ZSW1.15

1 = No alarm, thermal overload, power unit

6.4.2

ZSW2 status word (for telegram 2, 3, 5)

Signal

Description

ZSW2.0

Reserved

ZSW2.1

Reserved

ZSW2.2

Reserved

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Signal

Description

ZSW2.3

Reserved

ZSW2.4

Reserved

ZSW2.5

1 = Alarm class bit 0

ZSW2.6

1 = Alarm class bit 1

ZSW2.7

Reserved

ZSW2.8

1 = Traverse to fixed endstop

ZSW2.9

Reserved

ZSW2.10

1 = Pulses enabled

ZSW2.11

Reserved

ZSW2.12

Slave sign-of-life, bit 0

ZSW2.13

Slave sign-of-life, bit 1

ZSW2.14

Slave sign-of-life, bit 2

ZSW2.15

Slave sign-of-life, bit 3

6.4.3

ZSW1 status word (for telegrams 102, 105)

Signal

Description

ZSW1.0

1 = Ready for servo on

ZSW1.1

1 = Ready for operation

ZSW1.2

1 = Operation enabled

ZSW1.3

1 = Fault present

ZSW1.4

1 = No coast down active (OFF2 inactive)

ZSW1.5

1 = No fast stop active (OFF3 inactive)

ZSW1.6

1 = Switching on inhibited active

ZSW1.7

1 = Alarm present

ZSW1.8

1 = Speed setpoint - actual value deviation within tolerance t_off

ZSW1.9 1 = Control requested

ZSW1.10

1 = f or n comparison value reached/exceeded

ZSW1.11

1 = Alarm class bit 0

ZSW1.12

1 = Alarm class bit 1

ZSW1.13

Reserved

ZSW1.14

1 = Closed-loop torque control active

ZSW1.15 Reserved

6.4.4

ZSW2 status word (for telegram 102, 105)

Signal

Description

ZSW2.0

Reserved

ZSW2.1

Reserved

ZSW2.2

Reserved

ZSW2.3

Reserved

ZSW2.4

1 = Ramp-function generator inactive

ZSW2.5

1 = Open the holding brake

ZSW2.6 1 = Integrator inhibit, speed controller

ZSW2.7

Reserved

ZSW2.8 1 = Traverse to fixed endstop

ZSW2.9

Reserved

ZSW2.10

Reserved

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Signal

Description

ZSW2.11

Reserved

ZSW2.12

Slave sign-of-life, bit 0

ZSW2.13

Slave sign-of-life, bit 1

ZSW2.14

Slave sign-of-life, bit 2

ZSW2.15

Slave sign-of-life, bit 3

6.4.5

ZSW1 status word (for telegram 7, 9, 110, 111)

Signal

Description

ZSW1.0 1 = Ready for switching on

ZSW1.1

1 = Ready for operation (DC link loaded, pulses blocked)

ZSW1.2

1 = Operation enabled (drive follows n_set)

ZSW1.3

1 = Fault present

ZSW1.4

1 = No coast down active (OFF2 inactive)

ZSW1.5

1 = No fast stop active (OFF3 inactive)

ZSW1.6

1 = Switching on inhibited active

ZSW1.7

1 = Alarm present

ZSW1.8

1 = Following error within tolerance

ZSW1.9

1 = Control requested

ZSW1.10

1 = Target position reached

ZSW1.11

1 = Reference point set

ZSW1.12

= Acknowledgement traversing block activated

ZSW1.13

1 = Setpoint fixed

ZSW1.14

1 = Axis accelerated

ZSW1.15

1 = Axis decelerated

6.4.6

ZSW2 status word (for telegrams 9, 110, 111)

Signal

Description

ZSW2.0

Reserved

ZSW2.1

Reserved

ZSW2.2

Reserved

ZSW2.3

Reserved

ZSW2.4

Reserved

ZSW2.5

1 = Alarm class bit 0

ZSW2.6

1 = Alarm class bit 1

ZSW2.7

Reserved

ZSW2.8

1 = Traverse to fixed endstop

ZSW2.9

Reserved

ZSW2.10

1 = Pulses enabled

ZSW2.11

Reserved

ZSW2.12 Slave sign-of-life, bit 0

ZSW2.13

Slave sign-of-life, bit 1

ZSW2.14 Slave sign-of-life, bit 2

ZSW2.15

Slave sign-of-life, bit 3

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6.4.7

G1_ZSW encoder 1 status word

Signal

Description

G1_ZSW.0

Feedback signal of the active function (1 = function active)

G1_ZSW.1

G1_ZSW.2

G1_ZSW.3

G1_ZSW.4

1 = Position actual value from function 1

Generated value in Gn_XIST2 (and can be read)

G1_ZSW.5

1 = Position actual value from function 2

G1_ZSW.6

1 = Position actual value from function 3

G1_ZSW.7

1 = Position actual value from function 4

G1_ZSW.8

Reserved

G1_ZSW.9

Reserved

G1_ZSW.10

Reserved

G1_ZSW.11

1 = Acknowledge encoder fault active

G1_ZSW.12

Reserved (for reference point offset)

G1_ZSW.13

Absolute value is cyclically transferred

G1_ZSW.14

Parking encoder active

G1_ZSW.15

Encoder fault, the fault is in Gn_XIST2

6.4.8

MELDW status word

Signal

Description

MELDW.0 1 = Ramp-up/ramp-down complete

0 = Ramp-function generator active

MELDW.1

1 = Torque utilization [%] < torque threshold value 2

MELDW.2

1 = |n_act| < speed threshold value 3 (p2161)

-MELDW.3

1 = |n_act| ≤ speed threshold value 2

MELDW.4

1 = Vdc_min controller active

MELDW.5

Reserved

MELDW.6

1 = No motor overtemperature alarm

MELDW.7

1 = No alarm, thermal overload, power unit

MELDW.8

1 = Speed setpoint - actual value deviation within tolerance t_on

MELDW.9

Reserved

MELDW.10

Reserved

MELDW.11

1 = Controller enable

MELDW.12

1 = Drive ready

MELDW.13

1 = Pulses enabled

MELDW.14

Reserved

MELDW.15

Reserved

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6.4.9

POS_ZSW1 positioning status word

Signal

Description

POS_ZSW1.0

Active Traversing Block Bit 0 (20)

POS_ZSW1.1

Active Traversing Block Bit 0 (21)

POS_ZSW1.2

Active Traversing Block Bit 0 (22)

POS_ZSW1.3

Active Traversing Block Bit 0 (23)

POS_ZSW1.4

Active Traversing Block Bit 0 (24)

POS_ZSW1.5

Active Traversing Block Bit 0 (25)

