Siemens SINAMICS S120 Series Function Manual

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SINAMICS

S120
Communication

Function Manual

Valid as of:
Firmware version 5.2

12/2018

6SL3097

Preface

Fundamental safety
instructions

1

General information

2

Communication according to
PROFIdrive

3

Communication via
PROFIBUS DP

4

Communication via
PROFINET IO

5

Communication via Modbus
TCP

6

Communication via
Ethernet/IP (EIP)

7

Communication via
SINAMICS Link

8

Appendix

A

-5BD00-0BP0

Siemens AG
Division Digital Factory
Postfach 48 48
90026 NÜRNBERG
GERMANY

Document order number: 6SL3097-5BD00-0BP0

Ⓟ

Copyright © Siemens AG 2018.
All rights reserved

DANGER

indicates that death or severe personal injury will result if proper precautions are not taken.

WARNING

indicates that death or severe personal injury may result if proper precautions are not taken.

CAUTION

indicates that minor personal injury can result if proper precautions are not taken.

NOTICE

indicates that property damage can result if proper precautions are not taken.

WARNING

Siemens products may only be used for the applications described in the catalog and in the relevant technical

maintenance are required to ensure that the products operate safely and without any problems. The permissible
ambient conditions must be complied with. The information in the relevant documentation must be observed.

Legal information

Warning notice system

This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.

If more than one degree of danger is present, the warning notice representing the highest degree of danger will
be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to
property damage.

Qualified Personnel

The product/system described in this documentation may be operated only by personnel qualified for the specific
task in accordance with the relevant documentation, in particular its warning notices and safety instructions.
Qualified personnel are those who, based on their training and experience, are capable of identifying risks and
avoiding potential hazards when working with these products/systems.

Proper use of Siemens products

Note the following:

documentation. If products and components from other manufacturers are used, these must be recommended
or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and

Trademarks

All names identified by ® are registered trademarks of Siemens AG. The remaining trademarks in this publication
may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.

Disclaimer of Liability

We have reviewed the contents of this publication to ensure consistency with the hardware and software
described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the
information in this publication is reviewed regularly and any necessary corrections are included in subsequent
editions.

11/2018 Subject to change

Preface

SINAMICS documentation

The SINAMICS documentation is organized in the following categories:

● General documentation/catalogs

● User documentation

● Manufacturer/service documentation

Additional information

You can find information on the topics below at the following address
(https://support.industry.siemens.com/cs/de/en/view/108993276):

● Ordering documentation/overview of documentation

● Additional links to download documents

● Using documentation online (find and search in manuals/information)

Please send any questions about the technical documentation (e.g. suggestions for
improvement, corrections) to the following email address
(mailto:[email protected]).

Siemens MySupport/Documentation

At the following address (https://support.industry.siemens.com/My/ww/en/documentation),
you can find information on how to create your own individual documentation based on
Siemens' content, and adapt it for your own machine documentation.

Training

At the following address (http://www.siemens.com/sitrain), you can find information about
SITRAIN (Siemens training on products, systems and solutions for automation and drives).

FAQs

You can find Frequently Asked Questions in the Service&Support pages at Product Support
(https://support.industry.siemens.com/cs/de/en/ps/faq).

SINAMICS

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You can find information about SINAMICS at the following address
(http://www.siemens.com/sinamics).

3

Preface

Usage phase

Document/tool

Orientation

SINAMICS S Sales Documentation

Usage phases and their documents/tools (as an example)

Planning/configuration

Deciding/ordering SINAMICS S120 catalogs

Installation/assembly

Commissioning

Usage/operation

Maintenance/servicing

References

• SIZER Engineering Tool

• Configuration Manuals, Motors

• SINAMICS S120 and SIMOTICS (Catalog D 21.4)

• SINAMICS Converters for Single-Axis Drives and SIMOTICS Motors (Cata-

log D 31)

• SINAMICS Converters for Single-Axis Drives – Built-In Units (D 31.1)

• SINAMICS Converters for Single-Axis Drives – Distributed Converters (D 31.2)

• SINUMERIK 840 Equipment for Machine Tools (Catalog NC 62)

• SINAMICS S120 Equipment Manual for Control Units and Additional System

Components

• SINAMICS S120 Equipment Manual for Booksize Power Units

• SINAMICS S120 Equipment Manual for Booksize Power Units C/D Type

• SINAMICS S120 Equipment Manual for Chassis Power Units

• SINAMICS S120 Equipment Manual for Chassis Power Units, Liquid-cooled

• SINAMICS S120 Equipment Manual water-cooled chassis power units for com-

mon cooling circuits

• SINAMICS S120 Equipment Manual for Chassis Power Units, Air-cooled

• SINAMICS S120 Equipment Manual for AC Drives

• SINAMICS S120 Equipment Manual Combi

• SINAMICS S120M Equipment Manual Distributed Drive Technology

• SINAMICS HLA System Manual Hydraulic Drives

• Startdrive Commissioning Tool

• SINAMICS S120 Getting Started

• SINAMICS S120 Commissioning Manual

• SINAMICS S120 Function Manual Drive Functions

• SINAMICS S120 Safety Integrated Function Manual

• SINAMICS S120 Function Manual Communication

• SINAMICS S120/S150 List Manual

• SINAMICS HLA System Manual Hydraulic Drives

• SINAMICS S120 Commissioning Manual

• SINAMICS S120/S150 List Manual

• SINAMICS HLA System Manual Hydraulic Drives

• SINAMICS S120 Commissioning Manual

• SINAMICS S120/S150 List Manual

• SINAMICS S120/S150 List Manual

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Preface

Software

Manual

Alarms

Described in order of ascending numbers

SINAMICS S120/S150 List Manual

Sorted according to topic

Described in order of ascending numbers

Drive functions

SINAMICS S120 Function Manual Drive Functions

firmware V5.2)

Basic and Extended Functions

SINAMICS S120 Safety Integrated Function Manual

Basic Functions

SINAMICS S120 Function Manual Drive Functions

STARTER

SINAMICS S120 Commissioning Manual (up to firmware
V5.1 SP1)

Startdrive

V5.2)

Web server

SINAMICS S120 Function Manual Drive Functions

Hardware

Manual

Units, Air-cooled or Liquid-cooled

AC drive components

SINAMICS S120 Equipment Manual for AC Drives

S120 Combi components

SINAMICS S120 Equipment Manual Combi

V5.1 SP1)

V5.2)

Meaning of the LEDs

Equipment Manuals

High Frequency Drive components

SINAMICS S120 System Manual High Frequency Drives

Where can the various topics be found?

Parameters Described in order of ascending numbers SINAMICS S120/S150 List Manual
Function block

diagrams

Communication topics SINAMICS S120 Function Manual Communication (from

Safety Integrated

SINAMICS S120/S150 List Manual

Commissioning Of a simple SINAMICS S120 drive with

Commissioning With STARTER

Commissioning Of a simple SINAMICS S120 drive with

Commissioning With Startdrive SINAMICS S120 Commissioning Manual (from firmware

Control Units And expansion com-

ponents:

• Control Units

• Option Boards

• Terminal Modules

Power units
booksize

Power units, booksize C/D type format SINAMICS S120 Equipment Manual for Booksize Power

Chassis power units SINAMICS S120 Equipment Manual for Chassis Power

• Line connection

• Line Modules

• Motor Modules

• HUB Modules

• VSM10

• Encoder system

connection

• DC link compo-

nents

• Braking resistors

• Control cabinet

design

Getting Started (up to Firmware V5.1 SP1)

Getting Started (from Firmware V5.2)

SINAMICS S120 Equipment Manual for Control Units
and Additional System Components

SINAMICS S120 Equipment Manual for Booksize
Power Units

Units
C/D Type

Diagnostics via
LEDs

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STARTER SINAMICS S120 Commissioning Manual (up to firmware

Startdrive SINAMICS S120 Commissioning Manual (from firmware

5

Preface

Target group

This documentation is intended for machine manufacturers, commissioning engineers, and
service personnel who use the SINAMICS drive system.

Benefits

This manual provides all of the information, procedures and operator actions required for the
particular usage phase.

Standard scope

The scope of the functionality described in this document can differ from that of the drive
system that is actually supplied.

● Other functions not described in this documentation might be able to be executed in the

drive system. However, no claim can be made regarding the availability of these functions
when the equipment is first supplied or in the event of service.

● The documentation can also contain descriptions of functions that are not available in a

particular product version of the drive system. Please refer to the ordering documentation
only for the functionality of the supplied drive system.

● Extensions or changes made by the machine manufacturer must be documented by the

machine manufacturer.

For reasons of clarity, this documentation does not contain all of the detailed information on
all of the product types, and cannot take into consideration every conceivable type of
installation, operation and service/maintenance.

Technical Support

Country-specific telephone numbers for technical support are provided in the Internet at the
following address (https://support.industry.siemens.com/sc/ww/en/sc/2090) in the "Contact"
area.

Information about CANopen

Information about communication via CANopen is provided in the following Manual:

● SINAMICS S120 Commissioning Manual CANopen Interface

Compliance with the General Data Protection Regulation

Siemens respects the principles of data protection, in particular the data minimization rules
(privacy by design).

For this product, this means:
The product does not process neither store any person-related data, only technical function
data (e.g. time stamps). If the user links these data with other data (e.g. shift plans) or if he
stores person-related data on the same data medium (e.g. hard disk), thus personalizing
these data, he has to ensure compliance with the applicable data protection stipulations.

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Preface

•

Fault 12345

•

Alarm 67890

•

Safety message

•

Adjustable parameter 918

•

Display parameter 1024

•

Adjustable parameter 1

•

Adjustable parameter 2098, index 1 bit 3

•

Adjustable parameter 99, indices 0 to 3

•

Display parameter 945, index 2 of drive object 3

•

Adjustable parameter 795, bit 4

Notation

The following notation and abbreviations are used in this documentation:

Notation for faults and alarms (examples):

F12345
A67890
C23456

Notation for parameters (examples):

p0918
r1024
p1070[1]
p2098[1].3
p0099[0...3]
r0945[2](3)
p0795.4

070, index 1

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Preface

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Table of contents

Preface ................................................................................................................................................... 3

1 Fundamental safety instructions ............................................................................................................ 13

1.1 General safety instructions ..................................................................................................... 13

1.2 Warranty and liability for application examples ...................................................................... 13

1.3 Industrial security .................................................................................................................... 14

2 General information .............................................................................................................................. 17

2.1 Field of application .................................................................................................................. 17

2.2 Platform Concept and Totally Integrated Automation ............................................................. 18

2.3 System overview ..................................................................................................................... 20

2.4 X127 LAN (Ethernet)............................................................................................................... 22

2.5 Communication services and used port numbers .................................................................. 23

2.6 Time synchronization between the control and converter ...................................................... 26

2.6.1 Setting SINAMICS time synchronization ................................................................................ 28

2.6.2 Set NTP time synchronization ................................................................................................ 29

2.6.3 Messages and parameters ..................................................................................................... 30

3 Communication according to PROFIdrive .............................................................................................. 31

3.1 PROFIdrive application classes .............................................................................................. 34

3.2 Cyclic communication ............................................................................................................. 37

3.2.1 Telegrams and process data .................................................................................................. 37

3.2.2 Information about control words and status words ................................................................. 41

3.2.3 Examples ................................................................................................................................ 42

3.2.4 Motion control with PROFIdrive .............................................................................................. 45

3.3 Parallel operation of communication interfaces ...................................................................... 48

3.4 Acyclic communication............................................................................................................ 51

3.4.1 General information about acyclic communication ................................................................. 51

3.4.2 Structure of requests and responses ...................................................................................... 53

3.4.3 Determining the drive object numbers .................................................................................... 59

3.4.4 Example 1: read parameters .................................................................................................. 60

3.4.5 Example 2: Writing parameters (multi-parameter request)..................................................... 62

3.5 Diagnostics channels .............................................................................................................. 66

3.5.1 PROFINET-based diagnostics ................................................................................................ 67

3.5.2 PROFIBUS-based diagnostics ............................................................................................... 70

3.5.2.1 Standard diagnostics .............................................................................................................. 71

3.5.2.2 Identifier-related diagnostics ................................................................................................... 71

3.5.2.3 Status messages/module status ............................................................................................. 72

3.5.2.4 Channel-related diagnostics ................................................................................................... 73

3.5.2.5 Data sets DS0/DS1 and diagnostics alarm............................................................................. 74

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Table of contents

3.6 Configuring telegrams in Startdrive........................................................................................ 75

3.6.1 Displaying telegram configuration .......................................................................................... 75

3.6.2 Settings for SINAMICS S120, S150, G150, G130, MV ......................................................... 76

4 Communication via PROFIBUS DP ....................................................................................................... 79

4.1 General information about PROFIBUS .................................................................................. 79

4.1.1 General information about PROFIBUS for SINAMICS .......................................................... 79

4.1.2 Example: telegram structure for cyclic data transmission ..................................................... 82

4.2 Commissioning PROFIBUS ................................................................................................... 85

4.2.1 Setting the PROFIBUS interface ............................................................................................ 85

4.2.2 PROFIBUS interface in operation .......................................................................................... 88

4.2.3 Commissioning PROFIBUS ................................................................................................... 89

4.2.4 Diagnostics options ................................................................................................................ 90

4.2.5 SIMATIC HMI addressing ...................................................................................................... 90

4.2.6 Monitoring telegram failure .................................................................................................... 92

4.3 Motion Control with PROFIBUS ............................................................................................. 94

4.4 Slave-to-slave communication ............................................................................................... 98

4.4.1 Setpoint assignment in the subscriber ................................................................................. 100

4.4.2 Activating/parameterizing slave-to-slave communication .................................................... 100

4.4.3 Commissioning PROFIBUS slave-to-slave communication ................................................ 102

4.4.4 Diagnosing PROFIBUS slave-to-slave communication ....................................................... 108

4.5 Messages via diagnostics channels..................................................................................... 108

5 Communication via PROFINET IO ....................................................................................................... 111

5.1 General information about PROFINET IO ........................................................................... 111

5.1.1 Real-time (RT) and isochronous real-time (IRT) communication ........................................ 113

5.1.2 Addresses ............................................................................................................................ 114

5.1.3 Dynamic IP address assignment ......................................................................................... 116

5.1.4 DCP flashing ........................................................................................................................ 118

5.1.5 Data transfer ........................................................................................................................ 118

5.1.6 Communication channels for PROFINET ............................................................................ 120

5.1.7 References ........................................................................................................................... 121

5.1.8 Overview of important parameters ....................................................................................... 122

5.2 RT classes for PROFINET IO .............................................................................................. 124

5.3 PROFINET GSDML ............................................................................................................. 129

5.4 Motion Control with PROFINET ........................................................................................... 131

5.5 Communication with CBE20 ................................................................................................ 135

5.6 Communication via PROFINET Gate .................................................................................. 136

5.6.1 Functions supported by PN Gate ......................................................................................... 137

5.6.2 Preconditions for PN Gate ................................................................................................... 138

5.7 PROFINET with 2 controllers ............................................................................................... 139

5.7.1 Control Unit settings ............................................................................................................. 139