POS_ZSW1.6

Reserved

POS_ZSW1.7

Reserved

POS_ZSW1.8

1 = STOP cam minus active

POS_ZSW1.9

1 = STOP cam plus active

POS_ZSW1.10

1 = Jogging active

POS_ZSW1.11

1 = Reference point approach active

POS_ZSW1.12

Reserved

POS_ZSW1.13

1 = Traversing Block active

POS_ZSW1.14

1 = Set-up active

POS_ZSW1.15 1 = MDI active

0 = MDI inactive

6.4.10

POS_ZSW2 positioning status word

Signal

Description

POS_ZSW2.0

1 = Tracking mode active

POS_ZSW2.1

1 = Velocity limiting active

POS_ZSW2.2

1 = Setpoint available

POS_ZSW2.3

Reserved

POS_ZSW2.4

1 = Axis moves forward

POS_ZSW2.5

1 = Axis moves backwards

POS_ZSW2.6

1 = Software limit switch minus reached

POS_ZSW2.7

1 = Software limit switch plus reached

POS_ZSW2.8

1 = Position actual value ≤ cam switching position 1

POS_ZSW2.9

1 = Position actual value ≤ cam switching position 2

POS_ZSW2.10

1 = Direct output 1 via traversing block

POS_ZSW2.11 1 = Direct output 2 via traversing block

POS_ZSW2.12

1 = Fixed stop reached

POS_ZSW2.13

1 = Fixed stop clamping torque reached

POS_ZSW2.14

1 = Travel to fixed stop active

POS_ZSW2.15

1 = Traversing command active

For more information about the PROFINET communication, refer to SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions.

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Parameters

7.1

Overview

The section below lists all the parameters of the SINAMICS V90 PN servo drive.

Parameter number

Numbers prefixed with an "r" indicate that parameter is a read-only parameter.

Numbers prefixed with a "p" indicate that the parameter is an editable parameter.

Effective

Indicates the conditions for making parameterization effective. Two conditions are possible:

● IM (Immediately): Parameter value becomes effective immediately after changing.

● RE (Reset): Parameter value becomes effective after repower-on.

Can be changed

This indicates when the parameter can be changed. Two states are possible:

● U (Run): Can be changed in the "

Running

" state when the drive is in "servo on" state. The "RDY" LED lights up green.

● T (Ready to run): Can be changed in the "

Ready

" state when the drive is in "servo off" state. The "RDY" LED lights up

red.

Note When judging the state of the drive according to the "RDY" LED, ensure that no faults or alarms exist.

Data type

Date type

Abbreviation

Description

Integer16

I16

16-bit integer

Integer32

I32

32-bit integer

Unsigned8

8-bit unsigned integer

Unsigned16

U16

16-bit unsigned integer

Unsigned32

U32

32-bit unsigned integer

FloatingPoint32 Float 32-bit floating point number

Parameter groups

The SINAMICS V90 PN parameters are divided into the following groups:

Parameter group

Available parameters

Parameter group display on the BOP

Basic parameters p07xx, p10xx to p16xx, p21xx

Application parameters p29xxx

Communication parameters p09xx, p89xx

Basic positioner parameters p25xx, p26xx

Status monitoring parameters All read-only parameters

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84 A5E37208904-003, 04/2017

7.2

Parameter list

Editable parameters

The values of the parameters marked with an asterisk (*) may be changed after commissioning. Make sure you back up the parameters first as required if you desire to replace the motor. The default values of the parameters marked with two asterisks (**) are motor dependent. They may have different default values when the drive connects to different motors.

Par. No.

Name

Min

Max

Factory Setting

Unit

Data type

Effective

Can be changed

p0748

CU invert digital outputs

- - 0 - U32

T, U

Description: Inverts the signals at the digital outputs.

• Bit 0: inverts signal DO 1 – Bit 0 = 0: not inverted – Bit 0 = 1: inverted

• Bit 1: inverts signal DO 2 – Bit 1 = 0: not inverted

– Bit 1 = 1: inverted

p0922 PROFIdrive: PZD tele-

gram selection

1 111 105 - U16 IM T

Description: Sets the send and receive telegram.

For speed control mode:

• 1: Standard telegram 1, PZD-2/2

• 2: Standard telegram 2, PZD-4/4

• 3: Standard telegram 3, PZD-5/9

• 5: Standard telegram 5, PZD-9/9

• 102: SIEMENS telegram 102, PZD-6/10

• 105: SIEMENS telegram 105, PZD-10/10

For basic positioner control mode:

• 7: Standard telegram 7, PZD-2/2

• 9: Standard telegram 9, PZD-10/5

• 110: SIEMENS telegram 110, PZD-12/7

•

111: SIEMENS telegram 111, PZD-12/12

p0925 PROFIdrive: Synchro-

nous sign-of-life tolerance

0 65535 1 - U16 IM T, U

Description:

Sets the number of tolerated consecutive sign-of-life errors of the clock-cycle synchronous mas-

ter. The sign-of-life signal is normally received in PZD4 (control word 2) from the master.

p0972

Drive unit reset

0 2 0 - U16

T, U

Description:

Sets the required procedure to execute a hardware reset for the drive unit.

• 0: Inactive

• 1: Hardware reset immediate

•

2: Hardware reset preparation

Danger:

It must be absolutely ensured that the system is in a safe condition.

The memory card/device memory of the Control Unit must not be accessed.

Note:

If value = 1: Reset is immediately executed and communications interrupted. If value = 2: Help to check the reset operation. Firstly, set p0972 = 2 and then read back. Secondly, set p0972 = 1 (it is possible that this request is possibly

no longer acknowledged). The communication is then interrupted.

After the drive unit has been restarted and communications have been established, read p0972 and check the

following: p0972 = 0? → The reset was successfully executed.

p0972 > 0? → The reset was not executed.

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Par. No.

Name

Min

Max

Factory Setting

Unit

Data type

Effective

Can be changed

p0977

Save all parameters

0 1 0 - U16

T, U

Description:

Saves all parameters of the drive system to the non-volatile memory.

When saving, only the adjustable parameters intended to be saved are taken into account.

• Value = 0: Inactive

•

Value = 1: Save in non-volatile memory - downloaded at POWER ON

Notice:

The Control Unit power supply may only be powered down after data has been saved (i.e. after data

save has been started, wait until the parameter again has the value 0).

Writing to parameters is inhibited while saving.

p1058

JOG 1 speed setpoint

0.00

210000.000

100.00

rpm

Float

Description:

Sets the speed/velocity for JOG 1. Jogging is level-triggered and allows the motor to be incre-

mentally moved.

Note: The parameter values displayed on the BOP are integers.

p1082 * Maximum speed 0.000 210000.000 1500.000 rpm Float IM T

Description: Sets the highest possible speed.

Notice: After the value has been modified, no further parameter modifications can be made.