5.7.2 Configuring Shared Device .................................................................................................. 141

5.7.3 Overview of important parameters ....................................................................................... 150

5.8 PROFINET media redundancy ............................................................................................ 151

5.9 PROFINET system redundancy ........................................................................................... 152

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5.9.1 Overview ............................................................................................................................... 152

5.9.2 Design, configuring and diagnostics ..................................................................................... 153

5.9.3 Messages and parameters ................................................................................................... 154

5.10 PROFIenergy ........................................................................................................................ 155

5.10.1 Tasks of PROFIenergy ......................................................................................................... 157

5.10.2 PROFIenergy commands ..................................................................................................... 158

5.10.3 PROFIenergy measured values ........................................................................................... 159

5.10.4 PROFIenergy energy-saving mode ...................................................................................... 160

5.10.5 PROFIenergy inhibit and pause time .................................................................................... 160

5.10.6 Function diagrams and parameters ...................................................................................... 161

5.11 Messages via diagnostics channels ..................................................................................... 161

5.12 Support of I&M data sets 1...4 .............................................................................................. 163

6 Communication via Modbus TCP ........................................................................................................ 165

6.1 Overview ............................................................................................................................... 165

6.2 Configuring Modbus TCP via interface X150 ....................................................................... 167

6.3 Configuring Modbus TCP via interface X1400 ..................................................................... 168

6.4 Mapping tables ...................................................................................................................... 169

6.5 Write and read access using function codes ........................................................................ 172

6.6 Communication via data set 47 ............................................................................................ 175

6.6.1 Communication details.......................................................................................................... 176

6.6.2 Examples: Read parameter .................................................................................................. 176

6.6.3 Examples: Write parameter .................................................................................................. 178

6.7 Communication procedure .................................................................................................... 180

6.8 Messages and parameters ................................................................................................... 181

7 Communication via Ethernet/IP (EIP) .................................................................................................. 183

7.1 Overview ............................................................................................................................... 183

7.2 Connecting the drive device to EIP ....................................................................................... 184

7.3 Requirements for communication ......................................................................................... 185

7.4 Configuring EIP via the onboard PROFINET X150 interface ............................................... 186

7.5 Configuring EIP via the X1400 interface at the CBE20 ........................................................ 187

7.6 Supported objects ................................................................................................................. 188

7.7 Integrating the drive device into the EIP network via DHCP ................................................ 200

7.8 Messages and parameters ................................................................................................... 201

8 Communication via SINAMICS Link .................................................................................................... 203

8.1 Basic principles of SINAMICS Link ....................................................................................... 203

8.2 Topology ............................................................................................................................... 205

8.3 Configuring and commissioning ............................................................................................ 207

8.4 Example ................................................................................................................................ 211

8.5 Communication failure when booting or in cyclic operation.................................................. 214

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Table of contents

8.6 Examples: Transmission times for SINAMICS Link ............................................................. 214

8.7 Function diagrams and parameters ..................................................................................... 215

A Appendix ............................................................................................................................................. 217

A.1 List of abbreviations ............................................................................................................. 217

A.2 Documentation overview ...................................................................................................... 227

Index ................................................................................................................................................... 229

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1

WARNING

Danger to life if the safety instructions and residual risks are not observed

WARNING

Malfunctions of the machine as a result of incorrect or changed parameter settings

1.1 General safety instructions

If the safety instructions and residual risks in the associated hardware documentation are
not observed, accidents involving severe injuries or death can occur.

• Observe the safety instructions given in the hardware documentation.

• Consider the residual risks for the risk evaluation.

As a result of incorrect or changed parameterization, machines can malfunction, which in
turn can lead to injuries or death.

• Protect the parameterization (parameter assignments) against unauthorized access.

• Handle possible malfunctions by taking suitable measures, e.g. emergency stop or

emergency off.

1.2 Warranty and liability for application examples

Application examples are not binding and do not claim to be complete regarding
configuration, equipment or any eventuality which may arise. Application examples do not
represent specific customer solutions, but are only intended to provide support for typical
tasks.

As the user you yourself are responsible for ensuring that the products described are
operated correctly. Application examples do not relieve you of your responsibility for safe
handling when using, installing, operating and maintaining the equipment.

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Fundamental safety instructions

Note
Industrial security

Siemens provides products and solutions with industrial security functions that support the
secure operation of plants, systems, machines and net

In order to protect plants, systems, machines and networks against cyber threats, it is
necessary to implement
security concept. Siemens’ products and solutions constitute one ele

Customers are responsible for preventing unauthorized access to their plants, systems,
machines and networks. Such systems, machines and components should only be
connected to an enterprise network or the Internet if and to the exte
necessary and only when appropriate security measures (e.g. firewalls and/or network
segmentation) are in place.

For additional information on industrial security measures that may be implemented, please
visit:

Industrial security

Siemens’ products and solutions undergo continuous development to make them more
secure. Siemens strongly recommends that product updates are applied as soon as they are
available and that the latest product versions are used. Use of product versions that are no
longer supported, and failure to apply the latest updates may increase customer’s exposure
to cyber threats.

To stay informed about product upd
Feed at:

Industrial security (

1.3 Industrial security

1.3 Industrial security

works.

– and continuously maintain – a holistic, state-of-the-art industrial

ment of such a concept.

nt such a connection is

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

ates, subscribe to the Siemens Industrial Security RSS

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

Further information is provided on the Internet:

Industrial Security Configuration Manual
(https://support.industry.siemens.com/cs/ww/en/view/108862708)

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Fundamental safety instructions

WARNING

Unsafe operating states resulting from software manipulation

1.3 Industrial security

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

• Keep the software up to date.

• Incorporate the automation and drive components into a holistic, state-of-the-art

industrial security concept for the installation or machine.

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

concept.

• Protect files stored on exchangeable storage media from malicious software by with

suitable protection measures, e.g. virus scanners.

• Protect the drive against unauthorized changes by activating the "know-how protection"

drive function.

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Fundamental safety instructions

1.3 Industrial security

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2

2.1 Field of application

SINAMICS is the family of drives from Siemens designed for machine and plant engineering
applications. SINAMICS offers solutions for all drive tasks:

● Simple pump and fan applications in the process industry

● Complex single drives in centrifuges, presses, extruders, elevators, as well as conveyor

and transport systems

● Drive line-ups in textile, plastic film, and paper machines as well as in rolling mill plants

● High-precision servo drives in the manufacture of wind turbines

● Highly dynamic servo drives for machine tools, as well as packaging and printing

machines

Figure 2-1 SINAMICS applications

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General information

2.2 Platform Concept and Totally Integrated Automation

Depending on the application, the SINAMICS range offers the ideal variant for any drive
task.

● SINAMICS S handles complex drive tasks with synchronous motors and induction motors

and fulfills stringent requirements regarding:
– the dynamic performance and accuracy
– the integration of extensive technological functions in the drive control system

● SINAMICS G is designed for standard applications with induction motors. These

applications have less stringent requirements regarding the dynamic performance of the
motor speed.

● SINAMICS V is designed to address applications where basic drive functions are

available quickly and at a favorable cost - and which are easy to handle.

2.2 Platform Concept and Totally Integrated Automation

All SINAMICS versions are based on a platform concept. Joint hardware and software
components, as well as standardized tools for design, configuration, and commissioning
tasks ensure high-level integration across all components. SINAMICS handles a wide variety
of drive tasks with no system gaps. The different SINAMICS versions can be easily
combined with each other.

Totally Integrated Automation (TIA) with SINAMICS S120

Apart from SIMATIC, SIMOTION and SINUMERIK, SINAMICS is one of the core
components of TIA. It is thus possible to parameterize, program and commission all
components in the automation system via the Startdrive commissioning tool using a
standardized engineering platform and without any system transitions (seamless
engineering). The system-wide data management functions ensure consistent data and
simplify archiving of the entire plant project.

From V14, the Startdrive commissioning tool is an integral element of the TIA platform.

SINAMICS S120 supports communication via PROFINET and PROFIBUS DP.

Communication via PROFINET

This Ethernet-based bus enables control data to be exchanged at high speed via
PROFINET IO with IRT or RT and makes SINAMICS S120 a suitable choice for integration
in high-performance multi-axis applications. At the same time, PROFINET also uses
standard IT mechanisms (TCP/IP) to transport information, e.g. operating and diagnostic
data, to higher-level systems. This makes it easy to integrate into an IT corporate network.

Communication via PROFIBUS DP

This bus provides a high-performance, system-wide and integrated communication network
which links all automation components of the automation solution:

● HMI (operator control and monitoring)

● Control

● Drives and I/O

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General information

2.2 Platform Concept and Totally Integrated Automation

Figure 2-2 SINAMICS as part of the Siemens modular automation system

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General information

2.3 System overview

2.3 System overview

Figure 2-3 System overview, SINAMICS S120 with distributed servo drive technology S120M

Modular system for sophisticated drive tasks

SINAMICS S120 solves complex drive tasks for a wide range of industrial applications and
is, therefore, designed as a modular system. You can choose from many different
harmonized components and functions to create a solution that best meets your
requirements. SIZER, a high-performance engineering tool, makes it easier to select and
determine the optimum drive configuration.

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General information

2.3 System overview

SINAMICS S120 is supplemented by a wide range of motors. SINAMICS S120 optimally
supports:

● SINAMICS S120M

● Synchronous and induction motors

● Linear and torque motors

System architecture with a central Control Unit

On the SINAMICS S120, the drive intelligence is combined with closed-loop control functions
into Control Units. These units are capable of controlling drives in the vector, servo and V/f
control modes. They also perform the speed and torque control functions plus other
intelligent drive functions for all axes on the drive. Cross-axis couplings can be established
within a component and easily configured in the Startdrive commissioning tool using a
mouse.

Functions for higher efficiency

● Basic functions: Speed control, torque control, positioning functions

● Intelligent starting functions for independent restart after power supply interruption

● BICO technology with interconnection of drive-related I/Os for easy adaptation of the

drive system to its operating environment

● Integrated safety functions for rational implementation of safety concepts

● Regulated infeed/regenerative feedback functions for preventing undesirable reactions on

the supply, allowing recovery of braking energy and ensuring greater stability against line
fluctuations.

DRIVE-CLiQ – the digital interface between SINAMICS components

Most of the SINAMICS S120 components, including the motors and encoders, are
connected to each other via the common DRIVE-CLiQ serial interface. The standardized
cables and connectors reduce the variety of different parts and cut storage costs. Encoder
evaluations for converting standard encoder signals to DRIVE-CLiQ are available for third­party motors or retrofit applications.

Electronic rating plates in all components

An important digital linkage element of the SINAMICS S120 drive system are the electronic
type plates integrated in every component. They allow all drive components to be detected
automatically via a DRIVE-CLiQ link. As a result, data does not have to be entered manually
during commissioning or component replacement – helping to ensure that drives are
commissioned more reliably.

The rating plate contains all the relevant technical data about that particular component. For
motors, these are the parameters of the electrical equivalent circuit diagram and key values
of the integrated motor encoder, for example.

In addition to the technical data, the type plate includes logistical data (manufacturer ID,
article number and ID). Since this data can be called up electronically on site or remotely, all
the components used in a machine can always be individually identified, which helps simplify
servicing.

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21

General information

Note
Use

Ethernet interface X127 is intended for commissioning and diagnostics, which means that it
must always be accessible (e.g. for service).

Further, the following restrictions apply to

•

•

2.4 X127 LAN (Ethernet)

2.4 X127 LAN (Ethernet)

X127:

Only local access is possible
No networking - or only local networking in a closed and locked electrical cabinet

permissible

If it is necessary to remotely access the electrical cabinet, then additional security measures
must be applied so that misuse through sabotage, unqualified data manipulation and
intercepting confidential data is completely ruled out (also see "Industrial security
(Page 14)").

Communication

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General information

Protocol

Port number

(2) Link layer
(4) Transport layer

Function

Description
PROFINET protocols

Unique Identifier

01-80-C2-00-00-0E

Identifier

2.5 Communication services and used port numbers

2.5 Communication services and used port numbers

SINAMICS converters support the communication protocols listed in the following table. The
address parameters, the relevant communication layer, as well as the communication role
and the communication direction are decisive for each protocol. You require this information
to match the security measures for the protection of the automation system to the used
protocols (e.g. firewall). The security measures are restricted to Ethernet and PROFINET
networks.

The following table shows the various layers and protocols that are used.

Layers and protocols

DCP
Discovery and Con-

figuration Protocol

LLDP
Link Layer Discovery

Protocol

MRP
Media Redundancy

Protocol

Not relevant (2) Ethernet II and

IEEE 802.1Q and
Ethertype 0x8892
(PROFINET)

Not relevant (2) Ethernet II and

IEEE 802.1Q and
Ethertype 0x88CC
(PROFINET)

Not relevant (2) Ethernet II and

IEEE 802.1Q and
Ethertype 0x88E3
(PROFINET)

Accessible nodes,
PROFINET Dis-

covery and config­uration

PROFINET Link
Layer Discovery
protocol

PROFINET medi­um redundancy

DCP is used by PROFINET to
determine PROFINET devices
and to make basic settings.

DCP uses the special mul­ticast MAC address:

xx-xx-xx-01-0E-CF,
xx-xx-xx = Organizationally

LLDP is used by PROFINET
to determine and manage
neighborhood relationships
between PROFINET devices.

LLDP uses the special mul­ticast MAC address:

MRP enables the control of
redundant routes through a
ring topology.

MRP uses the special mul­ticast MAC address:

xx-xx-xx-01-15-4E,
xx-xx-xx = Organizationally

Unique

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General information

Protocol

Port number

(2) Link layer
(4) Transport layer

Function

Description
Unique Identifier

IO devices via Ethernet.

Connection-oriented communication protocols

ter p8908.

DHCP mode.

and can be deactivated.

and is always required.

2.5 Communication services and used port numbers

PTCP
Precision Transpar-

ent Clock Protocol

PROFINET IO data Not relevant (2) Ethernet II and

PROFINET Context
Manager

FTP
File Transfer Protocol

Not relevant (2) Ethernet II and

IEEE 802.1Q and
Ethertype 0x8892
(PROFINET)

IEEE 802.1Q and
Ethertype 0x8892
(PROFINET)

34964 (4) UDP PROFINET con-

21 (4) TCP Server/

PROFINET
send clock and

time synchronisa­tion, based on
IEEE 1588

PROFINET Cyclic
IO data transfer

nection less RPC

incoming

PTC enables a time delay
measurement

between RJ45 ports and
therefore the send cycle syn­chronization and time syn­chronization.

PTCP uses the special mul­ticast MAC address:

xx-xx-xx-01-0E-CF,
xx-xx-xx = Organizationally

The PROFINET IO telegrams
are used to cyclically transfer
IO data between the
PROFINET IO controller and

The PROFINET context man­ager provides an endpoint
mapper in order to establish
an application relationship
(PROFINET AR).

FTP can be used for the first
commissioning.