Note:

The parameter values displayed on the BOP are integers. The parameter applies for both motor directions. The parameter has a limiting effect and is the reference quantity for all ramp-up and ramp-down times (e.g.

down ramps, ramp-function generator and motor potentiometer).

The range of the parameter is different when connect with different motors.

p1083 * Speed limit in positive

direction of rotation

0.000 210000.000 210000.

000

rpm Float IM T, U

Description: Sets the maximum speed for the positive direction.

Note: The parameter values displayed on the BOP are integers.

p1086 * Speed limit in negative

direction of rotation

-210000.000 0.000 -

210000.

000

rpm Float IM T, U

Description: Sets the speed limit for the negative direction.

Note: The parameter values displayed on the BOP are integers.

p1115 Ramp-function generator

selection

0 1 0 - I16 IM T

Description: Sets the ramp-function generator type.

Note: Another ramp-function generator type can only be selected when the motor is at a standstill.

p1120 Ramp-function generator

ramp-up time

0.000 999999.000 1 s Float IM T, U

Description:

The ramp-function generator ramps-up the speed setpoint from standstill (setpoint = 0) up to the

maximum speed (p1082) in this time.

Dependency: Refer to p1082

p1121 Ramp-function generator

ramp-down time

0.000 999999.000 1 s Float IM T, U

Description:

Sets the ramp-down time for the ramp-function generator.

The ramp-function generator ramps-down the speed setpoint from the maximum speed (p1082) down to standstill (setpoint = 0) in this time.

Further, the ramp-down time is always effective for OFF1.

Dependency: Refer to p1082

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Par. No.

Name

Min

Max

Factory Setting

Unit

Data type

Effective

Can be changed

p1130 Ramp-function generator

initial rounding-off time

0.000 30.000 0.000 s Float IM T, U

Description:

Sets the initial rounding-off time for the extended ramp generator. The value applies to ramp-up

and ramp-down.

Note: Rounding-off times avoid an abrupt response and prevent damage to the mechanical system.

p1131 Ramp-function generator

final rounding-off time

0.000 30.000 0.000 s Float IM T, U

Description:

Sets the final rounding-off time for the extended ramp generator. The value applies to ramp-up

and ramp-down.

Note: Rounding-off times avoid an abrupt response and prevent damage to the mechanical system.

p1135

OFF3 ramp-down time

600 0 s

Float

T, U

Description: Sets the ramp-down time from the maximum speed down to zero speed for the OFF3 command.

Note: This time can be exceeded if the DC link voltage reaches its maximum value.

p1215 * Motor holding brake con-

figuration

0 2 0 - I16 IM T

Description: Sets the holding brake configuration.

Dependency: Refer to p1216, p1217, p1226, p1227, p1228

Caution:

For the setting p1215 = 0, if a brake is used, it remains closed. If the motor moves, this will destroy

the brake.

Notice:

If p1215 was set to 1, then when the pulses are suppressed, the brake is closed even if the motor is

still rotating.

Note: The parameter can only be set to zero when the pulses are inhibited.

p1216 * Motor holding brake

opening time

0 10000 100 ms Float IM T, U

Description:

Sets the time to open the motor holding brake.

After controlling the holding brake (opens), the speed/velocity setpoint remains at zero for this time. After this,

the speed/velocity setpoint is enabled.

Dependency: Refer to p1215, p1217

Note:

For a motor with integrated brake, this time is pre-assigned the value saved in the motor.

For p1216 = 0 ms, the monitoring and the message A7931 "Brake does not open" are deactivated.

p1217 * Motor holding brake clos-

ing time

0 10000 100 ms Float IM T, U

Description:

Sets the time to apply the motor holding brake.

After OFF1 or OFF3 and the holding brake is controlled (the brake closes), then the drive remains closed-loop controlled for this time stationary with a speed setpoint/velocity setpoint of zero. The pulses are suppressed

when the time expires.

Dependency: Refer to p1215, p1216

Note:

For a motor with integrated brake, this time is pre-assigned the value saved in the motor.

For p1217 = 0 ms, the monitoring and the message A07932 "Brake does not close" are deactivated.

p1226 Threshold for zero speed

detection

0.00 210000.00 20.00 rpm Float IM T, U

Description:

Sets the speed threshold for the standstill identification.

Acts on the actual value and setpoint monitoring. When braking with OFF1 or OFF3, when the threshold is undershot, standstill is identified.

The following applies when the brake control is activated: When the threshold is undershot, the brake control is started and the system waits for the brake closing time

in p1217. The pulses are then suppressed. If the brake control is not activated, the following applies:

When the threshold is undershot, the pulses are suppressed and the drive coasts down.

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Par. No.

Name

Min

Max

Factory Setting

Unit

Data type

Effective

Can be changed

Dependency: Refer to p1215, p1216, p1217, p1227

Notice:

For reasons relating to the compatibility to earlier firmware versions, a parameter value of zero in

indices 1 to 31 is overwritten with the parameter value in index 0 when the drive boots.

Note:

Standstill is identified in the following cases:

- The speed actual value falls below the speed threshold in p1226 and the time started after this in p1228 has expired.

- The speed setpoint falls below the speed threshold in p1226 and the time started after this in p1227 has expired.

The actual value sensing is subject to measuring noise. For this reason, standstill cannot be detected if the

speed threshold is too low.

p1227 Zero speed detection

monitoring time

0.000 300.000 300.000 s Float IM T, U

Description:

Sets the monitoring time for the standstill identification.

When braking with OFF1 or OFF3, standstill is identified after this time has expired, after the setpoint speed has fallen below p1226.

After this, the brake control is started, the system waits for the closing time in p1217 and then the pulses are

suppressed.

Dependency: Refer to p1215, p1216, p1217, p1226

Notice:

The setpoint is not equal to zero dependent on the selected value. This can therefore cause the moni-

toring time in p1227 to be exceeded. In this case, for a driven motor, the pulses are not suppressed..

Note:

Standstill is identified in the following cases:

- The speed actual value falls below the speed threshold in p1226 and the time started after this in p1228 has expired.

- The speed setpoint falls below the speed threshold in p1226 and the time started after this in p1227 has expired.

For p1227 = 300.000 s, the following applies: Monitoring is de-activated. For p1227 = 0.000 s, the following applies: With OFF1 or OFF3 and a ramp-down time = 0, the pulses are immediately suppressed and the motor

"coasts" down.

p1228 Pulse suppression delay

time

0.000 299.000 0.000 s Float IM T, U

Description:

Sets the delay time for pulse suppression. After OFF1 or OFF3, the pulses are canceled, if at

least one of the following conditions is fulfilled:

- The speed actual value falls below the threshold in p1226 and the time started after this in p1228 has expired.

- The speed setpoint falls below the threshold in p1226 and the time started after this in p1227 has expired.