FTP can be activat­ed/deactivated using parame-

DHCP
Dynamic Host Con-

figuration Protocol

http
Hypertext Transfer

Protocol

ISO on TCP
(according to
RFC 1006)

Communication

68 (4) UDP Dynamic Host

80 (4) TCP Hypertext transfer

102 (4) TCP ISO-on-TCP proto-

24 Function Manual, 12/2018, 6SL3097-5BD00-0BP0

Configuration Pro­tocol

protocol

col

Is used to query an IP ad­dress.

Is closed when delivered, and
is opened when selecting the

http is used for the communi­cation with the CU-internal
web server.

Is open in the delivery state

ISO on TCP (according to
RFC 1006) is used for the
message-oriented data ex­change to a remote CPU,
WinAC, or devices of other
suppliers.

Communication with ES, HMI,
etc.

Is open in the delivery state

General information

Protocol

Port number

(2) Link layer
(4) Transport layer

Function

Description

SNMP enables the reading out

and is always required.

and can be deactivated.

project data.

not specify the local port.

EtherNet/IP protocols

EtherNet/IP.

EtherNet/IP.

Modbus TCP protocols (server)

Modbus TCP.

2.5 Communication services and used port numbers

SNMP
Simple Network

Management Proto­col

https
Secure Hypertext

Transfer Protocol

Internal
protocol

Reserved 49152...65535 (4) TCP

Explicit messaging 44818 (4) TCP

161 (4) UDP Simple network

443 (4) TCP Secure Hypertext

5188 (4) TCP Server/

(4) UDP

(4) UDP

management pro­tocol

transfer protocol

incoming

- Dynamic port area that is used

- Is used for parameter access,

and setting of network man­agement data (SNMP man­aged Objects) by the SNMP
manager.

Is open in the delivery state

https is used for the communi­cation with the CU-internal
web server via Transport Lay­er Security(TLS).

Is open in the delivery state

Communication with commis­sioning tools for downloading

for the active connection end­point if the application does

etc.
Is closed when delivered, and

is opened when selecting

Implicit messaging 2222 (4) UDP - Is used for exchanging I/O

Request & Response 502 (4) TCP - Is used for exchanging data

data.
Is closed when delivered, and

is opened when selecting

packages.
Is closed when delivered, and

is opened when selecting

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General information

Synchronization type

Accuracy

Basic synchronization

approx. 100ms

Synchronization using ping compensation for isochronous communication

approx. 1 ms

Synchronization with the Network Time Protocol via a PROFINET connection

approx. 10 ms

2.6 Time synchronization between the control and converter

2.6 Time synchronization between the control and converter

In the factory setting, SINAMICS S120 drives use an operating hours counter. Based on the
operating hours, SINAMICS S120 saves alarms and warnings that occur. Using this method,
it is not possible to have a comparable timestamp between various converters.

In order to obtain a comparable timestamp between several converters, you must change
over the operating hours counting to time in the UTC format and synchronize with the time
master (control system).

This means that the events of all bus nodes, which are synchronized with the control system
time, can be referenced with one another.

Benefits: Improved diagnostic options by having a comparable time stamp of the bus nodes
involved.

Converters provide the following options to synchronize the time:

Synchronization using ping compensation for non-isochronous communication approx. 10 ms

Principle of operation of time synchronization

Basic synchronization

The control system transfers the time to the converter at time intervals that you specify in the
control system. Transfer is realized acyclically in the UTC format. The converter accepts this
time as soon as transfer has been completed without correcting the transfer duration. The
converter logs alarms and warnings based on this time.

Time synchronization with ping compensation

At intervals that you specify in the control system, the control system sends a ping (a positive
signal edge) cyclically to the converter. Simultaneously, in acyclic operation, the device
sends the time in the UTC format in what is known as "snap".

As soon as the ping has been received in the drive, a timer starts which measures the time
until the snap has been completely transferred. The drive accepts the time that the snap
transfers. It then corrects it by the time that has expired between receiving the ping and the
complete transfer of the snap.

If the snap has not been transferred within 5 s after receiving the ping, then this
synchronization cycle is not used.

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General information

Communication

Description

sampling time (p2048).

2.6 Time synchronization between the control and converter

Figure 2-4 Ping snap

Differences for isochronous and non-isochronous communication:

Isochronous The ping compensation value is determined in the converter.
not isochronous You can influence the accuracy of the ping compensation using the PZD

Time synchronization via Network Time Protocol (NTP)

Through NTP, all computers worldwide can synchronize their time. An inverter configured as
an NTP client synchronizes the time via a PROFINET connection to an NTP server (a time
source).

As NTP server, the following constellations are possible:

● Local NTP server that receives the time via GPS or DCF77 (e.g. SICLOCK).

● Control as NTP server if the plant network is divided into a control level and a field level.

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General information

2.6 Time synchronization between the control and converter

2.6.1 Setting SINAMICS time synchronization

Setting time synchronization

1. Using p3100, changeover the time format from operating hours into the UTC format (see

"Changing the time format").

2. Set the synchronization technique:
– Basic synchronization (p3103 = 2)
– Time synchronization with ping compensation (p3103 = 0)

3. Using p3104, set the ping source:
– If you are working with one of the telegrams 390, 391 or 392, then the source of the

ping (p3104) is internally connected with bit 1 of the CU control word
(DO1:CU_STW.1). In this case, parameter p3104 is blocked.

– If you are using a free telegram (999), interconnect the ping source (p3104) via BICO

in the control word.

– If you are working with CANopen, interconnect a free bit in the CANopen control word

with p3104 via a BICO connection.

Result:

After time synchronization, the current time is obtained from the time transferred by the time
master plus the necessary delay time associated with the transfer (ping-snap time).
The actual UTC time is displayed in the drive system using r3102.
At certain intervals, synchronization (according to the same technique) is repeated
(depending on the setting in the time master).
If a previously defined tolerance window is exceeded, then alarm A01099 is output. Define
the tolerance window for time synchronization using p3109. If alarm A01099 occurs, then
generally the synchronization interval is too long.
In this case, reduce the synchronization interval in your control system.

Changing the time format

The time format is entered via parameter p3100. This parameter cannot be changed online
To change the value, proceed as follows:

1. Connect Startdrive ONLINE with the converter.

2. Carry out an upload using the "Load from device" function.

3. In Startdrive, exit the ONLINE mode.

4. Offline, make the setting p3100 = 1.

5. Reactivate the ONLINE mode.

6. Carry out a parameter download ("Load to device").

7. Save the settings in a non-volatile fashion on the memory card of the drive.
You have now changed over the converter time format to the UTC format.

Application example

You can find an application example for SINAMICS time synchronization in the SIEMENS
"Industry Online Support":

Example: Specific SINAMICS time synchronization
(https://support.industry.siemens.com/cs/de/en/view/88231134)

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General information

2.6 Time synchronization between the control and converter

2.6.2 Set NTP time synchronization

Setting time synchronization with NTP

1. Using p3100, changeover the time format from operating hours into the UTC format (see

"Changing the time format").

2. Set the synchronization technique NTP (p3103 = 4).

3. Set the IP address of the NTP server used (p3105[0...3]).

– Special case: To use a PROFINET controller as NTP server, set p3105[0...3] = 0.

4. Set the local time zone (p3106).

Result:

After successful NTP time synchronization, the NTP time is converted to the already existing
UTC time.

If a previously defined tolerance window is exceeded, then alarm A01099 is output. The
tolerance window for time synchronization is defined using p3109. If alarm A01099 occurs,
then generally the synchronization interval is too long.

The converter outputs alarm A01097 if it does not reach the set NTP server within 10
minutes.

Changing the time format

The time format is entered via parameter p3100. This parameter cannot be changed online
To change the value, proceed as follows:

1. Connect Startdrive ONLINE with the converter.

2. Carry out an upload using the "Load from device" function.

3. In Startdrive, exit the ONLINE mode.

4. Offline, make the setting p3100 = 1.

5. Reactivate the ONLINE mode.

6. Carry out a parameter download ("Load to device").

7. Save the settings in a non-volatile fashion on the memory card of the drive.

You have now changed over the converter time format to UTC format.

Application example

You can find the following application example in the SIEMENS "Industry Online Support":

Example: Converter as NTP client
(https://support.industry.siemens.com/cs/ww/en/view/82203451)

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General information

•

UTC synchronization tolerance violated

•

NTP server cannot be reached

•

IF1 PROFIdrive PZD sampling time

•

RTC time stam

•

Set UTC time

•

Display UTC time

•

UTC synchronization technique

•

BI: UTC PING synchronization

•

NTP server IP address

•

NTP time zone

•

UTC synchronization time out of tolerance

•

UTC synchronization deviation

•

UTC synchronization tolerance

•

BI: Suppress automatic acknowledgment

2.6 Time synchronization between the control and converter

2.6.3 Messages and parameters

Faults and alarms (see SINAMICS S120/S150 List Manual)

A01099
A01097 (N)

Overview of important parameters (see SINAMICS S120/S150 List Manual)

p2048
p3100
p3101[0...1]
r3102[0...1]
p3103
p3104
p3105[0...3]
p3106
r3107[0...3]
r3108[0...1]
p3109
p3116

p mode

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3

Note

PROFIdrive for drive technology is standardized

•

•

PROFIdrive

PROFIBUS DP

PROFINET IO

Example

automation system)

Note
Consistent naming conventions

For reasons of consistency, the terms "device", "controller", and "supervisor" are used below.
The terms "slave" and "master" are only applied in the PROFIBUS chapter and are used
there still.

PROFIdrive is the PROFIBUS and PROFINET profile for drive technology with a wide range
of applications in production and process automation systems.

PROFIdrive is independent of the bus system used (PROFIBUS, PROFINET).

and described in the following document:

PROFIdrive – Profile Drive Technology,

PROFIBUS User Organization e. V.
Haid-und-Neu-Straße 7, D-76131 Karlsruhe,
Internet: (http://www.profibus.com)

IEC 61800-7

PROFIdrive device classes

Table 3- 1 PROFIdrive device classes

Peripheral device (P device) DP slave IO Device Drive unit, Control Unit

CU320-2

Motion controller (higher­level controller or host of the

Supervisor (engineering
station)

Class 1 DP master IO Controller Higher-level control,

SIMATIC S7 and SIMOTION

Class 2 DP master IO Supervisor Programming devices, hu-

man machine interfaces

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Communication according to PROFIdrive

Properties

Controller

Supervisor

Drive unit

As bus node

Active

Passive

request

Controller

strictions

permitted

Controller, Supervisor and drive unit

Table 3- 2 Properties of the Controller, Supervisor and drive units

Send messages Permitted without external

Receive messages Possible without any re-

Communication types

4 communication types are defined in the PROFIdrive profile:

● Cyclic data exchange via a cyclic data channel
Motion control systems require cyclically updated data in operation for open-loop and
closed-loop control tasks. This data must be sent to the drive units in the form of
setpoints or transmitted from the drive units in the form of actual values, via the
communications system. Transmission of this data is usually time-critical.

● Acyclic data exchange via an acyclic data channel
The PROFIdrive profile also provides an acyclic parameter channel to exchange
parameters between the controller – or the supervisor and drive units. Access to this data
is not time-critical.

● Alarm channel
Alarms are output on an event-driven basis, and show the occurrence and expiry of error
states.

● Isochronous mode
– Cyclic data exchange in a fixed time grid

Only possible on request by the

Only receive and acknowledge

– The controller and device are synchronized

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Communication according to PROFIdrive

IF1

IF2

telegram

Free telegram x x

Isochronous mode x x

Ethernet/IP

Cyclic operation x x

PROFIsafe x x

Note

For additional information on the IF1 and IF2 interfaces, s
communication interfaces

Interface IF1 and IF2

The CU320-2 Control Unit can communicate via two different interfaces (IF1 and IF2).

You can assign both interfaces to the following physical interfaces (p8839):

● (1) Onboard X126 PROFIBUS / X150 PROFINET

● (2) Communication Board X1400

Table 3- 3 Properties of IF1 and IF2

PROFIdrive and SIEMENS

Drive object types All All
Can be used for PROFINET IO

SINAMICS Link

x -

PROFIBUS DP

PN Gate

Ethernet/IP

(Page 48)" in this manual.

Connecting a PG/PC with the Startdrive commissioning tool

PROFINET IO

PROFIBUS DP

CANopen

SINAMICS Link

PN Gate

ee chapter "Parallel operation of

The following connection options are available for Startdrive for commissioning a Control
Unit with a PG/PC using a commissioning tool.

● PROFINET

● Ethernet

See also

Industrial security (Page 14)

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Communication according to PROFIdrive

3.1 PROFIdrive application classes

3.1 PROFIdrive application classes

There are different application classes for PROFIdrive according to the scope and type of the
application processes. PROFIdrive features a total of 6 application classes, the 3 most
important are compared here.

● Class 1 (AK1):

The drive is controlled using a speed setpoint via PROFIBUS/PROFINET. In this case,
speed control is fully handled in the drive.
Typical application examples include simple frequency converters for controlling pumps
and fans.

● Class 3 (AK3):

In addition to the speed control, the drive also includes a positioning control, which
means that it operates as an autonomous single-axis positioning drive while the higher­level technological processes are performed in the control system. Positioning requests
are transferred to the drive controller via PROFINET (or PROFIBUS) and started.

● Class 4 (AK4):

This PROFIdrive application class defines a speed setpoint interface, where the speed
control is realized in the drive and the closed-loop position control in the control system,
such as is required for robotics and machine tool applications with coordinated motion
sequences on multiple drives.

Motion control is primarily implemented using a central numerical controller (NC). The
position control loop is closed via the bus, i.e. the communication between the controller
and the drive must be isochronous.

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Communication according to PROFIdrive

Telegram
(p0922 = x)

Description

Class 1

Class 3

Class 4

1

Speed setpoint, 16-bit

x - -

3

Speed setpoint, 32-bit with 1 position encoder

x - x

vo Control

Servo Control

7

Basic positioner with selection of the traversing block

- x -

9

Basic positioner with direct setpoint input (MDI)

- x -

20

16-bit speed setpoint for VIK-Namur

x - -

81

Standard encoder

- - -

82

Standard encoder with speed actual value 16 bit

- - -

83

Standard encoder with speed actual value 32 bit

- - -

tion

tion

and Dynamic Servo Control

and Dynamic Servo Control

Basic positioner with direct setpoint input (MDI), override, position
actual value and speed actual value

DSC and additional actual values

DSC, additional actual values and 2 external encoders

(encoder 1)

ers (encoder 1 and encoder 2)

ers (encoder 1 and encoder 2), 4 trace signals

encoders (encoder 2 and encoder 3), 4 trace signals

3.1 PROFIdrive application classes

Selection of telegrams depending on the PROFIdrive application class

The following Table provides an overview of which telegram can be used reach which
PROFIdrive application class:

Table 3- 4 Selection of telegrams depending on the PROFIdrive application class

2 Speed setpoint, 32-bit x - -

4 Speed setpoint, 32-bit with 2 position encoders x - x
5 Speed setpoint, 32 bit with 1 position encoder and Dynamic Ser-

- - x

6 Speed setpoint, 32 bit with 2 position encoders and Dynamic

102 Speed setpoint, 32 bit with 1 position encoder and torque reduc-

103 Speed setpoint, 32 bit with 2 position encoders and torque reduc-

105 Speed setpoint, 32 bit with 1 position encoder, torque reduction

106 Speed setpoint, 32 bit with 2 position encoders, torque reduction

110 Basic positioner with direct setpoint input (MDI), override and

position actual value

111

116 32-bit speed setpoint with 2 position encoders, torque reduction,

- - x

x - x

x - x

- - x

- - x

- x -

- x -

- - x

118 32-bit speed setpoint with 2 position encoders, torque reduction,

125 Dynamic Servo Control with torque precontrol, 1 position encoder

126 Dynamic Servo Control with torque precontrol, 2 position encod-

136 Dynamic Servo Control with torque precontrol, 2 position encod-

138 Dynamic Servo Control with torque precontrol, 2 external position

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- - x

- - x

- - x

- - x

- - x

35

Communication according to PROFIdrive

Telegram
(p0922 = x)

Description

Class 1

Class 3

Class 4

values

and encoder 3), additional actual values, adaptation parameters

values, adaptation parameters

tional signals

220

Speed setpoint, 32 bit, metal industry

x - -

352

16-bit speed setpoint for PCS7

x - -

370

Infeed - -

-

371

Infeed, metal industry

- - -

DO 8 … DO 15

… DO 15 and 6 probes

… DO 16, 8 probes and analog input

DO 8 … DO 16

… DO 16 and 16 probes

700

Supplementary PZD-0/3

- - -

701

Supplementary PZD-2/5

- - -

750

Supplementary PZD-3/1

- - -

999

Free interconnection and length

x x x

3.1 PROFIdrive application classes

139 Speed/position control with Dynamic Servo Control and torque

precontrol, 1 position encoder, clamping status, additional actual

146 Closed-loop speed/position control with Dynamic Servo Control

and torque precontrol, 2 position encoders (encoder 1 and en­coder 2), additional actual values, adaptation parameters

148 Closed-loop speed/position control with Dynamic Servo Control

and torque precontrol, 2 external position encoders (encoder 2

149 Speed/position control with Dynamic Servo Control and torque

precontrol, 1 position encoder, clamping status, additional actual

166 Hydraulic axis (HLA) with two encoder channels and HLA addi-

390 Control Unit with digital inputs DI 0 … DI 15 and digital outputs

391 Control Unit with digital inputs DI 0 … DI 15, DO 8 … DO 15 and

2 probes

392 Control Unit with digital inputs DI 0 … DI 15, digital outputs DO 8

- - x

- - x

- - x

- - x

- - -

- - -

- - -

- - -

393 Control Unit with digital inputs DI 0 … DI 22, digital outputs DO 8

394 Control Unit with digital inputs DI 0 … DI 22 and digital outputs

395 Control Unit with digital inputs DI 0 … DI 22, digital outputs DO 8

Dynamic Servo Control (DSC)

The PROFIdrive profile contains the "Dynamic Servo Control" control concept. This requires
PROFIdrive application class 4 and transfers not only the speed setpoint, but also the KPC
position controller gain factor and the XERR system deviation. With the aid of this data, the
position controller can be calculated in the drive. The position setpoint interpolation is still
performed in the controller. This can be used to significantly increase the dynamic
stability/stiffness of the position control loop in PROFIdrive application class 4.

- - -

- - -

- - -

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Communication according to PROFIdrive

3.2 Cyclic communication

3.2 Cyclic communication

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

3.2.1 Telegrams and process data

The process data (PZD) that is to be transferred is defined through the configuration of the
drive unit (Control Unit). From the perspective of the drive unit, the received process data
represents the receive words and the process data to be sent the send words.

PROFIdrive telegrams

● Standard telegrams

The standard telegrams are structured in accordance with the PROFIdrive profile. The
drive-internal process data links are set up automatically in accordance with the set
telegram number.

The SINAMICS S120/S150 List Manual contains the standard telegrams in the following
function diagrams:

– 2415 PROFIdrive - Standard telegrams and process data 1
– 2416 PROFIdrive - Standard telegrams and process data 2

● Manufacturer-specific telegrams

The manufacturer-specific telegrams are structured in accordance with internal company
specifications. The drive-internal process data links are set up automatically in
accordance with the set telegram number.

The SINAMICS S120/S150 List Manual contains the manufacturer-specific telegrams
(SIEMENS telegrams) in the following function diagrams:

– 2419 PROFIdrive - Manufacturer-specific telegrams and process data 1
– 2420 PROFIdrive - Manufacturer-specific telegrams and process data 2
– 2421 PROFIdrive - Manufacturer-specific telegrams and process data 3
– 2422 PROFIdrive - Manufacturer-specific telegrams and process data 4

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Communication according to PROFIdrive

SERVO, TM41

VECTOR

CU_S

A_INF, B_INF,

S_INF

TB30, TM31,
TM15DI_DO,

TM120,

TM150

ENCODER

Receive process data

nector output

or output

15

er

Send process data

nector input

10]

or input

11]

verter

3.2 Cyclic communication

● Supplementary telegrams

The SINAMICS S120/S150 List Manual contains supplementary telegrams in the
following function diagrams:

– 2423 PROFIdrive - Manufacturer-specific/free telegrams and process data

● Free telegrams (p0922 = 999)

The SINAMICS S120/S150 List Manual contains free telegrams in the following function
diagrams:

– 2468 PROFIdrive – IF1 receive telegram, free interconnection via BICO (p0922 = 999)
– 2470 PROFIdrive – IF1 send telegram, free interconnection via BICO (p0922 = 999)

The receive and send data can be freely connected using BICO technology.

DWORD con-

WORD connect-

Binector output r2090.0 ... 15

Free connector­binector convert-

DWORD con-

WORD connect-

Free binector­connector con-

r2060[0 ... 18] r2060[0 ... 30] - - - r2060[0 ... 2]

r2050[0 ... 19] r2050[0 ... 31] r2050[0 ... 19] r2050[0 ... 9] r2050[0 ... 4] r2050[0 ... 3]

r2091.0 ... 15
r2092.0 ... 15
r2093.0 ... 15

p2099[0 ... 1] / r2094.0 ... 15, r2095.0 ... 15

p2061[0 ... 26] p2061[0 ... 30] - - - p2061[0 ...

p2051[0 ... 27] p2051[0 ... 31] p2051[0 ... 24] p2051[0 ... 9] p2051[0 ... 4] p2051[0 ...

p2080[0 ... 15], p2081[0 ... 15], p2082[0 ... 15], p2083[0 ... 15], p2084[0...15] / r2089[0 ... 4]

r2090.0 ... 15
r2091.0 ... 15

r2090.0 ...

15

r2091.0 ...

15

r2092.0 ...

15

r2093.0 ...

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3.2 Cyclic communication

Telegram interconnections

● The telegram interconnection is made automatically and blocked.

Telegrams 20, 111, 220, 352 are exceptions. There, in addition to the fixed
interconnections, selected process data (PZD) can be interconnected as required in the
send/receive telegram.

● When you change p0922 ≠ 999 to p0922 = 999, the previous telegram interconnection is

retained. You can now change this telegram interconnection.

● If p0922 = 999, a telegram can be selected in p2079. A telegram interconnection is

automatically made and blocked. The telegram can also be extended.

This is an easy method for creating extended telegram interconnections on the basis of
existing telegrams.

The telegram structure

● Parameter p0978 contains the drive objects that use a cyclic PZD exchange. All drive

objects after the first zero do not participate in the cyclic exchange.

● If the value 255 is written to p0978, this drive object is visible to the PROFIdrive controller

and empty (without actual process data exchange). This permits cyclic communication of
a PROFIdrive controller in the following cases:

– with unchanged configuration to drive units that have a different number of drive

objects.

– with deactivated drive objects, without having to change the project

● One PZD = one word.

● Physical word and double word values are inserted in the telegram as referenced

variables.

● p200x apply as reference variables (telegram contents = 4000 hex or 4000 0000 hex in

the case of double words if the input variable has the value p200x).

Figure 3-1 Normalization of speed

You can find the detailed structure of the telegrams in the SINAMICS S120/S150 List Manual
in the associated function diagrams.

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Drive object

Telegrams (p0922)

Function dia­grams

A_INF

370, 371, 999

2421, 2423

S_INF

370, 371, 999

2421, 2423

SERVO (EPOS)

7, 9, 110, 111, 999

2415, 2423

SERVO (position control)

139, 149, 999

2420, 2423

2421, 2423

2423

ENC

81, 82, 83, 999

2416, 2423

TM15DI_DO

No predefined telegram.

-

2423

TM31

No predefined telegram.

-

TM41

3, 999

2415, 2423

TM120

No predefined telegram.

-

TM150

No predefined telegram.

-

TB30

No predefined telegram.

-

CU_S

390, 391, 392, 393, 394, 395, 999

2422, 2423

Drive objects

Maximum number of PZD

Send

Receive

A_INF

10

10

B_INF

10

10

SERVO

28

20

VECTOR

32

32

ENC

12

4

TM15DI_DO

5

5

TM31

5

5

TM41

28

20

TM120

5

5

TM150

5

5

TB30

5 5 CU

25

20

3.2 Cyclic communication

Which drive objects support which telegrams?

B_INF 370, 371, 999 2421, 2423

SERVO 1, 2, 3, 4, 5, 6, 102, 103, 105, 106, 116, 118, 125, 126,

136, 138, 139, 146, 148, 149, 220, 999

VECTOR 1, 2, 3, 4, 20, 220, 352, 999 2415, 2416,

VECTOR (EPOS) 7, 9, 110, 111, 999 2415, 2419,

HLA 166, 999 2415, 2420,

2415, 2419,
2420, 2423

Depending on the drive object, different process data (PZD) can be sent and received:

S_INF 10 10

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•

PROFIdrive

•

PROFIdrive

•

PROFIdrive

•

PROFIdrive

3.2 Cyclic communication

Interface Mode

Interface Mode is used for displaying the assignment of the control and status words in line
with other drive systems and standardized interfaces.

Interface Mode cannot be set by p2038, but rather by setting the telegrams in p0922:

● When standard telegram 20 is set, the "VIK-NAMUR" Interface Mode is permanently

specified (p2038 = 2). This relationship cannot be changed.

● When telegrams 102, 103, 105, 106, 116, 118, 125, 126, 136, 138, 139, 146, 148, 149

and 166 are set, the "SIMODRIVE 611 universal" Interface Mode is permanently specified
(p2038 = 1). This relationship cannot be changed.

● When all other telegrams are set, the "SINAMICS" Interface Mode is permanently

specified (p2038 = 0). This relationship cannot be changed.

3.2.2 Information about control words and status words

Overview of control words and setpoints

A detailed overview of the control words and setpoints is contained in the SINAMICS
S120/S150 List Manual in the following function diagrams:

2439
2440

- PZD receive signals, profile-specific interconnection

- PZD receive signals, manufacturer-specific interconnection

Overview of status words and actual values

A detailed overview of the status words and actual values is contained in the SINAMICS
S120/S150 List Manual in the following function diagrams:

2449
2450

- PZD send signals, profile-specific interconnection

- PZD send signals, manufacturer-specific interconnection

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3.2 Cyclic communication

3.2.3 Examples

Based on the PROFIdrive communication of the encoder interface, the following application
examples show:

● The chronological sequence of the communication

● The chronological changes to the control and status words

● The mutual dependencies of these changes

Example: Encoder interface

Figure 3-2 Example of encoder interface (encoder 1: Two actual values, encoder 2: One actual

value)

Example: Find reference mark

Assumptions for the example:

● Distance-coded reference mark

● Two reference marks (function 1 / function 2)

● Position control with encoder 1

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3.2 Cyclic communication

Figure 3-3 Sequence chart for "Find reference mark"

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3.2 Cyclic communication

Example: Flying measurement

Assumptions for the example:

● Measuring probe with rising edge (function 1)

● Position control with encoder 1

Figure 3-4 Sequence chart for "Flying measurement"

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Note

The isochronous drive coupling is defined in the following documentation:
PROFIdrive Profile Drive Technology

PROFIBUS User Organization e.
Haid
Internet: (

3.2 Cyclic communication

3.2.4 Motion control with PROFIdrive

An isochronous drive coupling can be established between the control and device using the
"Motion control with PROFIdrive" function.

V.

-und-Neu-Straße 7, D-76131 Karlsruhe,

http://www.profibus.com)

Properties

● No additional parameters need to be entered in addition to the bus configuration in order

to activate this function, the master and slave must only be preset for this function
(PROFIBUS).

● The controller-side default setting is made via the hardware configuration, e.g. HW Config

with SIMATIC S7. The device-side default setting is made using the parameterization
telegram when the bus ramps up.

● Fixed sampling times are used for all data communication.

● The Global Control (GC) clock information on PROFIBUS is sent before the beginning of

each cycle.

● The cycle length depends on the bus configuration. When the cycle is selected, the bus

configuration tool (e.g. HW Config) supports:
– Large number of drives per device/drive unit → longer cycle
– Large number of devices/ drive units → longer cycle

● A sign-of-life counter is used to monitor user data transfer and clock pulse failures.

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3.2 Cyclic communication

Overview of closed-loop control

● Position actual value sensing in the device is alternatively realized using an:
– Indirect measuring system (motor encoder)
– Additional direct measuring system

● The encoder interface must be configured in the process data.

● The control loop is closed via PROFIBUS.

● The position controller is located in the controller.

● The current and speed control and actual value sensing (encoder interface) are located in

the device.

● The position controller cycle is transferred via the fieldbus to the devices.

● The slaves synchronize their speed and/or current controller sampling time with the

position controller clock cycle of the controller.

● The speed setpoint is specified by the controller.

Figure 3-5 Overview of "Motion Control with PROFIBUS" (example: controller and 3 devices)

Structure of the data cycle

The data cycle comprises the following elements:

● Global control telegram (PROFIBUS only)

● Cyclic part - setpoints and actual values

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3.2 Cyclic communication

● Acyclic part - parameters and diagnostic data

● Reserve (PROFIBUS only)

– Token passing (Token Holding Time, TTH)
– For searching for a new node in the drive line-up (GAP)
– Waiting time until start of the next cycle

Figure 3-6 Isochronous drive coupling / motion control with PROFIdrive

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Feature

IF1

IF2

Setpoint (BICO signal source)

r2050, r2060

r8850, r8860

3.3 Parallel operation of communication interfaces

3.3 Parallel operation of communication interfaces

The two cyclic interfaces for the setpoints and actual values differ by the parameter ranges
used (BICO technology etc.) and the functions that can be used. The interfaces are
designated as cyclic interface 1 (IF1) and cyclic interface 2 (IF2).

Cyclic process data (setpoints / actual values) are processed using interfaces IF1 and IF2.
The following interfaces are used:

● Onboard interfaces of the Control Unit for PROFIBUS DP or PROFINET.

● An optional interface (COMM BOARD) for PROFINET (CBE20) or CANopen (CBC10) for

insertion in the Control Unit.