Dependency: Refer to p1226, p1227

Notice:

When the motor holding brake is activated, pulse cancellation is additionally delayed by the brake

closing time (p1217).

p1414 Speed setpoint filter acti-

vation

- - 0000

bin

- U16 IM T, U

Description:

Setting for activating/de-activating the speed setpoint filter.

• Bit 0: Activate filter 1

– Bit 0 = 0: Deactivated – Bit 0 = 1: Activated

• Bit 1: Activate filter 2

– Bit 1 = 0: Deactivated

– Bit 1 = 1: Activated

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88 A5E37208904-003, 04/2017

Par. No.

Name

Min

Max

Factory Setting

Unit

Data type

Effective

Can be changed

Dependency: The individual speed setpoint filters are parameterized as of p1415.

Note: The drive unit displays the value in hex format. To know the logic (high/low) assignment to each bit, you must convert the hex number to the binary number, for example, FF (hex) = 11111111 (bin).

p1415 Speed setpoint filter 1

type

0 2 0 - I16 IM T, U

Description: Sets the type for speed setpoint filter 1.

Dependency:

PT1 low pass: p1416 PT2 low pass: p1417, p1418

General filter: p1417 ... p1420

p1416 Speed setpoint filter 1

time constant

0.00 5000.00 0.00 ms Float IM T, U

Description: Sets the time constant for the speed setpoint filter 1 (PT1).

Dependency: Refer to p1414, p1415

Note: This parameter is only effective if the filter is set as a PT1 low pass.

p1417 Speed setpoint filter 1

denominator natural fre-

quency

0.5 16000.0 1999.0 Hz Float IM T, U

Description: Sets the denominator natural frequency for speed setpoint filter 1(PT2, general filter).

Dependency:

Refer to p1414, p1415

Note:

This parameter is only effective if the speed filter is parameterized as a PT2 low pass or as general

filter.

The filter is only effective if the natural frequency is less than half of the sampling frequency.

p1418 Speed setpoint filter 1

denominator damping

0.001 10.000 0.700 - Float IM T, U

Description: Sets the denominator damping for speed setpoint filter 1 (PT2, general filter).

Dependency: Refer to p1414, p1415

Note:

This parameter is only effective if the speed filter is parameterized as a PT2 low pass or as general

filter.

p1419 Speed setpoint filter 1

numerator natural fre-

quency

0.5 16000.0 1999.0 Hz Float IM T, U

Description: Sets the numerator natural frequency for speed setpoint filter 1 (general filter).

Dependency: Refer to p1414, p1415

Note:

This parameter is

only effective if the speed filter is set as a general filter. The filter is only effective if the

natural frequency is less than half of the sampling frequency.

p1420 Speed setpoint filter 1

numerator damping

0.001 10.000 0.700 - Float IM T, U

Description: Sets the numerator damping for speed setpoint filter 1 (general filter).

Dependency: Refer to p1414, p1415

Note:

This parameter is only effective if the speed filter is set as a general filter.

p1421 Speed setpoint filter 2

type

0 2 0 - I16 IM T, U

Description: Sets the type for speed setpoint filter 2.

Dependency:

PT1 low pass: p1422 PT2 low pass: p1423, p1424

General filter: p1423 ... p1426

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Par. No.

Name

Min

Max

Factory Setting

Unit

Data type

Effective

Can be changed

p1422 Speed setpoint filter 2

time constant

0.00 5000.00 0.00 ms Float IM T, U

Description: Sets the time constant for the speed setpoint filter 2 (PT1).

Dependency:

Refer to p1414, p1421

Note: This parameter is only effective if the speed filter is set as a PT1 low pass.

p1423 Speed setpoint filter 2

denominator natural fre-

quency

0.5 16000.0 1999.0 Hz Float IM T, U

Description: Sets the denominator natural frequency for speed setpoint filter 2 (PT2, general filter).

Dependency: Refer to p1414, p1421

Note:

This parameter is only effective if the speed filter is parameterized as a PT2 low pass or as general filter.

The filter is only effective if the natural frequency is less than half of the sampling frequency.

p1424 Speed setpoint filter 2

denominator damping

0.001 10.000 0.700 - Float IM T, U

Description: Sets the denominator damping for speed setpoint filter 2 (PT2, general filter).

Dependency: Refer to p1414, p1421

Note:

This parameter is only effective if the speed filter is parameterized as a PT2 low pass or as general

filter.

p1425 Speed setpoint filter 2

numerator natural fre-

quency

0.5 16000.0 1999.0 Hz Float IM T, U

Description: Sets the numerator natural frequency for speed setpoint filter 2 (general filter).

Dependency: Refer to p1414, p1421

Note:

This parameter is only effective if the speed filter is set as a general filter.

The filter is only effective if the natural frequency is less than half of the sampling frequency.

p1426 Speed setpoint filter 2

numerator damping

0.000 10.000 0.700 - Float IM T, U

Description: Sets the numerator damping for speed setpoint filter 2 (general filter).

Dependency: Refer to p1414, p1421

Note: This parameter is only effective if the speed filter is set as a general filter.

p1441 Actual speed smoothing

time

0.00 50.00 0.00 ms Float IM T, U

Description: Sets the smoothing time constant (PT1) for the speed actual value.

Note:

The speed actual value should be smoothed for increment encoders with a low pulse number.

After this parameter has been changed, we recommend that the speed controller is adapted and/or the speed controller settings checked Kp (p29120) and Tn (p29121).

p1520 * Torque limit upper -1000000.00 20000000.00 0.00 Nm Float IM T, U

Description: Sets the fixed upper torque limit.

Danger:

Negative values when setting the upper torque limit (p1520 < 0) can result in the motor accelerating

in an uncontrollable fashion.

Notice:

The maximum value depends on the maximum torque of the connected motor.

p1521 *

Torque limit lower

-20000000.00

1000000.00

0.00

Float

T, U

Description: Sets the fixed lower torque limit.

Danger:

Positive values when setting the lower torque limit (p1521 > 0) can result in the motor accelerating in

an uncontrollable fashion.

Notice: The maximum value depends on the maximum torque of the connected motor.

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Par. No.

Name

Min

Max

Factory Setting

Unit

Data type

Effective

Can be changed

p1656 * Activates current setpoint

filter

- - 0001

bin

- U16 IM T, U

Description:

Setting for activating/de-activating the current setpoint filter.

• Bit 0: Activate filter 1 – Bit 0 = 0: Deactivated – Bit 0 = 1: Activated

• Bit 1: Activate filter 2 – Bit 1 = 0: Deactivated – Bit 1 = 1: Activated

• Bit 2: Activate filter 3 – Bit 2 = 0: Deactivated – Bit 2 = 1: Activated

• Bit 3: Activate filter 4 – Bit 3 = 0: Deactivated

– Bit 3= 1: Activated

Dependency: The individual current setpoint filters are parameterized as of p1658.