Parameter p8839 is used to set the parallel use of the Control Unit onboard interfaces and
COMM - BOARD in the SINAMICS system. The functionality is assigned to interfaces IF1
and IF2 using indices.

For example, the following applications are possible:

● PROFIBUS DP for control and PROFINET to acquire
actual values / measured values of the drive

● PROFIBUS DP for control and PROFINET for engineering only

● Mixed mode with two masters (the first for logic and coordination and the second for

technology)

● SINAMICS Link via IF2 (CBE20); standard telegrams and PROFIsafe via IF1

● Operation of redundant communication interfaces

Assignment of communication interfaces to cyclic interfaces

With the factory setting p8839 = 99, the communication interfaces are permanently assigned
one of the cyclic interfaces (IF1, IF2), depending on the communication system, e.g.
PROFIBUS DP, PROFINET or CANopen.

The assignment to the cyclic interfaces can essentially be freely defined by user
parameterization for the parallel operation of the communication interfaces.

Properties of the cyclic interfaces IF1 and IF2

Table 3- 5 Properties of the cyclic interfaces IF1 and IF2

Actual value (BICO signal sink) p2051, p2061 p8851, p8861

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Plugged hardware interface

IF1

IF2

(PROFIBUS, PROFINET or USS)

Unit onboard USS

interface)

PROFINET

PROFINET

CAN option CBC10

Control Unit onboard

COMM BOARD CAN

Note
Parallel operation of PROFIBUS and PROFINET

Either the isochronous mode or the PROFIsafe functionality can be assigned to an interface
via p8815 (IF1 or IF2).

Example:

•

•

Additional parameter assignment options a
CBE20 is inserted in the CU320

•

•

3.3 Parallel operation of communication interfaces

Table 3- 6 Implicit assignment of hardware to the cyclic interfaces for p8839[0] = p8839[1] = 99

No option, only use Control Unit onboard interface

CU320-2 DP with CBE20 (optional PROFINET
interface)

CU320-2 PN with CBE20 (optional PROFINET

Control Unit onboard --

COMM BOARD Control Unit onboard

PROFIBUS or Control

Control Unit onboard

COMM BOARD

Parameter p8839[0,1] is used to set the parallel operation of the hardware interfaces and the
assignment to the cyclic interfaces IF1 and IF2 for the Control Unit drive object.

The sequence of objects is in line with p0978 (list of drive objects) for both interfaces.

The factory setting of p8839[0,1] = 99 enables the implicit assignment (see table above).

An alarm is generated in case of invalid or inconsistent parameterization of the assignment.

p8815[0] = 1: IF1 supports the isochronous mode.
p8815[1] = 2: IF2 supports PROFIsafe.

re possible if additionally the PROFINET module

-2 DP:

p8839[0] = 1 and p8839[1] = 2: PROFIBUS isochronous, PROFINET cyclic
p8839[0] = 2 and p8839[1] = 1: PROFINET isochronous, PROFIBUS cyclic

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Note

Using the HW Config configuration tool, a PROFIBUS slave / PROFINET device with two
interfaces cannot be sh
appears twice in the project or in two projects, although physically it is just one device.

p8839

PZD Interface hardware assignment

2.

Values:

0: Inactive

1: Control Unit onboard

2: COMM BOARD

99: Automatic

3.3 Parallel operation of communication interfaces

Parameters for IF2

The following parameters are available in order to tune the IF2 for a PROFIBUS or
PROFINET interface:

Parameter

● Receive and send process data:
r8850, p8851, r8853, r8860, p8861, r8863

1)

● Diagnostic parameters:
r8874, r8875, r8876

1)

● Binector-connector converters:
p8880, p8881, p8882, p8883, p8884, r8889

1)

● Connector-binector converters:
r8894, r8895, p8898, p8899

1)

Meaning of 88xx is identical to 20xx (for IF1)

1)

own. In parallel operation, this is the reason that SINAMICS drive

Description: Assigning the hardware for cyclic communication via PZD interface 1 and interface

For p8839, the following rules apply:

● The setting of p8839 applies for all drive objects of a Control Unit (device parameter).

● For the setting p8839[0] = 99 and p8839[1] = 99 (automatic assignment, factory setting),

the hardware used is automatically assigned to interfaces IF1 and IF2. Both indices must
be selected so that the automatic assignment is activated. If both indices are not
selected, then an alarm is output and the setting p8839[x] = 99 is treated just like
'inactive'.

● An alarm is issued if the same hardware (Control Unit onboard or COMM BOARD) is
selected in p8839[0] and p8839[1]. The following then applies: The setting of p8839[0] is
valid, and the setting of p8839[1] is treated like 'inactive'.

● If the CAN board (CBC10) is used, the entry of p8839[0] = 2 is not permissible (no
assignment of the CAN board to IF1). An alarm is then issued.

● If p8839[x] is set to 2, and the COMM BOARD is missing or defective, then the
corresponding interface is not supplied from the Control Unit onboard interface. Message
A08550 is output instead.

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•

IF1 PROFId

•

List of drive objects

•

IF1/IF2 PZD functionality selection

•

PZD interface hardware assignment

3.4 Acyclic communication

Overview of important parameters (see SINAMICS S120/S150 List Manual)

p0922

rive PZD telegram selection

p0978[0...n]
p8815[0...1]
p8839[0...1]

3.4 Acyclic communication

3.4.1 General information about acyclic communication

With acyclic communication, as opposed to cyclic communication, data transfer takes place
only when an explicit request is made (e.g. in order to read and write parameters).

The "Read data record" and "Write data record" services are available for acyclic
communication.

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Note

A detailed description of acyclic communication is provided in the following reference:

•

Addressing:

•

•

to a module as of slot 1. Parameters cannot be accessed via socket 0.

3.4 Acyclic communication

The following options are available for reading and writing parameters:

● S7 protocol

This protocol uses the Startdrive commissioning tool in online operation via
PROFIBUS/PROFINET.

● PROFIdrive parameter channel with the following data sets:
– PROFIBUS: Data block 47 (0x002F)

The DPV1 services are available for master class 1 and class 2.

– PROFINET: Data block 47 and 0xB02F al global access, data set 0xB02E as local

access

References: PROFIdrive profile

You can obtain the current version from "PROFIBUS and PROFINET International
(PI) (https://www.profibus.com/download/profidrive-profile-drive-technology/)".

PROFIBUS DP

The addressing is carried out via the logical address or the diagnostics address.

PROFINET IO

The addressing is only undertaken using a diagnostics address which is assigned

Figure 3-7 Reading and writing data

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Parameter request

Offset

Request reference

Request ID

0

Attribute

Number of elements

4

Subindex

8

...

Attribute

Number of elements

Parameter number

Subindex

Format

Number of values

Values

...

...

Format

Number of values

Values

...

3.4 Acyclic communication

Characteristics of the parameter channel

● One 16-bit address exists for each parameter number and subindex.

● Concurrent access by several additional PROFIBUS masters (master class 2) or

PROFINET IO supervisor (e.g. commissioning tool).

● Transfer of different parameters in one access (multiple parameter request).

● Transfer of complete arrays or part of an array possible.

● Only one parameter request is processed at a time for each controller/device connection

(no pipelining).

● A parameter request/response must fit into a data set (e.g. PROFIBUS: Max. 240 bytes).

● The request or the response header is user data.

3.4.2 Structure of requests and responses

Structure of parameter request and parameter response

Values for
write access
only

Request header

Axis Number of parameters 2

1st parameter address

Parameter number 6

nth parameter address

1st parameter value(s)

nth parameter value(s)

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Parameter response

Offset

Request reference mirrored

Response ID

0

Format

Number of values

4

Values or error values

6

...

...

Format

Number of values

Values or error values

...

Field

Data type

Values

Remark

Unsigned8

0x01 ... 0xFF

its response.

0x02

Write request

(p0971, p0977).

0x82

Write request (-)

The error values are transferred instead of the values for each subresponse.

Unsigned8

0x01 ... 0xFE

Number

same DPV1 connection.

Limited by DPV1 telegram length

The number of parameters = 1 for single requests.

0x30

Text (not implemented)

Type of parameter element accessed.

3.4 Acyclic communication

Values for
read access
only

Error values
for negative
response only

Response header

Axis mirrored Number of parameters 2

1st parameter value(s)

nth parameter value(s)

Description of fields in the parameter request and response

Request reference

Unique identification of the request/response pair for the controller. The controller changes
the request reference with each new request. The device mirrors the request reference in

Request ID Unsigned8 0x01

Specifies the type of request.
In the case of a write request, the changes are made in a volatile memory (RAM). A save

operation is needed in order to transfer the modified data to the non-volatile memory

Read request

Response ID Unsigned8 0x01

0x02
0x81

Mirrors the request identifier and specifies whether request execution was positive or nega­tive.

Negative means:
Cannot execute part or all of request.

Drive object
number

Number of parameters Unsigned8 0x01 ... 0x27 No. 1 ... 39

Attribute Unsigned8 0x10

Specification of the drive object number for a drive unit with more than one drive object.
Different drive objects with separate parameter number ranges can be accessed over the

Defines the number of adjoining areas for the parameter address and/or parameter value
for multi-parameter requests.

0x20

Read request (+)
Write request (+)
Read request (-)

Value
Description

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Field

Data type

Values

Remark

Limited by DPV1 telegram length

Unsigned16

0x0001 ... 0xFFFF

No. 1 ... 65535

Addresses the parameter to be accessed.

Unsigned16

0x0000 ... 0xFFFE

Number 0 ... 65534

Addresses the first array element of the parameter to be accessed.

Other values

See the actual PROFIdrive profile

0x44

Error

Limited by DPV1 telegram length

Specifies the number of subsequent values.

sponses"

integrity of the word structure of the telegram.

Unsigned16

0x0000 ... 0x00FF

word structure of the telegram.

3.4 Acyclic communication

Number of elements Unsigned8 0x00

0x01 ... 0x75

Number of array elements accessed.

Parameter number

Subindex

Format Unsigned8 0x02

0x03
0x04
0x05
0x06
0x07
0x08

0x40

0x41
0x42
0x43

The format and number specify the adjoining space containing values in the telegram.
For write access, it is preferable to specify data types according to the PROFIdrive profile.

Bytes, words and double words are also possible as a substitute.

Number of values Unsigned8 0x00 ... 0xEA No. 0 ... 234

Special function
No. 1 ... 117

Data type integer8
Data type integer16
Data type integer32
Data type unsigned8
Data type unsigned16
Data type unsigned32
Data type floating point

Zero (without values as a positive
subresponse to a write request)
Byte
Word
Double word

Error values Unsigned16 0x0000 ... 0x00FF Significance of the error values

→ refer to the following table "Error

values in the DPV1 parameter re-

The error values in the event of a negative response.
If the values make up an odd number of bytes, a zero byte is attached. This ensures the

Values

The values of the parameter for read or write access.
If the number of bytes is odd, a zero byte is appended. This ensures the integrity of the

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Error
value

Meaning

Remark

Additional
info

0x00

Illegal parameter number.

Access to a parameter that does not exist.

–

0x02

Lower or upper value limit exceeded.

Modification access with value outside value limits.

Subindex

0x04

No array.

Access with subindex to an unindexed parameter.

–

data type of the parameter.

lowed).

where this is not allowed.

changed.

changed.

value exists).

active.

0x0B

No operating priority.

Modification access with no operating priority.

–

value exists).

operating status.

fined individual values).

transfer length.

these.

0x17

Illegal format.

Write request: Illegal or unsupported parameter data format.

–

the parameter address.

exist.

0x20

Parameter text cannot be changed

–

–

0x21

Service not supported.

Illegal or unknown request ID

–

and access to a V/f control parameter).

Write access is possible while the device is in the "Controller

SINAMICS S120/S150 List Manual (C1, C2, U, T).

3.4 Acyclic communication

Error values in parameter responses

0x01 Parameter value cannot be changed. Modification access to a parameter value that cannot be

changed.

0x03 Invalid subindex. Access to a subindex that does not exist. Subindex

0x05 Wrong data type. Modification access with a value that does not match the

0x06 Illegal set operation (only reset al-

0x07 Description element cannot be

0x09 No description data available. Access to a description that does not exist (the parameter

0x10 Read job will not be executed. The read request is refused because know-how protection is

0x0F No text array exists. Access to a text array that does not exist (the parameter

0x11 Request cannot be executed due to

0x14 Illegal value. Modification access with a value that is within the limits but

Modification access with a value not equal to 0 in a case

Modification access to a description element that cannot be

Access is temporarily not possible for unspecified reasons. –

is illegal for other permanent reasons (parameter with de-

Subindex

–

Subindex

Subindex

–

–

Subindex

0x15 Response too long. The length of the present response exceeds the maximum

0x16 Illegal parameter address. Illegal or unsupported value for attribute, number of ele-

0x18 Number of values inconsistent. Write request: A mismatch exists between the number of

0x19 Drive object does not exist. You have attempted to access a drive object that does not

0x65 Parameter presently deactivated. You have tried to access a parameter that, although availa-

0x6B Write access for enabled controller.

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–

–

ments, parameter number, subindex or a combination of

–

values in the parameter data and the number of elements in

–

–

ble, does not currently perform a function (e.g. n control set

–

enable" state.
Pay attention to the parameter attribute "changeable" in the

Communication according to PROFIdrive

Error
value

Meaning

Remark

Additional
info

0x6C

Parameter %s [%s]: Unknown unit.

–

–

motor (p0010 = 3).

power unit (p0010 = 2).

mode (p0010 = 1).

only in the ready mode (p0010 = 0).

parameter reset (p0010 = 30).

Safety (p0010 = 95).

application/units (p0010 = 5).

(p0010 not equal to 0).

download (p0010 = 29).

ten during download.

configuration (device: p0009 = 3).

define drive type (device: p0009 = 2).

vice: p0009 = 4).

3.4 Acyclic communication

0x6D Parameter %s [%s]: Write access

only in the commissioning state,
encoder (p0010 = 4).

0x6E Parameter %s [%s]: Write access

only in the commissioning state,

0x6F Parameter %s [%s]: Write access

only in the commissioning state,

0x70 Parameter %s [%s]: Write access

only in the quick commissioning

0x71 Parameter %s [%s]: Write access

0x72 Parameter %s [%s]: Write access

only in the commissioning state,

0x73 Parameter %s [%s]: Write access

only in the commissioning state,

0x74 Parameter %s [%s]: Write access

only in the commissioning state, tech.

0x75 Parameter %s [%s]: Write access

only in the commissioning state

– –

– –

– –

– –

– –

– –

– –

– –

– –

0x76 Parameter %s [%s]: Write access

only in the commissioning state,

0x77 Parameter %s [%s] must not be writ-

0x78 Parameter %s [%s]: Write access

only in the commissioning state, drive

0x79 Parameter %s [%s]: Write access

only in the commissioning state,

0x7A Parameter %s [%s]: Write access

only in the commissioning state, data
record base configuration (de-

0x7B Parameter %s [%s]: Write access

only in the commissioning state,
device configuration (de­vice: p0009 = 1).