Note:

If not all of the fil

ters are required, then the filters should be used consecutively starting from filter 1. The

drive unit displays the value in hex format. To know the logic (high/low) assignment to each bit, you must

convert the hex number to the binary number, for example, FF (hex) = 11111111 (bin).

p1658 * Current setpoint filter 1

denominator natural fre-

quency

0.5 16000.0 1999.0 Hz Float IM T, U

Description: Sets the denominator natural frequency for current setpoint filter 1 (PT2, general filter).

Dependency: The current setpoint filter 1 is activated via p1656.0 and parameterized via p1658 ... p1659.

p1659 * Current setpoint filter 1

denominator damping

0.001 10.000 0.700 - Float IM T, U

Description: Sets the denominator damping for current setpoint filter 1.

Dependency: The current setpoint filter 1 is activated via p1656.0 and parameterized via p1658 ... p1659.

p1663 Current setpoint filter 2

denominator natural fre-

quency

0.5 16000.0 1000.0 Hz Float IM T, U

Description: Sets the denominator natural frequency for current setpoint filter 2 (PT2, general filter).

Dependency: Current setpoint filter 2 is activated via p1656.1 and parameterized via p1663 ... p1666.

p1664 Current setpoint filter 2

denominator damping

0.001 10.000 0.300 - Float IM T, U

Description: Sets the denominator damping for current setpoint filter 2.

Dependency: Current setpoint filter 2 is activated via p1656.1 and parameterized via p1663 ... p1666.

p1665 Current setpoint filter 2

numerator natural fre-

quency

0.5 16000.0 1000.0 Hz Float IM T, U

Description: Sets the numerator natural frequency for current setpoint filter 2 (general filter).

Dependency: Current setpoint filter 2 is activated via p1656.1 and parameterized via p1662 ... p1666.

p1666

Current setpoint filter 2 numerator damping

0.000 10.000 0.010 - Float IM T, U

Description: Sets the numerator damping for current setpoint filter 2.

Dependency: Current setpoint filter 2 is activated via p1656.1 and parameterized via p1663 ... p1666.

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Par. No.

Name

Min

Max

Factory Setting

Unit

Data type

Effective

Can be changed

p1668 Current setpoint filter 3

denominator natural frequency

0.5 16000.0 1000.0 Hz Float IM T, U

Description: Sets the denominator natural frequency for current setpoint filter 3 (PT2, general filter).

Dependency: Current setpoint filter 3 is activated via p1656.2 and parameterized via p1668 ... p1671.

p1669 Current setpoint filter 3

denominator damping

0.001 10.000 0.300 - Float IM T, U

Description: Sets the denominator damping for current setpoint filter 3.

Dependency: Current setpoint filter 3 is activated via p1656.2 and parameterized via p1668 ... p1671.

p1670 Current setpoint filter 3

numerator natural fre-

quency

0.5 16000.0 1000.0 Hz Float IM T, U

Description: Sets the numerator natural frequency for current setpoint filter 3 (general filter).

Dependency: Current setpoint filter 3 is activated via p1656.2 and parameterized via p1668 ... p1671.

p1671 Current setpoint filter 3

numerator damping

0.000 10.000 0.010 - Float IM T, U

Description: Sets the numerator damping for current setpoint filter 3.

Dependency: Current setpoint filter 3 is activated via p1656.2 and parameterized via p1668 ... p1671.

p1673 Current setpoint filter 4

denominator natural fre-

quency

0.5 16000.0 1000.0 Hz Float IM T, U

Description:

Sets the denominator natural frequency for current setpoint filter 4 (PT2, general filter).

Dependency: Current setpoint filter 4 is activated via p1656.3 and parameterized via p1673 ... p1675.

p1674 Current setpoint filter 4

denominator damping

0.001 10.000 0.300 - Float IM T, U

Description: Sets the denominator damping for current setpoint filter 4.

Dependency: Current setpoint filter 4 is activated via p1656.3 and parameterized via p1673 ... p1675.

p1675 Current setpoint filter 4

numerator natural fre-

quency

0.5 16000.0 1000.0 Hz Float IM T, U

Description: Sets the numerator natural frequency for current setpoint filter 4 (general filter).

Dependency: Current setpoint filter 4 is activated via p1656.3 and parameterized via p1673 ... p1675.

p1676 Current setpoint filter 4

numerator damping

0.000 10.000 0.010 - Float IM T, U

Description: Sets the numerator damping for current setpoint filter 4.

Dependency: Current setpoint filter 4 is activated via p1656.3 and parameterized via p1673 ... p1675.

p2000

Reference speed

6.00

210000.00

3000.00

rpm

Float

Description:

Sets the reference quantity for speed and frequency.

All speeds or frequencies specified as relative value are referred to this reference quantity.

The reference quantity corresponds to 100% or 4000 hex (word) or 40000000 hex (double word).

Dependency:

Refer to: p2003

p2002 Reference current 0.10 100000.00 100.00 Arms Float IM T

Description

: Sets the reference quantity for currents.

All currents specified as relative value are referred to this reference quantity.

The reference quantity corresponds to 100% or 4000 hex (word) or 4000 0000 hex (double word).

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Par. No.

Name

Min

Max

Factory Setting

Unit

Data type

Effective

Can be changed

Notice:

If various DDS are used with different motor data, then the reference quantities remain the same as these are not changed over with the DDS. The resulting conversion factor should be taken into account (e.g. for trace records).

Example: p2002 = 100 A

Reference quantity 100 A corresponds to 100 %

p2003 Reference torque 0.01 20000000.00 1.00 Nm Float IM T

Description:

Sets the referene quantity for torque.

All torques specified as relative value are referred to this reference quantity.

The reference quantity corresponds to 100% or 4000 hex (word) or 40000000 hex (double word).

p2153

Speed actual value filter time constant

1000000

Float

T, U

Description:

Sets the time constant of the PT1 element to smooth the speed/velocity actual value.

The smoothed actual speed/velocity is compared with the threshold values and is only used for messages and signals.

p2161 * Speed threshold 3

0.00

210000.00

10.00

rpm

Float

T, U

Description: Sets the speed threshold value for the signal that indicates the axis is stationary.

p2162 *

Hysteresis speed n_act > n_max

0.00

60000.00

0.00

rpm

Float

T, U Description: Sets the hysteresis speed (bandwidth) for the signal "n_act > n_max".