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– –

– –

– –

– –

– –

– –

57

Communication according to PROFIdrive

Error
value

Meaning

Remark

Additional
info

vice: p0009 = 29).

vice: p0009 = 30).

device ready (device: p0009 = 0).

device (device: p0009 not equal to 0).

ten during download.

by BI: p0806.

Parameter %s [%s]: Requested BICO
interconnection not possible.

however, requires a float value.

(refer to p0300, p0400, p0922)

is active.

lute" limits, is below the currently valid lower limit.

erned by the current converter rating).

Write access is not permitted because an access code is not
available.

3.4 Acyclic communication

0x7C Parameter %s [%s]: Write access

only in the commissioning state,
device download (de-

0x7D Parameter %s [%s]: Write access

only in the commissioning state,
device parameter reset (de-

0x7E Parameter %s [%s]: Write access

only in the commissioning state,

0x7F Parameter %s [%s]: Write access

only in the commissioning state,

0x81 Parameter %s [%s] must not be writ-

0x82 Transfer of master control is blocked

0x83

0x84 Parameter %s [%s]: Parameter

change inhibited

0x85 Parameter %s [%s]: Access method

not defined.

0x87 Write job will not be executed. The write request is rejected because know-how protection

– –

– –

– –

– –

– –

– –

BICO output does not supply float values. The BICO input,

– –

– –

–

–

0xC8 Below currently valid limit. Modification request for a value that, although within "abso-

0xC9 Above currently valid limit. Modification request for a value that, although within "abso-

lute" limits, is above the currently valid upper limit (e.g. gov-

0xCC Write access not permitted.

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–

–

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3.4 Acyclic communication

3.4.3 Determining the drive object numbers

Further information about the drive system (e.g. drive object numbers) can be determined as
follows using parameters p0101, r0102, and p0107/r0107:

1. The value of parameter r0102 ("Number of drive objects") for drive object/axis 1 is read

via a read request.

Drive object 1 is the Control Unit (CU) which is a minimum requirement for each drive
system.

2. Depending on the result of the initial read request, further read requests for drive object 1

are used to read the indices for parameter p0101 "Drive object numbers", as specified by
parameter r0102.

Example:
If the number of drive objects is "5", the values of indices 0 to 4 of parameter p0101 are
read. Of course, the relevant indexes can also be read at once.

3. Following this, parameter r0107/p0107 ("Drive object type") is read for each drive

object/axis (indicated by the drive object number).

Depending on the drive object, parameter 107 can be either an adjustable parameter or a
display parameter.

The value in parameter r0107/p0107 indicates the drive object type. The coding for the
drive object type is specified in the parameter list.

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Parameter request

Offset

Request reference = 25 hex

Request ID = 01 hex

0 + 1

Attribute = 10 hex

Number of elements = 08 hex

4 + 5

Parameter no. = 945 dec

6

Subindex = 0 dec

8

3.4 Acyclic communication

3.4.4 Example 1: read parameters

Requirements

● The PROFIdrive controller has been commissioned and is fully operational.

● PROFIdrive communication between the controller and the device is operational.

● The controller can read and write data sets in conformance with PROFINET/PROFIBUS.

Task description

Following the occurrence of at least one fault (ZSW1.3 = "1") on drive 2 (also drive object
number 2), the active fault codes must be read from the fault buffer r0945[0] ... r0945[7].

The request is to be handled using a request and response data block.

Basic procedure

1. Create a request to read the parameters.

2. Invoke the request.

3. Evaluate the response.

Create the request

Information about the parameter request:

● Request reference:

● Request ID:

● Axis:

Request header

Axis = 02 hex Number of parameters = 01 hex 2 + 3

Parameter address

The value is selected at random from the valid value range. The request reference
establishes the relationship between request and response.

01 hex → This identifier is required for a read request.

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02 hex → Drive 2, fault buffer with drive- and device-specific faults.

● Number of parameters:

01 hex → One parameter is read.

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Parameter response

Offset

25 hex

Axis mirrored = 02 hex

Number of parameters = 01 hex

2 + 3

Format = 06 hex

Number of values = 08 hex

4 + 5

2nd value = 0 dec

8

...

...

8th value = 0 dec

20

3.4 Acyclic communication

● Attribute:

10 hex → The parameter values are read.

● Number of elements:

08 hex → The actual fault incident with eight faults is to be read.

● Parameter number:

945 dec → p0945 (fault code) is read.

● Subindex:

0 dec → Reading starts at index 0.

Initiate parameter request.

If ZSW1.3 = "1" → Initiate parameter request

Evaluate the parameter response.

Response header Request reference mirrored =

Parameter value

1st value = 1355 dec 6

Response ID = 01 hex 0 + 1

Information about the parameter response:

● Request reference mirrored:

This response belongs to the request with request reference 25.

● Response ID:

01 hex → Read request positive, values stored as of 1st value.

● Axis mirrored, number of parameters:

The values correspond to the values from the request.

● Format:

06 hex → Parameter values are in the unsigned16 format.

● Number of values:

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08 hex → Eight parameter values are available.

● 1st value ... 8th value

A fault is only entered in value 1 of the fault buffer for drive 2.

61

Communication according to PROFIdrive

•

Jog bit 0

•

Jog bit 1

•

Jog 1 speed setpoint

•

Jog 2 speed setpoint

3.4 Acyclic communication

3.4.5 Example 2: Writing parameters (multi-parameter request)

Requirements

● The PROFIdrive controller has been commissioned and is fully operational.

● PROFIdrive communication between the controller and the device is operational.

● The controller can read and write data sets in conformance with PROFINET/PROFIBUS.

Special requirements for this example:

● Servo control or vector control with activated "Extended setpoint channel" function
module

Task description

Jog 1 and 2 are to be set up for drive 2 (also drive object number 2) via the input terminals of
the Control Unit. A parameter request is to be used to write the corresponding parameters as
follows:

BI: p1055 = r0722.4
BI: p1056 = r0722.5
p1058 = 300 rpm
p1059 = 600 rpm

The request is to be handled using a request and response data block.

Figure 3-8 Task description for multi-parameter request (example)

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Parameter request

Offset

hex

Axis = 02 hex

Number of parameters = 04 hex

2 + 3

Attribute = 10 hex

Number of elements = 01 hex

4 + 5

Subindex = 0 dec

8

Attribute = 10 hex

Number of elements = 01 hex

10 + 11

Parameter no. = 1056 dec

12

Subindex = 0 dec

14

Attribute = 10 hex

Number of elements = 01 hex

16 + 17

Parameter no. = 1058 dec

18

Subindex = 0 dec

20

Attribute = 10 hex

Number of elements = 01 hex

22 + 23

Parameter no. = 1059 dec

24

Subindex = 0 dec

26

Format = 07 hex

Number of values = 01 hex

28 + 29

Value = 02D2 hex

30

Value = 0404 hex

32

Format = 07 hex

Number of values = 01 hex

34 + 35

Value = 02D2 hex

36

Value = 0405 hex

38

Format = 08 hex

Number of values = 01 hex

40 + 41

Value = 4396 hex

42

Format = 08 hex

Number of values = 01 hex

46 + 47

Value = 4416 hex

48

Value = 0000 hex

50

3.4 Acyclic communication

Basic procedure

1. Create a request to write the parameters.

2. Invoke the request.

3. Evaluate the response.

Create the request

Request header Request reference = 40

1st parameter ad­dress

2nd parameter ad­dress

3rd parameter ad­dress

4th parameter ad­dress

1st parameter val­ue(s)

2nd parameter val­ue(s)

Parameter no. = 1055 dec 6

Request ID = 02 hex 0 + 1

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3rd parameter val­ue(s)

Value = 0000 hex 44

4th parameter val­ue(s)

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3.4 Acyclic communication

Notes relating to the parameter request:

● Request reference:

The value is selected at random from the valid value range. The request reference
establishes the relationship between request and response.

● Request ID:

02 hex → This identifier is required for a write request.

● Axis:

02 hex → The parameters are written to drive 2.

● Number of parameters

04 hex → The multi-parameter request comprises four individual parameter requests.

1st parameter address ... 4. Parameter address

● Attribute:

10 hex → The parameter values are to be written.

● Number of elements

01 hex → One array element is written.

● Parameter number

Specifies the number of the parameter to be written (p1055, p1056, p1058, p1059).

● Subindex:

0 dec → ID of the first array element.

1st parameter value ... 4th Parameter value

● Format:

07 hex → Data type, unsigned32

08 hex → Data type, floating point

● Number of values:

01 hex → A value is written to each parameter in the specified format.

● Value:

BICO input parameter: Enter signal source

Adjustable parameter: Enter value

Initiate parameter request.

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Parameter response

Offset

Request reference mirrored = 40 hex

Response ID = 02 hex

0

04 hex

3.4 Acyclic communication

Evaluate the parameter response.

Response header

Axis mirrored = 02 hex Number of parameters =

Notes regarding the parameter response:

● Request reference mirrored:

This response belongs to the request with request reference 40.

● Response ID:

02 hex → Write request positive

● Axis mirrored:

02 hex → The value matches the value from the request.

● Number of parameters:

04 hex → The value matches the value from the request.

2

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•

•

•

•

•

•

PROFIdrive message classes

Faults

Alarms

Component assignment

GSDML X X

X

TIA

X X X

TIA

X - -

Note
Constraint

If a shared device is activated, only the A

Note
Additional information

PROFIdrive message classes of the individual SINAMICS fa
the SINAMICS List Manuals.

3.5 Diagnostics channels

3.5 Diagnostics channels

SINAMICS drives provide the standard diagnostics for PROFIBUS and PROFINET. This
allows the PROFIdrive classes of the SINAMICS drive to be integrated into the system
diagnostics of a higher-level control system and automatically displayed on an HMI.

The information transferred is saved for the drive objects in the following parameters:

r0947[0...63] fault number

r3120[0..63] component fault
r2122[0...63] alarm code
r9747[0...63] SI message code

(with safety messages)

r3121[0..63] component alarm

r9745[0..63] SI component

(with safety message)

The messages entered in these parameters are combined to create PROFIdrive message
classes for diagnostics. Determining the source of a message is realized by transferring the
component number as channel number.

The diagnostics are activated through appropriate parameterization in the configuring tools
used (e.g. using HW Config or via HWCN in the TIA Portal).

The functional scope of the diagnostic channels depends on the bus system.

PN

DP GSD X - -

● SINAMICS transfers the messages in the sequence in which they occurred.

● If an alarm appears, SINAMICS sends an "incoming" message. The alarm remains until

SINAMICS sends the corresponding "outgoing" message.

● The time stamps are generated from the higher-level controller when the messages are

received

● The existing mechanisms of TIA and S7 Classic can be used.

● Alarms or faults are acknowledged using the already known acknowledgment routes.

● Transfer is possible via interface IF1 and/or IF2.

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-controller can receive diagnostics.

ults and alarms are provided in

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3.5 Diagnostics channels

3.5.1 PROFINET-based diagnostics

For PROFINET, to transfer PROFIdrive message classes, channel diagnostics (Channel
Diagnosis) are used (see PROFINET IO specification (http://www.profibus.com)).

A message always comprises the following components in this specific sequence:

● Block Header (6 Byte)
– Blocktype
– Blocklength
– BlockversionHigh
– BlockversionLow

● API (4 Byte)

● Slot Number (2 Byte)

● Sub Slot Number (2 Byte)

● Channel Number (2 Byte)

● Channel Properties (0x8000) (2 Byte)

● User Structure Identifier (2 Byte)

● Channel Diagnosis Data (6 Byte)

– Channel Number (2 Byte)
– Channel Properties (2 Byte)
– Channel Error Type (2 Byte)

Overview:

Figure 3-9 Components of a message

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Designation

Data
type/length

For SINAMICS

Value

Significance

Channel Properties

U16

.Type

Bits 7 ... 0

0

No data length

.Accumulative

Bit 8

0

1 channel; no group formation

2

3

Message issued, additional messages are available in the channel

13

0x9013

Auxiliary unit faulted

1)

For messages, which cannot be assigned to any particular component

3.5 Diagnostics channels

Individual components of the Channel Diagnosis Data block can be included n times in a
message. A precise explanation of these message components is subsequently provided:

Channel Number U16 1 ... 399

0x8000

.Maintenance Bits 10, 9 0

1

.Specifier Bits 12, 11 0

1
2

.Direction Bits 15 ...

Channel Error Type U16 0x9000

3 Input/Output

0x9001
0x9002
0x9003
0x9004
0x9005
0x9006
0x9007
0x9008
0x9009
0x900A
0x900B
0x900C
0x900E
0x900F

0x9010
0x9011

0x9012

Component number

1)

No component assignment

Fault → diagnostics

Alarm, Class 0 or A → maintenance
Alarm, Class B or C → maintenance

Not used
Message received
Message issued, no additional message available in the channel

Hardware / software error
Network fault
Supply voltage fault
DC link overvoltage
Power electronics faulted
Overtemperature of the electronic components
Ground fault / inter-phase short circuit
Motor overload
Communication error to the higher-level control system
Safety monitoring channel has identified an error
Position/speed actual value incorrect or not available
Internal (DRIVE-CLiQ) communication error
Infeed faulted
Line filter faulted
External measured value / signal state outside the

permissible range
Application / technological function faulted
Error in the parameterization / configuration /

commissioning procedure
General drive fault

required

demanded

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Note

If a fault is active on the CU drive object, then this fault is propagated to all of the drive
objects associated with the CU. This fault can therefore be read out at each

3.5 Diagnostics channels

System response - reading out diagnostics data

The converter can request diagnostics data via "Read data set" (detailed information is
provided in the PROFINET-IO specification (http://www.profibus.com)).

Example:

For example, a read record with index 0x800C can be used to read out diagnostics data from
specific sub slots. The following rules apply as example:

● 1 message block

if, at this drive object (one or several) faults of the same message class are identified

● n messages

if, at this drive object, n faults of different message classes are identified

drive object.

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Note

The master must operate in the DPV1 mode.

3.5 Diagnostics channels

3.5.2 PROFIBUS-based diagnostics

For communication via PROFIBUS, in the case of fault the following diagnostics data is
output:

● Standard diagnostics (Page 71)

● Identifier-related diagnostics (Page 71)

● Status messages/module status (Page 72)

● Channel-related diagnostics (Page 73)

● Data sets DS0/DS1 and diagnostics alarm (Page 74)

Message structure

The following applies if a message contains all of the specified diagnostics data:

● Standard diagnostics

Is always located at the beginning of the message.

● Data sets DS0/DS1 and diagnostics alarm

Is always located at the end of the message. This message part is always slot-specific.
The actual state of the slot responsible for the message is always transferred in the
message.

The other diagnostics data (types) can be in any sequence. This is the reason that the
following diagnostics data include a header:

● Identifier-related diagnostics

● Status messages/module status

● Channel-related diagnostics

The diagnostic data type can be uniquely identified based on the header.

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Bit

7 6 5 4 3 2 1

0

Octet

Name

Ext_Diag

= 0

Stat_Diag

= 0

Ext_

Diag_

Overflow

4

Master_Add

5

Ident_Number (HighByte) of the slave

6

Ident_Number (LowByte) of the slave

Bit

7 6 5 4 3 2 1

0

Octet

Name

status 1

structure

structure

...

...

3.5 Diagnostics channels

3.5.2.1 Standard diagnostics

For communication via PROFIBUS, standard diagnostics is structured as follows.

1 Station

status 1

2 Station

status 2

3 Station

status 3

Master_

Lock

= 0

0 0 Sync_

Prm_Fault 0 Not_

0 0 0 0 0 0 0

Mode

Supported

Freeze_

Mode

WD_On 1

Cfg_Fault Station_

In this context, the following values are decisive for diagnostics:

● Ext_Diag
– Group signal for diagnostics in the slave
– = 1, if at least 1 alarm is active

● Ext_Diag_Overflow

Display, diagnostics overflow in the slave (for more than 240 bytes)

Not_

Ready

Station_

Non_

Exist

Prm_Req

3.5.2.2 Identifier-related diagnostics

The identifier-related diagnostics provides a bit (KB_n) for each slot 1 allocated when
configuring the device. If a diagnostics message is active at a slot, then it's KB_n = true.

1 Header-

Byte

Station

2 Bit

3 Bit

x Bit

structure

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0 1 Block length (2 ... 32) incl. this byte

KB_7 KB_6 KB_5 KB_4 KB_3 KB_2 KB_1 KB_0

... ... ... ... KB_11 KB_10 KB_9 KB_8

... ... KB_n+1 KB_n ... ... ... ...

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Bit

7 6 5 4 3 2 1

0

Octet

Name

byte

status

3

Slot

0

4

Specifier

0

5 Slot_4

Slot_3

Slot_2

Slot_1

6

...

Slot_7

Slot_6

Slot_5

...

...

x

00

Slot_n

...

...

Note
Status value

Diagnostics for SINAMICS are only available in cyclic PROFIBUS operation, so that the state
00

3.5 Diagnostics channels

3.5.2.3 Status messages/module status

Status messages and module status briefly represent an overview of the state of the
devices:

1 Header

2 Module

0 0 Block length (2 ... 32) incl. this byte

0x82

= "Valid useful data" is always output for all slots.

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Bit

7 6 5 4 3 2 1

0

Octet

Name

Byte

x + 1 12)

12)

0 (no component assignment)

31 Parameterization/commiss. error

1)

2)

3)

≙ "Channel type "non specific"

3.5 Diagnostics channels

3.5.2.4 Channel-related diagnostics

Channel-related diagnostics encompasses the following data:

x Header-

11) 01) 0 ... 63 (module number) including this byte

x + 2 03) 03) Message classes:

2 undervoltage

3 overvoltage

9 error

16 Hardware/software error

17 Line supply/filter faulted

18 DC-link overvoltage

19 Power electronics faulted

20 Electronic component overtemp.

21 Ground/phase fault detected

22 Motor overload

23 Commun. with controller faulted

24 Safety monit. Detected an error

25 Act. Position/speed value error
26 Internal communication faulted

27 Infeed faulted

28 Braking controller faulted

29 External signal state error

30 Application/function faulted

≙ Channel-related diagnostics
≙ Input/output

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System response

Only one signal is generated if channel-related diagnostics identifies several faults belonging
to the same message class at the same drive object.

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Bit

7 6 5 4 3 2 1

0

Octet

Name

2

0

= 1 (diagnostics alarm)

3

0 ... 244 (slot number ≙ drive object)

4

0 ... 31 (sequence number)

Add_Ack

Alarm_Specifier1)

5

DS0 (byte 0)

0 0 0 0 12) 0 13)

14)

6

DS0 (byte 1)

0 0 0

15)

06)

06)

16)

16)

7

DS0 (Byte 2)

0 0 0 0 0 0 0

0

8

DS0 (byte 3)

0 0 0 0 0 0 0

0

9

Info (byte 1)

Mixed

= 0x45 (ChannelTypeID = SINAMICS)

10

Info (byte 2)

= 24 (number of diagnostic bits/channel)

11

Info (byte 3)

= 1 (1 channel signals)

1

13

(channel 0)

Err 7

Err 6

Err 5

Err 4

Err 3

Err 2

Err 1

Err 0

14

Err 15

Err 14

Err 13

Err 12

Err 11

Err 10

Err 9

Err 8

1)

2)

3)

4)

5)

6)

= 0011; ≙ Distributed

3.5 Diagnostics channels

3.5.2.5 Data sets DS0/DS1 and diagnostics alarm

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

The structure is as follows:

1 Header-Byte 0 0 = 15 (block length)

12 Channel Error

0 0 0 0 0 0 0 Channel 0

Vector

Channel

-related diag-

15 0 0 0 0 Err 19 Err 18 Err 17 Err 16

nostics

Alarm_Specifier

1 ≙ error has occurred and the slot is not OK
2 ≙ error is resolved and the slot is OK
3 ≙ error is resolved and the slot is not okay

Channel fault present

= 1; as long as the drive object has an error condition

Internal fault

= 1; as long as the drive object has an error condition

Module fault

= 1; as long as the drive object has an error condition

Channel information present

= 1; ≙ DS1 exists

Type class of module

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3.6 Configuring telegrams in Startdrive

3.6 Configuring telegrams in Startdrive

Description

If communication is established between the drive and higher-level control system via
PROFINET IO, then the data (setpoints and actual values) are cyclically transferred using
PROFIdrive telegrams.

To configure a cyclic data transfer, proceed as follows:

● Insert the drive and controller

● Insert a PROFINET subnet

● Assign the drive to the controller

● Check the bus settings

● Parameterize the drive

You must create telegrams for the relevant drive objects, e.g. for drive axes, drive control
or infeed

● Check and edit the telegram settings

● If you are controlling a drive with safety functions via PROFIsafe, you must insert the

appropriate PROFIsafe telegram.

3.6.1 Displaying telegram configuration

The "Telegram configuration" screen form is part of the device configuration and is displayed
in the inspector window.

You can call this screen form, either via the project navigation or via direct links from the
communication screen forms.

Call the telegram configuration via the project navigation

1. Open the drive device in the project navigation.

2. Double-click on the entry "Device configuration."

The device configuration opens.

3. Select the entry "Telegram configuration" in the "Properties" tab of the inspector window.

The telegram configuration settings are displayed under the respective fieldbus interface

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3.6 Configuring telegrams in Startdrive

3.6.2 Settings for SINAMICS S120, S150, G150, G130, MV

Telegram configuration

The dialog box for the telegram configuration is structured as follows:

Figure 3-10 Example: Telegram configuration with several drive objects

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Number

Description

drive object for setpoints and actual values. "Free telegram" is selected by default.

B

Area for the interfaces

C

Area for the communication partners of the drive (e.g. controller or another drive)

①

tion.

②

configuration, and can no longer be changed. Resorting in the table does not change this number.

④

⑤

⑥

⑦

⑧

Type of communication

CD = Controller - Device for PROFINET IO

⑩

⑪

3.6 Configuring telegrams in Startdrive

A Area for the drive objects (setpoints, actual values and safety components). A telegram is assigned to each

③

⑨

Header of a drive object
Using the header, you can move the drive object in the list with drag and drop (in the first column). This

changes the sorting in the table and at the same time in the secondary navigation of the telegram configura-

Display of the drive object

Number of the drive object
This number is generated automatically according to the order in which a drive object is created in the device

Link to the communication screen forms of the particular drive object

Drop-down list with the available telegrams

Telegram length

Telegram extension

Communication direction (send direction

F_ = PROFIsafe-specific extension (safety telegram)

Name of the partner (controller)

I/O addresses of the controller

/receive direction )

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3.6 Configuring telegrams in Startdrive

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4

Note

PROFIBUS for drive technology is standardized a
PROFIdrive Profile Drive Technology

PROFIBUS User Organization e. V.
Haid

Internet: (

Note
Startdrive

Plea

Note

Before synchronizing to the isochronous PROFIBUS, all of the drive object pulses must be
inhibited

PROFIBUS interface: T

CBE20

NOTICE

Destruction of the CU320-2 or other CAN bus nodes by connecting a CAN cable

4.1 General information about PROFIBUS

4.1.1 General information about PROFIBUS for SINAMICS

PROFIBUS is an open international fieldbus standard for a wide range of production and
process automation applications.

The following standards ensure open, multi-vendor systems:

● International standard EN 50170

● International standard IEC 61158

PROFIBUS is tuned for high-speed, time-critical data communication at field level.

nd described in the following document:

-und-Neu-Strasse 7, D-76131 Karlsruhe

http://www.profibus.com)

se note that you still cannot use this function with Startdrive.

- also for those drives that are not controlled via PROFIBUS.

he cyclic PZD channel is deactivated when the

Connecting a CAN cable to interface X126 of the CU320-2 can destroy the CU320-2 or
other CAN bus nodes.

• Do not connect any CAN cable to the X126 interface.

is plugged in!

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Properties

Master

Slave

As bus node

Active

Passive

request

master

strictions

permitted

4.1 General information about PROFIBUS

Master and slave

● Master and slave properties

● Master

● Slaves

Bus access method

Send messages Permitted without external

Receive messages Possible without any re-

Only possible on request by

Only receive and acknowledge

The following classes are differentiated:
– Master class 1 (DPMC1):

Central automation stations that exchange data with the slaves in cyclic and acyclic
mode. Communication between the masters is also possible.

Examples: SIMATIC S7, SIMOTION

– Master class 2 (DPMC2):

Devices for configuration, commissioning, operator control and monitoring during bus
operation. Devices that only exchange data with the slaves in acyclic mode.

Examples: Programming devices, human machine interfaces

With respect to PROFIBUS, the SINAMICS drive unit is a slave.

PROFIBUS uses the token passing method, i.e. the active stations (masters) are arranged in
a logical ring in which the authorization to send is received within a defined time frame.

Within this time frame, the master with authorization to send can communicate with the
assigned slaves and/or with other masters in a master/slave procedure.

PROFIBUS telegram for cyclic data transmission and acyclic services

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

The overall length of the telegram increases with the number of drive objects that are
involved in exchanging process data.

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Note

The sequence of drive

Drive objects after the first zero in p0978 must not be configured in the HW Config.

4.1 General information about PROFIBUS

Sequence of drive objects in the telegram

On the drive side, the sequence of drive objects in the telegram is displayed via a list in
p0978[0...24] where it can also be changed.

Using the Startdrive commissioning tool you can display the sequence of drive objects for a
commissioned drive system in the project navigator under "Drive unit"
"Telegram configuration".

When you create the configuration on the controller side (e.g. HW Config), the process-data­capable drive objects for the application are added to the telegram in the sequence shown
(see above).

The following drive objects can exchange process data:

● Active Infeed (A_INF)

● Basic Infeed (B_INF)

● Control Unit (CU_S)

● ENC

● Smart Infeed (S_INF)

> "Communication" >

● SERVO

● Terminal Board 30 (TB30)

● Terminal Module 15 (TM15)

● Terminal Module 31 (TM31)

● Terminal Module 41 (TM41)

● Terminal Module 120 (TM120)

● Terminal Module 150 (TM150)

● VECTOR

objects in HW Config must be the same as that in the drive (p0978).

The structure of the telegram depends on the drive objects taken into account during
configuration. Configurations are permitted that do not take into account all of the drive
objects that are present in the drive system.

Example:

The following configurations, for example, are possible:

● Configuration with SERVO, SERVO, SERVO

● Configuration with A_INF, SERVO, SERVO, SERVO, TB30

● etc.

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4.1 General information about PROFIBUS

4.1.2 Example: telegram structure for cyclic data transmission

Task

The drive system comprises the following drive objects:

● Control Unit (CU_S)

● Active Infeed (A_INF)

● SERVO 1 (comprises a Single Motor Module and other components)

● SERVO 2 (comprises a Double Motor Module terminal X1 and other components)

● SERVO 3 (comprises a Double Motor Module terminal X2 and other components)

● Terminal Board 30 (TB30)

The process data is to be exchanged between the drive objects and the higher-level
automation system.

Telegrams to be used:

● Telegram 370 for Active Infeed

● Standard telegram 6 for SERVO

● User-defined for Terminal Board 30 for the three SERVO drives

Component and telegram structure

The predefined component structure results in the telegram structure shown in the following
diagram.

Figure 4-1 Component and telegram structure

You can check and change the sequence of the telegrams via p0978[0...24].

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•

Telegram 370

•

Standard telegram 6

•

Standard telegram 6

•

Standar

•

User

4.1 General information about PROFIBUS

Configuration settings (e.g. HW Config for SIMATIC S7)

Due to the telegram structure shown, the objects in the "DP slave properties" overview must
be configured as follows:

Active Infeed (A_INF):
SERVO 1:
SERVO 2:
SERVO 3:
Terminal Board 30 (TB30):

DP slave properties – overview

d telegram 6

-defined

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Figure 4-2 Slave properties – overview

When you click "Details", the properties of the configured telegram structure are displayed
(e.g. I/O addresses, axis separator).

83

Communication via PROFIBUS DP

•

Object 1

•

Object 2

•

Object 3

etc.

4.1 General information about PROFIBUS

DP slave properties – details

Figure 4-3 Slave properties – details

The axis separator separates the objects in the telegram as follows:

Slots 4 and 5:
Slots 7 and 8:
Slots 10 and 11:

––> Active Infeed (A_INF)

––> SERVO 1

––> SERVO 2

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4.2 Commissioning PROFIBUS

4.2 Commissioning PROFIBUS

4.2.1 Setting the PROFIBUS interface

Interfaces and diagnostic LED

A PROFIBUS interface with LEDs and address switches is available as standard on the
CU320-2 DP Control Unit.

Figure 4-4 Interfaces and diagnostic LED

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Note

A teleservice adapter can be connected to the PROFIBUS interface (X126) for remote
diagnostics purposes.

Rotary coding switch-

es

Significance

Examples

21

dec

35

dec

126

dec

15

hex

23

hex

7E

hex

4.2 Commissioning PROFIBUS

● PROFIBUS interface

The PROFIBUS is described in the "SINAMICS S120 Control Units and Supplementary
System Components Manual".

● PROFIBUS diagnostic LED

On the CU320-2 DP, the PROFIBUS address is set as a hexadecimal value via two rotary

(00

coding switches. You can set values from 0

dec

) to 127

hex

coding switch (H) you set the hexadecimal value for 16

0

switch (L) you set the hexadecimal value for 16

Table 4- 1 PROFIBUS address switch

.

1

(7F

dec

). At the upper rotary

hex

and at the lower rotary coding

1

16

= 16 1 2 7

0

16

= 1 5 3 E

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Note

The rotary coding switches used to set the PROFIBUS address are located beneath the
cover.

Note

Address 126 is used for commissioning. Permitted PROFIBUS addresses are 1

When several Control Units are connected to a PROFIBUS line, you set the addresses
differently than for the factory setting. Each PROFIBUS address in a PROFIBUS line can
only be assigned once. Either set the PROFIBUS address in absolute terms using
coding switches
is not effective until POWER ON.

The currently set address of the rotary coding switch is displayed in parameter r2057.