Note: For a negative speed limit, the hysteresis is effective below the limit value and for a positive speed limit above

the limit value. If significant overshoot occurs in the maximum speed range (for example, due to load shedding), you are

advised to increase the dynamic response of the speed controller (if possible). If this is insufficient, the hysteresis p2162 can be increased, but its value must not be greater than the value calculated by the formula below when the motor maximum speed is sufficiently greater than the maximum speed p1082.

p2162 ≤ 1.05 × motor maximum speed - maximum speed (p1082)

The range of the parameter is different when connect with different motors.

p2175 *

Motor blocked speed threshold

0.00

210000.00

210000. 00

rpm

Float

T, U Description: Sets the speed threshold for the message "Motor blocked".

Dependency: Refer to p2177.

p2177 *

Motor blocked delay time

0.000

65.000

0.500

Float

T, U

Description: Sets the delay time for the message "Motor blocked".

Dependency: Refer to p2175.

p2525

LR encoder adjustment offset

429496729 5

U32

T Description: Position offset when adjusting the absolute encoder.

Note: The position offset is only relevant for absolute encoders. The drive determines the value when adjusting the absolute encoder and the user should not change it.

p2533

LR position setpoint filter time constant

0.00

1000.00

0.00

Float

T, U Description: Sets the time constant for the position setpoint filter (PT1).

Note:

The effective Kv factor (position loop gain) is reduced with the filter. This allows a softer control behavior with improved tolerance with respect to noise/disturbances. Applications:

- Reduces the pre-control dynamic response.

- Jerk limiting.

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p2542 * LR standstill window 0 2147483647 1000 LU U32 IM T, U

Description:

Sets the standstill window for the standstill monitoring function.

After the standstill monitoring time expires, it is cyclically checked whether the difference between the setpoint

and actual position is located within the standstill window and, if required, an appropriate fault is output.

Value = 0: The standstill monitoring is deactivated.

Dependency: Refer to: p2543, p2544, and F07450

Note:

The following applies for the setting of the standstill and positioning window:

Standstill window (p2542) ≥ positioning window (p2544)

p2543 * LR standstill monitoring

time

0.00 100000.00 200.00 ms Float IM T, U

Description:

Sets the standstill monitoring time for the standstill monitoring function.

After the standstill monitoring time expires, it is cyclically checked whether the difference between the setpoint and actual position is located within the standstill window and, if required, an appropriate fault is output.

Dependency: Refer to: p2542, p2545, and F07450

Note:

The following applies for the setting of the standstill and positioning monitoring time:

Standstill monitoring time (p2543) ≤ positioning monitoring time (p2545)

p2544 * LR positioning window 0 2147483647 40 LU U32 IM T, U

Description:

Sets the positioning window for the positioning monitoring function.

After the positioning monitoring time expires, it is checked once as to whether the difference between the setpoint and actual position lies within the positioning window and if required an appropriate fault is output.

Value = 0: The positioning monitoring function is de-activated.

Dependency: Refer to: p2542, p2545, and F07451

Note:

The following applies for the setting of the standstill and positioning window:

Standstill window (p2542) ≥ positioning window (p2544)

p2545 * LR positioning monitoring

time

0.00 100000.00 1000.00 ms Float IM T, U

Description:

Sets the positioning monitoring time for the positioning monitoring.

After the positioning monitoring time expires, it is checked once as to whether the difference between the

setpoint and actual position lies within the positioning window and if required an appropriate fault is output.

Dependency:

The range of p2545 depends on p2543.

Refer to: p2543, p2544, and F07451

Note:

The following applies for the setting of the standstill and positioning monitoring time:

Standstill monitoring time (p2543) ≤ positioning monitoring time (p2545)

p2546 * LR dynamic following

error monitoring tolerance

0 2147483647 3000 LU U32 IM T, U

Description:

Sets the tolerance for the dynamic following error monitoring.

If the dynamic following error (r2563) exceeds the selected tolerance, then an appropriate fault is output.

Value = 0: The dynamic following error monitoring is deactivated.

Dependency:

Refer to: r2563, F07452

Note:

The tolerance bandwidth is intended to prevent the dynamic following error monitoring incorrectly re-

sponding due to operational control sequences (e.g. during load surges).

p2571 IPos maximum velocity 1 40000000 30000 100

0 LU/

min

U32 IM T, U

Description: Sets the maximum velocity for the "basic positioner" function (EPOS).

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Note:

The maximum velocity is active in all of the operating modes of the basic positioner. The maximum velocity for the basic positioner should be aligned with the maximum speed/velocity of the

speed/velocity controller:

p2571[1000 LU/min] = max_speed[rpm] x p29248/p29249 x p29247/1000

p2572 ** EPOS maximum acceler-

ation

1 2000000 100 100

0 LU/s

U32 IM T

Description: Sets the maximum acceleration for the "basic positioner" function (EPOS).

Dependency: Refer to: p2619

Note:

The maximum acceleration appears to exhibit jumps (without jerk). "Traversing blocks" operating mode: The programmed acceleration override (p2619) acts on the maximum acceleration. "Direct setpoint input/MDI" mode: The acceleration override is effective (p2644, 4000 hex = 100%). "Jog" and "search for reference" modes:

No acceleration override is active. The axis starts with the maximum acceleration.

p2573 ** EPOS maximum deceler-

ation

1 2000000 100 100

0 LU/s

U32 IM T

Description: Sets the maximum deceleration for the "basic positioner" function (EPOS).

Dependency: Refer to: p2620

Note:

The maximum deceleration appears to exhibit jumps (without jerk). "Traversing blocks" operating mode: The programmed deceleration override (p2620) acts on the maximum deceleration. "Direct setpoint input/MDI" mode: The deceleration override is effective (p2645, 4000 hex = 100%). "Jog" and "search for reference" modes:

No deceleration override is effective. The axis brakes with the maximum deceleration.

p2574 ** EPOS jerk limiting 1 100000000 2000000 100

0 LU/s

U32 IM T, U

Description: Sets the jerk limiting.

Dependency: Refer to p2572, p2573, and p2575

Note: The jerk limiting is internally converted into a jerk time as follows: Jerk time Tr = max(p2572, p2573)/p2574

p2575 EPOS jerk limiting activa-

tion

0 1 0 - U32 IM T

Description:

Activates the jerk limiting.

• 0: The jerk limiting is deactivated.

•

1: The jerk limiting is activated.

Dependency: Refer to p2574

p2580 EPOS software limit

switch minus

-2147482648 2147482647 214748

2648

LU I32 IM T, U

Description: Sets the software limit switch in the negative direction of travel.

Dependency: Refer to p2581, p2582

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p2581 EPOS software limit

switch plus

-2147482648 2147482647 214748

2647

LU I32 IM T, U

Description: Sets the software limit switch in the positive direction of travel.

Dependency:

Refer to p2580, p2582

p2582 EPOS software limit

switch activation

- - 0 - U32/Bina

IM T

Description: Sets the signal source to activate the "software limit switch".