Note

Only values from 1 to 12
are set, then the set value is interpreted as "0". If a value "0" or "127" is set, the value in
parameter p0918 defines the PROFIBUS address.

4.2 Commissioning PROFIBUS

Setting the PROFIBUS address

The factory setting for the rotary coding switches is 0

dec

(00

hex

).

There are two ways to set the PROFIBUS address:

1. Using the STARTER commissioning tool (parameter p0918)
– To set the bus address for a PROFIBUS node using STARTER, first set the rotary

code switches to 0

dec

(00

hex

) and/or 127

dec

(7F

hex

).

– Then set the address to a value from 1 to 126 using parameter p0918.

2. Using the PROFIBUS address switches on the Control Unit
– The address is set manually to values from 1 to 126 using the rotary coding switches.

In this case, parameter p0918 is only used to read the address.

... 126.

the rotary

– or selectively in parameter p0918. Each change made to the bus address

6 (7E

) are valid for PROFIBUS addressing. If values above 127

hex

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4.2 Commissioning PROFIBUS

4.2.2 PROFIBUS interface in operation

Generic station description file

A generic station description file clearly and completely defines the properties of a
PROFIBUS slave.

The SINAMICS S GSD file contains among other things standard telegrams, free telegrams
and slave-to-slave telegrams for configuring slave-to-slave communication. With the aid of
these telegram parts and an axis separator, a telegram for the drive unit must be composed
for each drive object.

The GSD files can be found:

● On the Internet:

PROFINET I/O (https://support.industry.siemens.com/cs/ww/en/view/49217480) (GSDML
files)

PROFIBUS DP (https://support.industry.siemens.com/cs/ww/en/view/49216293) (GSD
files)

● On the CD/DVD of the Startdrive commissioning tool

● On the memory card in the directory:

\\SIEMENS\SINAMICS\DATA\CFG\

The integration of a GSD file in HW Config is covered in the SIMATIC documentation.
Suppliers of PROFIBUS components can provide their own bus configuration tool. The
operation of the respective bus configuration tool is described in the relevant documentation.

Note for commissioning for VIK-NAMUR

To be able to operate a SINAMICS drive as a VIK-NAMUR drive, standard telegram 20 must
be set and the VIK-NAMUR identification number activated via p2042 =1.

Device identification

Identification for individual slaves facilitates diagnostics and provides an overview of the
nodes on the PROFIBUS.

The information for each slave is stored in the following CU-specific parameter:
r0964[0...6] device identification

Bus terminating resistor and shielding

Reliable data transmission via PROFIBUS depends, amongst other things, on the setting of
the bus terminating resistors and the shielding of the PROFIBUS cables.

● Bus terminating resistor

The bus terminating resistors in the PROFIBUS plugs must be set as follows:
– First and last nodes in the line: Switch on terminating resistor
– Other nodes in the line: Switch off terminating resistor

● Shielding of the PROFIBUS cables

The cable shield must be connected in the plug through a large surface area at both ends
(see SINAMICS S120 Control Units and Supplementary System Components Manual).

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Requirement

4.2 Commissioning PROFIBUS

4.2.3 Commissioning PROFIBUS

Preconditions and assumptions for commissioning

PROFIBUS slave

PROFIBUS master

• The PROFIBUS address to be set for the device application is known.

• The telegram type for each drive object is known by the application.

• The communication properties of the SINAMICS S120 slave must be availa-

ble in the master (GSD file or Drive ES slave OM).

Commissioning steps (example with SIMATIC S7)

1. Set the PROFIBUS address on the slave.

2. Set the telegram type on the slave.

3. Perform the following in HW Config:
– Connect the drive unit to PROFIBUS and assign the address.
– Set the telegram type.

The same telegram type as on the slave should be set for every drive object
exchanging process data via PROFIBUS.

The master can send more process data than the slave uses. A telegram with a larger
number of PZDs than assigned for the SINAMICS drive object can be configured on
the master.

The PZDs not supplied by the drive object are filled with zeros.

The setting "without PZD" can be defined on a node or object (e.g. infeed controlled
via terminals).

4. Assign the I/O addresses according to the user program.

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Field

Value

Network parameter profile

DP

Communication partner address

PROFIBUS address of the drive unit

Field

Value

Name

Any

Controller

Any

REAL: for float

Area

DB

(data block number)

1 ... 65535

4.2 Commissioning PROFIBUS

4.2.4 Diagnostics options

The standard slave diagnostics can be read online in the HW config.

4.2.5 SIMATIC HMI addressing

You can use a SIMATIC HMI as a PROFIBUS master (master class 2) to access SINAMICS
directly. With respect to SIMATIC HMI, SINAMICS behaves like a SIMATIC S7. For
accessing drive parameters, the following applies:

● Parameter number = data block number

● Parameter sub-index = bit 0 ... 9 of data block offset

● Drive object number = bit 10 ... 15 of data block offset

Pro Tool and WinCC flexible

The SIMATIC HMI can be configured flexibly with "Pro Tool" or "WinCC flexible".

The following specific settings for drives must be observed when configuration is carried out
with Pro Tool or WinCC flexible.

Controllers: Protocol always "SIMATIC S7 - 300/400"

Table 4- 2 Additional parameters

Network parameter baud rate Any

Communication partner
slot/rack

Table 4- 3 Variables: "General" tab

Type Depending on the addressed parameter value,

Don’t care, 0

e.g.:
INT: for integer 16
DINT: for integer 32
WORD: for unsigned 16

DB

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Parameter number

Communication via PROFIBUS DP

Field

Value

DBW = 1024 * drive object No. + sub-index

Acquisition cycle

Any

Number of elements

1

Decimal places

Any

Note

•

•

•

4.2 Commissioning PROFIBUS

DBB, DBW, DBD
(data block offset)

Length Not activated

Drive object No. and sub-index
bit 15 ... 10: Drive object No. 0 ... 63
bit 9 ... 0: Sub-index 0 ... 1023

or expressed differently

You can operate a SIMATIC HMI together with a drive unit independently of an existing

controller.
A basic "point-to-point" connection can only be established between two nodes (devices).

The "variable" HMI function can be used for drive units. Other functions cannot be used

(e.g. "messages" or "recipes").

Individual parameter values can be accessed. Entire arrays, descriptions, or texts cannot

be accessed.

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4.2 Commissioning PROFIBUS

4.2.6 Monitoring telegram failure

When monitoring the telegram failure, SINAMICS differentiates between two cases:

● Telegram failure with a bus fault

After a telegram failure and the additional monitoring time has elapsed (p2047), bit
r2043.0 is set to "1" and alarm A01920 is output. Binector output r2043.0 can be used for
a quick stop, for example.

Once the delay time p2044 has elapsed, fault F01910 is output. Fault F01910 triggers
fault response OFF2 (pulse inhibit) for the infeed and OFF3 (quick stop) for
SERVO/VECTOR. If no OFF response is to be triggered, the fault response can be
reparameterized accordingly.

Fault F01910 can be acknowledged immediately. The drive can then be operated even
without PROFIdrive.

Figure 4-5 Monitoring telegram failure with a bus fault

● Telegram failure with a CPU stop

After telegram failure, bit r2043.0 is set to "1". Binector output r2043.0 can be used for a
quick stop, for example.

Once the delay time p2044 has elapsed, fault F01910 is output. Fault F01910 triggers
fault response OFF2 (pulse inhibit) for the infeed and OFF3 (quick stop) for
SERVO/VECTOR. If no OFF response is to be triggered, the fault response can be
reparameterized accordingly.

Fault F01910 can be acknowledged immediately. The drive can then be operated even
without PROFIdrive.

Figure 4-6 Monitoring telegram failure for a CPU stop

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CU

p2047

= 20 ms

A_INF

p2044

= 2 s

VECTOR

p2044

= 0 s

4.2 Commissioning PROFIBUS

Example: Quick stop at telegram failure

Assumption:

● A drive unit with an Active Line Module and a Single Motor Module.

● VECTOR mode is activated.

● After a ramp-down time (p1135) of two seconds, the drive is at a standstill.

Settings:

Sequence:

1. Following a telegram failure and once the additional monitoring time (p2047) has elapsed,
binector output r2043.0 of drive object CU switches to "1".

At the same time, alarm A01920 is output for the A_INF drive objects and alarm A01920
and fault F01910 are output for VECTOR.

2. When F01910 is output, an OFF3 is triggered for the drive.

3. After a two-second delay time (p2044), fault F01910 is output on the infeed and triggers
OFF2.

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4.3 Motion Control with PROFIBUS

4.3 Motion Control with PROFIBUS

Motion control / isochronous drive coupling with PROFIBUS

Figure 4-7 Motion control / isochronous drive coupling with PROFIBUS, optimized cycle with T

Sequence of data transfer to closed-loop control system

1. The actual position value G1_XACT1 is read into at time T

and transferred to the master in the next cycle.

2. The closed-loop control of the master starts at time T

and uses the transferred actual value in the telegram.

3. In the next cycle, the master forwards the calculated setpoints to the slaves. The speed

setpoint command NSET_B is issued to the closed-loop control system at time T
the beginning of the cycle.

before the start of each cycle

I

after each position controller cycle

M

MAPC

= 2 ∙ TDP

after

O

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Name

Limit value

Description

T

BASE_DP

250 µs

Time base for TDP

T

DP_MAX

= 32 ms

T

= integer multiple of TDP

T

BASE_IO

125 µs

Time base for TI, TO

This is the time at which the actual position value is captured before the start of

Does not apply to vector V/f.

object (SERVO/VECTOR) in the drive unit, minimum 125 µsec

available slaves.

T

-

PLL window

T

PLL_D

-

PLL delay time

GC Global Control Telegram (broadcast telegram)

slave 1 - n.

slave 1 - n on an acyclic basis.

RES

Reserve: "Active pause" until the isochronous cycle has expired

R Computation time, speed or position controller in the master or slave

Start of closed-loop master control

4.3 Motion Control with PROFIBUS

Designations and descriptions for motion control

Table 4- 4 Time settings and meanings

TDP TDP ≥ T

DP_MIN

≤ TDP ≤ T

T

DP_MIN

T

Master application cycle time

MAPC

DP_MAX

DP cycle time
T

= Dx + MSG + RES + GC

DP

T

= multiple integer ∙ T

DP

T

= 1 ms

DP_MIN

This is the time frame in which the master application generates new setpoints
(e.g. in the position controller cycle).

MAPC

TI T

≤ TI < TDP Time of actual value sensing

I_MIN

each cycle.
T

= integer multiple of T

I

T

corresponds to the longest current controller sampling time (p0115[0]) of

I_MIN

a drive object (SERVO/VECTOR) in the drive unit, minimum 125 µs.

TO TDX + T

≤ TO < TDP Time of setpoint transfer

O_MIN

This is the time at which the transferred setpoints (speed setpoint) are accept­ed by the closed-loop control system after the start of the cycle.

= integer multiple of T

T

O

T

corresponds to the longest speed controller cycle (p0115[1]) of a drive

O_MIN

TDX TDX < TDP Data exchange time

This is the time required within one cycle for transferring process data to all

BASE_DP

BASE_IO

BASE_IO

PLL_W

Dx Data_Exchange

This service is used to implement user data exchange between master and

MSG Acyclic service

This service is used to implement user data exchange between master and

TM Master time

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Note

After T
switched on (POWER ON) or parameter p0972

Data

Time required [µs]

Basic load

300

Per slave

20

Per byte of user data

1.5

One additional class 2 master

500

4.3 Motion Control with PROFIBUS

Setting criteria for times

● Cycle (T
– T

must be set to the same value for all bus nodes.

DP

– T

> TDX and TDP > TO

DP

DP

● T

and TO

I

– Setting the times in T

position control loop.

– T

> TDX + T

O

● Settings and tuning can be done using a tool (e.g. HW Config in SIMATIC S7).

Minimum times for reserves

Table 4- 5 Minimum times for reserves

)

DP

has been changed on the PROFIBUS master, the drive system must be

= 1 (reset drive unit) must be set.

and TO as short as possible reduces the dead time in the

I

Omin

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4.3 Motion Control with PROFIBUS

User data integrity

User data integrity is verified in both transfer directions (master <––> slave) by a sign-of-life
(4-bit counter).

The sign-of-life counters are incremented from 1 to 15 and then start again at an arbitrary
value between 1 and 15.

● Master sign-of-life

– STW2.12 ... STW2.15 are used for the master sign-of-life.
– The master sign-of-life counter is incremented on each master application cycle

(T

).

MAPC

– The number of tolerated master sign-of-life errors in succession (of an isochronous

motor) can be set via p0925

– p0925 = 65535 deactivates sign-of-life monitoring on the slave.
– Monitoring

The master sign-of-life is monitored on the slave and any sign-of-life errors are
evaluated accordingly.

The maximum number of tolerated master sign-of-life errors can be set via p0925.

If the number of tolerated sign-of-life errors in succession set in p0925 is exceeded,
the response is as follows:

– A corresponding message is output.

– The value zero is output as the slave sign-of-life.

– Synchronization with the master sign-of-life is started.

● Slave sign-of-life

– ZSW2.12 ... ZSW2.15 are used for the slave sign-of-life.
– The slave sign-of-life counter is incremented in each DP cycle (T

Example: SINAMICS vector drives with SIMOTION D4x5 and/or CX modules

To determine which cycles in the SINAMICS drive unit will be set after a project has been
downloaded, dependable cycle values should be initially set in HW Config.

The following settings and sequences are recommended:

1. T

= 3.0 ms (T

DP

2. T

= To = 1.5 ms (TI = time of actual value acquisition, To = time of setpoint transfer)

I

3. T

= 6.0 ms (T

MAPC

= DP cycle time)

DP

= master application cycle time)

MAPC

DP

).

After a successful download, all current and speed controller cycles are visible. These cycles
can be optimized in HW Config if necessary.
The cycles are set in HW Config under the DP slave properties of the SINAMICS drive unit
(slave, master e.g. SIMOTION D4x5) under the "Clock synchronization" tab.

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1)

From the perspective of the Class 1 master

4.4 Slave-to-slave communication

4.4 Slave-to-slave communication

For PROFIBUS DP, the master interrogates all of the slaves one after the other in a DP
cycle. In this case, the master transfers its output data (setpoints) to the particular slave and
receives as response the input data (actual values). Fast, distributed data transfer between
drives (slaves) is possible using the "slave-to-slave communication" function without direct
involvement from the master.

The following terms are used for the function described in this chapter:

● Slave-to-slave communication

● Data Exchange Broadcast (DXB.req)

● Slave-to-slave communication (is used in the following)

Figure 4-8 Slave-to-slave communication with the publisher-subscriber model

Publisher

With the "slave-to-slave communication" function, at least one slave must act as the
publisher.

The publisher is addressed by the master when the output data is transferred with a modified
layer 2 function code (DXB.req). The publisher then sends its input data for the master with a
broadcast telegram to all bus nodes.

Subscriber

The subscribers evaluate the broadcast telegrams, sent from the publishers, and use the
data which has been received as setpoints. These setpoints of the publisher are used, in
addition to the setpoints received from the master, corresponding to the configured telegram
structure (p0922).

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