Dependency: Refer to p2580, p2581

Caution:

Software limit switch effective:

- Axis is referenced. Software limit switch ineffective:

- Modulo correction active.

- Search for reference is executed.

Notice:

Target position for relative positioning outside software limit switch:

The traversing block is started and the axis comes to a standstill at the software limit switch. An appropriate alarm is output and the traversing block is interrupted. Traversing blocks with valid position can be activated.

Target position for absolute positioning outside software limit switch: In the "traversing blocks" mode, the traversing block is not started and an appropriate fault is output. Axis outside the valid traversing range: If the axis is already outside the valid traversing range, then an appropriate fault is output. The fault can be

acknowledged at standstill. Traversing blocks with valid position can be activated.

Note: The traversing range can also be limited using STOP cams.

p2583 EPOS backlash compen-

sation

-200000 200000 0 LU I32 IM T, U

Description:

Sets the amount of play (backlash) for positive or negative play.

• = 0: The backlash compensation is deactivated.

• > 0: Positive backlash (normal case)

When the direction is reversed, the encoder actual value leads the actual value.

• < 0: Negative backlash

When the direction is reversed, the actual value leads the encoder actual value.

Dependency:

If a stationary axis is referenced by setting the reference point, or an adjusted with absolute

encoder is powered up, then the setting of p2604 is relevant for entering the compensation value. p2604 = 1: Traveling in the positive direction -> A compensation value is immediately entered. Traveling in the negative direction -> A compensation value is not entered p2604 = 0: Traveling in the positive direction -> A compensation value is not entered Traveling in the negative direction -> A compensation value is immediately entered.

When again setting the reference point (a referenced axis) or for "flying referencing", p2604 is not relevant but

instead the history of the axis.

Refer to: p2604

p2585 EPOS jog 1 setpoint

velocity

-40000000 40000000 -300 100 0 L U/mi

I32 IM T, U

Description: Sets the setpoint speed for jog 1.

Dependency: Refer to: p2587

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p2586 EPOS jog 2 setpoint

velocity

-40000000 40000000 300 100 0 L U/mi

I32 IM T, U

Description: Sets the setpoint speed for jog 2.

Dependency: Refer to: p2588

p2587 EPOS jog 1 traversing

distance

0 2147482647 1000 LU U32 IM T, U

Description: Sets the traversing distance for incremental jog 1.

Dependency: Refer to: p2585

p2588 EPOS jog 2 traversing

distance

0 2147482647 1000 LU U32 IM T, U

Description: Sets the traversing distance for incremental jog 2.

Dependency: Refer to: p2586

p2599 EPOS reference point

coordinate value

-2147482648 2147482647 0 LU I32 IM T, U

Description:

Sets the position value for the reference point coordinate. This value is set as the actual axis

position after referencing or adjustment.

Dependency: Refer to: p2525

p2600 EPOS search for refer-

ence point offset

-2147482648 2147482647 0 LU I32 IM T, U

Description:

Sets the reference point offset for search for reference.

p2604 EPOS search for refer-

ence start direction

- - 0 - U32/Bina

IM T

Description:

Sets the signal sources for the start direction of the search for reference.

• 1 signal: Start in the negative direction.

•

0 signal: Start in the positive direction.

Dependency: Refer to p2583

p2605 EPOS search for refer-

ence approach velocity reference cam

1 40000000 5000 100

0 L U/mi

U32 IM T, U

Description: Sets the approach velocity to the reference cam for the search for reference.

Dependency: The search for reference only starts with the approach velocity to the reference cam when there

is a reference cam.

Refer to: p2604, p2606

Note:

When traversing to the reference cam, the velocity override is effective. If, at the start of the search for

reference, the axis is already at the reference cam, then the axis immediately starts to traverse to the zero

mark.

p2606 EPOS search for refer-

ence reference cam maximum distance

0 2147482647 214748

2647

LU U32 IM T, U

Description:

Sets the maximum distance after the start of the search for reference when traversing to the

reference cam.

Dependency: Refer to: p2604, p2605, and F07458

Note: When using a reversing cam, the maximum distance must be set appropriately long.

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p2608 EPOS search for refer-

ence approach velocity zero mark

1 40000000 300 100

0 L U/mi

U32 IM T, U

Description:

Sets the approach velocity after detecting the reference cam to search for the zero mark for the

search for reference.

Dependency:

If there is no reference cam, the search for reference immediately starts with the axis traversing

to the zero mark.

Refer to: p2604, p2609

Caution:

If the reference cam is not adjusted so that at each search for reference the same zero mark for

synchronization is detected, then an "incorrect" axis reference point is obtained. After the reference cam has been left, the search for the zero mark is activated with a time delay due to inter-

nal factors. This is the reason that the reference cam should be adjusted in this center between two zero

marks and the approach velocity should be adapted to the distance between two zero marks.

Note: The velocity override is not effective when traversing to the zero mark.

p2609 EPOS search for refer-

ence max. distance ref.

cam and zero mark

0 2147482647 20000 LU U32 IM T, U

Description: Sets the maximum distance after leaving the reference cam when traversing to the zero mark.

Dependency: Refer to: p2604, p2608, and F07459

p2611 EPOS search for refer-

ence approach velocity reference point

1 40000000 300 100

0 L U/mi

U32 IM T, U

Description:

Sets the approach velocity after detecting the zero mark to approach the reference point.

Dependency: Refer to: p2604, p2609

Note: When traversing to the reference point, the velocity override is not effective.

p2617[0... 15]

EPOS traversing block

position

-2147482648 2147482647 0 LU I32 IM T, U

Description: Sets the target position for the traversing block.

Dependency: Refer to: p2618, p2619, p2620, p2621, p2622, p2623

Note: The target position is approached in either relative or absolute terms depending on p2623.

p2618[0... 15]

EPOS traversing block velocity

1 40000000 600 100

0 L U/mi

I32 IM T, U

Description: Sets the velocity for the traversing block.

Dependency: Refer to: p2617, p2619, p2620, p2621, p2622, p2623

Note: The velocity can be influenced using the velocity override.

p2619[0... 15]

EPOS traversing block acceleration override

1.0 100.0 100.0 % Float IM T, U

Description:

Sets the acceleration override for the traversing block.

The override refers to the maximum acceleration (p2572).

Dependency:

Refer to: p2572, p2617, p2618, p2620, p2621, p2622, p2623

p2620[0... 15]

EPOS traversing decel-

eration override

1.0 100.0 100.0 % Float IM T, U

Description:

Sets the deceleration override for the traversing block.

The override refers to the maximum deceleration (p2573).

Dependency: Refer to: p2573, p2617, p2618, p2619, p2621, p2622, p2623

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p2621[0... 15]

EPOS traversing block

task

1 9 1 % - IM T, U

Description:

Sets the required task for the traversing block.

• 1: POSITIONING

• 2: FIXED STOP

• 3: ENDLESS_POS

• 4: ENDLESS_NEG

• 5: WAIT

• 6: GOTO

• 7: SET_O

• 8: RESET_O

•

9: JERK

Dependency: Refer to: p2617, p2618, p2619, p2620, p2622, p2623

p2622[0... 15]

EPOS traversing block

task parameter

-2147483648 2147483647 0 - I32 IM T, U

Description: Sets additional information/data of the appropriate task for the traversing block.

Dependency: Refer to: p2617, p2618, p2619, p2620, p2621, p2623

Note:

The following should be set depending on the task: FIXED STOP: Clamping torque and clamping force (rotary 0...65536 [0.01 Nm], linear 0...65536 [N]) WAIT: Delay time [ms] GOTO: Block number SET_O: 1, 2 or 3 - set direct output 1, 2 or 3 (both) RESET_O: 1, 2 or 3 - reset direct output 1, 2 or 3 (both)

JERK: 0 - deactivate, 1 - activate

p2623[0... 15]

EPOS traversing block

task mode

0 65535 0 - U16 IM T, U

Description:

Sets the influence of the task for the traversing block. Value = 0000 cccc bbbb aaaa cccc: Positioning mode cccc = 0000: ABSOLUTE cccc = 0001: RELATIVE cccc = 0010: ABS_POS (only for a rotary axis with modulo correction) cccc = 0011: ABS_NEG (only for a rotary axis with modulo correction) bbbb: Progression condition bbbb = 0000: END bbbb = 0001: CONTINUE WITH STOP bbbb = 0010: CONTINUE FLYING bbbb = 0011: CONTINUE EXTERNAL bbbb = 0100: CONTINUE EXTERNAL WAIT bbbb = 0101: CONTINUE EXTERNAL ALARM aaaa: IDs aaaa = 000x: show/hide block (x = 0: show; x = 1: hide)

Dependency: Refer to: p2617, p2618, p2619, p2620, p2621, p2622

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p2634 EPOS fixed stop maxi-

mum following error

0 2147482647 1000 LU U32 IM T, U

Description: Sets the following error to detect the "fixed stop reached" state.

Dependency:

Refer to: p2621

Note:

The state "fixed stop reached" is detected if the following error exceeds the theoretically calculated

following error value by p2634.

p2635 EPOS fixed stop monitor-

ing window

0 2147482647 100 LU U32 IM T, U

Description: Sets the monitoring window of the actual position after the fixed stop is reached.

Dependency: Refer to: F07484

Note:

If, after the fixed stop is reached, the end stop shifts in either the positive or negative direction by more

than the value set here, an appropriate message is output.

p2690 MDI position fixed set-

point

-2147482648 2147482647 0 - I32 IM T, U

Description: Sets a fixed setpoint for the position.

p2691 MDI velocity fixed set-

point

1 40000000 600 100

0 L U/mi

U32 IM T, U

Description:

Sets a fixed setpoint for the speed.

p2692 MDI acceleration over-

ride, fixed setpoint

0.100 100.000 100.000 % Float IM T, U

Description: Sets a fixed setpoint for the acceleration override.

Dependency: Refer to: p2572

Note: The percentage value refers to the maximum acceleration (p2572).

p2693 MDI deceleration over-

ride, fixed setpoint

0.100 100.000 100.000 % Float IM T, U

Description: Sets a fixed setpoint for the deceleration override.

Dependency: Refer to: p2572

Note: The percentage value refers to the maximum deceleration (p2573).

p8920[0... 239]

PROFIdrive: Name of

station

- - - - U8 IM T, U

Description:

Sets the station name for the onboard PROFINET interface on the Control Unit.

The active station name is displayed in r8930.

Note:

The interface configuration (p8920 and following) is activated with p8925.

The parameter is not influenced by setting the factory setting.

p8921[0... 3]

PROFIdrive: IP address

of station

0 255 0 - U8 IM T, U

Description:

Sets the IP address for the onboard PROFINET interface on the Control Unit.

The active IP address is displyed in r8931.

Note:

The interface configuration (p8920 and following) is activated with p8925.

The parameter is not influenced by setting the factory setting.

p8922[0... 3]

PROFIdrive: Default

gateway of station

0 255 0 - U8 IM T, U

Description:

Sets the default gateway for the onboard PROFINET interface on the Control Unit.

The active default gateway is displayed in r8932.

Note:

The interface configuration (p8920 and following) is activated with p8925.

The parameter is not influenced by setting the factory setting.

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p8923[0... 3]

PROFIdrive: Subnet

mask of station

0 255 0 - U8 IM T, U

Description:

Sets the subnet mask for the onboard PROFINET interface on the Control Unit.

The active subnet mask is displayed in r8933.

Note:

The interface configuration (p8920 and following) is activated with p8925.

The parameter is not influenced by setting the factory setting.

p8925 PROFIdrive: Interface

configuration

0 3 0 - U8 IM T, U

Description:

Setting to activate the interface configuration for the onboard PROFINET interface on the Control Unit.

p8925 is automatically set to 0 at the end of the operation.

• p8925 = 0: No function

• p8925 = 2: Save and activate configuration

The interface configuration (p8920 and following) is saved and activated after the next POWER ON.

p29000 *

Motor ID

65535

0 - U16

Description:

Motor type number is printed on the motor rating plate as motor ID. For a motor with an incremental encoder, users need to manually input the parameter value.

For a motor with an absolute encoder, the drive automatically reads the parameter value.

p29001 Reversal of motor direc-

tion

0 1 0 - I16 IM T

Description:

Reversal of motor running direction. By default, CW is the positive direction while CCW the negative direction. After changing of p29001, reference point will lost, A7461 will remind user to referencing again.

• 0: No reversal

•

1: Reverse

p29002

BOP display selection

0 4 0 - I16

T, U

Description:

Selection of BOP operating display.

• 0: Actual speed (default)

• 1: DC voltage

• 2: Actual torque

• 3: Actual position

•

4: Position following error

p29003

Control mode

1 2 2 - I16

Description:

Selection of control mode.

• 1: Basic positioner control mode (EPOS)

•

2: Speed control mode (S)

p29005 Braking resistor capacity

percentage alarm thresh-

old

1 100 100 % Float IM T

Description:

Alarm triggering threshold for the capacity of the internal braking resistor.

Alarm number: A52901

p29006

Line supply voltage

200

480

400/230

U16

Description:

Nominal Line supply voltage, effective value of line to line voltage. Drive can operate within -15% to +10% error.

For 400 V variant servo drive, the value range is 380 V to 480 V, default value is 400 V.

For 200 V variant servo drive, the value range is 200 V to 240 V, default value is 230 V.